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piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001001.json

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+{
+  "seen": [
+    "Use both arms to pick up the bottle with yellow cap and the medium bottle with glossy surface.",
+    "Use both arms to lift the yellow-capped bottle for beverages and the brown bottle.",
+    "Hold the yellow-capped orange plastic bottle in one arm, catch the brown bottle with rounded rectangular shape with the other arm.",
+    "Use one arm for the yellow-capped bottle for beverages and the other for the medium-sized brown plastic bottle.",
+    "Use one arm for the bottle with yellow cap, another for the smooth brown bottle with green label.",
+    "Each arm should pick up one: the yellow-capped bottle for beverages, then the brown bottle.",
+    "Hold both the cylindrical orange bottle with smooth surface and the smooth brown bottle with green label.",
+    "Use both arms to pick up the rounded orange bottle with yellow top and the medium bottle with glossy surface.",
+    "Secure the small bottle with bright yellow lid and the smooth plastic bottle with white cap in succession.",
+    "Grab the small bottle with bright yellow lid, pick up the bottle with green cap.",
+    "Pick up both the orange bottle and the brown bottle with rounded rectangular shape together.",
+    "Grab the smooth orange cylindrical bottle and pick up the bottle with flat sides and logo.",
+    "With both arms, pick up the smooth orange cylindrical bottle, then the medium-sized brown plastic bottle.",
+    "Catch the liquid container with orange body, then grab the medium bottle with glossy surface too.",
+    "Collect the liquid container with orange body, then pick up the rectangular brown body with white top.",
+    "Catch the small bottle with bright yellow lid with one arm, the medium-sized brown plastic bottle with another arm.",
+    "Assign one arm to catch the orange bottle, one for the plastic bottle.",
+    "Catch the small bottle with bright yellow lid, then take hold of the dark brown bottle with a squared body.",
+    "Catch both the rounded bottom orange plastic bottle and the smooth brown bottle with green label quickly.",
+    "Grab the yellow-capped bottle for beverages using an arm and the plastic bottle with the other arm.",
+    "Assign one arm to each of the orange bottle and the smooth brown bottle with green label.",
+    "Catch the cylindrical orange bottle with smooth surface in one arm and the plastic bottle in the other arm.",
+    "Hold onto the orange bottle with bold labeling, then pick up the smooth plastic bottle with white cap.",
+    "Lift the liquid container with orange body and also take hold of the smooth plastic bottle with white cap.",
+    "Pick both the liquid container with orange body and the bottle with green cap one after another.",
+    "Lift both bottles, the liquid container with orange body with one arm, the rectangular-shaped bottle with round cap with the other.",
+    "Hold the cylindrical orange bottle with smooth surface with one arm, hold the rectangular brown body with white top with the other.",
+    "Take hold of the orange bottle with bold labeling and the medium bottle with glossy surface.",
+    "Hold onto the rounded bottom orange plastic bottle and then get the plastic bottle.",
+    "Grab the cylindrical orange bottle with smooth surface with one arm, the rectangular-shaped bottle with round cap with the other.",
+    "Lift both the cylindrical orange bottle with smooth surface and the bottle with green cap simultaneously.",
+    "With two arms, catch both the orange bottle with bold labeling and the medium bottle with glossy surface.",
+    "Secure the smooth orange cylindrical bottle, then secure the brown bottle.",
+    "Pick up the yellow-capped orange plastic bottle, then pick up the rectangular brown body with white top.",
+    "Grab and hold the rounded orange bottle with yellow top, then grab the plastic bottle.",
+    "Grab the cylindrical orange bottle with smooth surface with one arm, the rectangular brown body with white top with the other.",
+    "Pick up both the orange bottle and the medium bottle with glossy surface.",
+    "Catch the bottle with yellow cap, then catch the bottle with flat sides and logo.",
+    "Secure both the bottle with yellow cap and the rectangular-shaped bottle with round cap quickly.",
+    "One arm grabs the orange bottle; the other arm grabs the smooth brown bottle with green label.",
+    "Grab the yellow-capped orange plastic bottle using one arm and the brown bottle using the other.",
+    "Use one arm for the small bottle with bright yellow lid, the other for the smooth plastic bottle with white cap.",
+    "Use each arm to lift the yellow-capped bottle for beverages and the rectangular-shaped bottle with round cap.",
+    "Hold the cylindrical orange bottle with smooth surface in one arm, the bottle with green cap in the other.",
+    "Pick up the yellow-capped orange plastic bottle and then pick up the rectangular brown body with white top.",
+    "Lift the cylindrical orange bottle with smooth surface and the brown bottle with rounded rectangular shape with separate arms.",
+    "Grasp the yellow-capped bottle for beverages first, then take the bottle with flat sides and logo.",
+    "Lift the cylindrical orange bottle with smooth surface, continue and pick up the smooth brown bottle with green label.",
+    "Catch the cylindrical orange bottle with smooth surface, grab the bottle with flat sides and logo next.",
+    "Let each arm grab either the small bottle with bright yellow lid or the bottle with flat sides and logo.",
+    "Use both arms to pick up the small bottle with bright yellow lid and the medium bottle with glossy surface.",
+    "Use both arms to lift the cylindrical orange bottle with smooth surface and the plastic bottle.",
+    "Hold the liquid container with orange body in one arm, catch the smooth brown bottle with green label with the other arm.",
+    "Use one arm for the liquid container with orange body and the other for the brown bottle with rounded rectangular shape.",
+    "Use one arm for the bottle with yellow cap, another for the smooth plastic bottle with white cap.",
+    "Each arm should pick up one: the yellow-capped bottle for beverages, then the smooth plastic bottle with white cap.",
+    "Hold both the small bottle with bright yellow lid and the medium bottle with glossy surface.",
+    "Use both arms to pick up the orange bottle and the brown bottle.",
+    "Secure the bottle with yellow cap and the medium bottle with glossy surface in succession.",
+    "Grab the rounded bottom orange plastic bottle, pick up the brown bottle with rounded rectangular shape.",
+    "Pick up both the cylindrical orange bottle with smooth surface and the medium-sized brown plastic bottle together.",
+    "Grab the rounded orange bottle with yellow top and pick up the bottle with flat sides and logo.",
+    "With both arms, pick up the rounded bottom orange plastic bottle, then the bottle with flat sides and logo.",
+    "Catch the handheld medium-sized liquid bottle, then grab the bottle with green cap too.",
+    "Collect the rounded bottom orange plastic bottle, then pick up the medium-sized brown plastic bottle.",
+    "Catch the liquid container with orange body with one arm, the smooth plastic bottle with white cap with another arm.",
+    "Assign one arm to catch the cylindrical orange bottle with smooth surface, one for the brown bottle with rounded rectangular shape.",
+    "Catch the smooth orange cylindrical bottle, then take hold of the medium-sized brown plastic bottle.",
+    "Catch both the yellow-capped orange plastic bottle and the brown bottle with rounded rectangular shape quickly.",
+    "Grab the bottle with yellow cap using an arm and the bottle with flat sides and logo with the other arm.",
+    "Assign one arm to each of the handheld medium-sized liquid bottle and the dark brown bottle with a squared body.",
+    "Catch the yellow-capped bottle for beverages in one arm and the dark brown bottle with a squared body in the other arm.",
+    "Hold onto the orange bottle, then pick up the rectangular brown body with white top.",
+    "Lift the liquid container with orange body and also take hold of the rectangular brown body with white top.",
+    "Pick both the bottle with yellow cap and the bottle with green cap one after another.",
+    "Lift both bottles, the rounded bottom orange plastic bottle with one arm, the smooth brown bottle with green label with the other.",
+    "Hold the yellow-capped bottle for beverages with one arm, hold the rectangular-shaped bottle with round cap with the other.",
+    "Take hold of the orange bottle and the smooth plastic bottle with white cap.",
+    "Hold onto the smooth orange cylindrical bottle and then get the bottle with flat sides and logo.",
+    "Grab the rounded bottom orange plastic bottle with one arm, the dark brown bottle with a squared body with the other.",
+    "Lift both the orange bottle and the plastic bottle simultaneously.",
+    "With two arms, catch both the liquid container with orange body and the rectangular-shaped bottle with round cap.",
+    "Secure the yellow-capped orange plastic bottle, then secure the medium-sized brown plastic bottle.",
+    "Pick up the orange bottle with bold labeling, then pick up the medium bottle with glossy surface.",
+    "Grab and hold the orange bottle, then grab the dark brown bottle with a squared body.",
+    "Grab the yellow-capped bottle for beverages with one arm, the dark brown bottle with a squared body with the other.",
+    "Pick up both the yellow-capped orange plastic bottle and the medium bottle with glossy surface.",
+    "Catch the rounded orange bottle with yellow top, then catch the rectangular brown body with white top.",
+    "Secure both the rounded orange bottle with yellow top and the smooth brown bottle with green label quickly.",
+    "One arm grabs the yellow-capped orange plastic bottle; the other arm grabs the brown bottle.",
+    "Grab the bottle with yellow cap using one arm and the rectangular brown body with white top using the other.",
+    "Use one arm for the handheld medium-sized liquid bottle, the other for the dark brown bottle with a squared body.",
+    "Use each arm to lift the liquid container with orange body and the brown bottle with rounded rectangular shape.",
+    "Hold the handheld medium-sized liquid bottle in one arm, the bottle with green cap in the other.",
+    "Pick up the smooth orange cylindrical bottle and then pick up the medium-sized brown plastic bottle.",
+    "Lift the rounded orange bottle with yellow top and the bottle with flat sides and logo with separate arms.",
+    "Grasp the handheld medium-sized liquid bottle first, then take the brown bottle with rounded rectangular shape.",
+    "Lift the cylindrical orange bottle with smooth surface, continue and pick up the dark brown bottle with a squared body.",
+    "Catch the cylindrical orange bottle with smooth surface, grab the brown bottle with rounded rectangular shape next.",
+    "Let each arm grab either the rounded bottom orange plastic bottle or the rectangular-shaped bottle with round cap."
+  ],
+  "unseen": [
+    "Pick up the medium plastic bottle and the liquid container dark brown plastic together.",
+    "Pick up the medium bottle for liquids with one arm, grab the bottle with green label and white lid with the other.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the medium-sized plastic bottle with capped top.",
+    "Lift the medium bottle for liquids using one arm and lift the medium-sized plastic bottle with capped top using the other.",
+    "Pick up both the medium plastic bottle and the medium-sized plastic bottle with capped top together.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the medium-sized plastic bottle with capped top.",
+    "Grab the medium bottle for liquids and grab the medium-sized plastic bottle with capped top at once.",
+    "Grab the plastic orange bottle with rounded base and the bottle with green label and white lid at the same time.",
+    "Grab the medium bottle for liquids with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the plastic orange bottle with rounded base and take the bottle with green label and white lid together.",
+    "Pick up the medium bottle for liquids and the liquid container dark brown plastic together.",
+    "Pick up the medium bottle for liquids with one arm, grab the liquid container dark brown plastic with the other.",
+    "Use each arm to grab the medium plastic bottle and the bottle with green label and white lid.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the liquid container dark brown plastic using the other.",
+    "Pick up both the medium bottle for liquids and the medium-sized plastic bottle with capped top together.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the medium-sized plastic bottle with capped top.",
+    "Grab the plastic orange bottle with rounded base and grab the liquid container dark brown plastic at once.",
+    "Grab the medium plastic bottle and the bottle with green label and white lid at the same time.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the plastic orange bottle with rounded base and take the medium-sized plastic bottle with capped top together.",
+    "Pick up the medium bottle for liquids and the liquid container dark brown plastic together.",
+    "Pick up the medium bottle for liquids with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the liquid container dark brown plastic.",
+    "Lift the medium plastic bottle using one arm and lift the medium-sized plastic bottle with capped top using the other.",
+    "Pick up both the medium plastic bottle and the bottle with green label and white lid together.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the bottle with green label and white lid.",
+    "Grab the plastic orange bottle with rounded base and grab the medium-sized plastic bottle with capped top at once.",
+    "Grab the medium bottle for liquids and the medium-sized plastic bottle with capped top at the same time.",
+    "Grab the medium bottle for liquids with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Pick up the plastic orange bottle with rounded base and take the medium-sized plastic bottle with capped top together.",
+    "Pick up the plastic orange bottle with rounded base and the bottle with green label and white lid together.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Use each arm to grab the medium plastic bottle and the liquid container dark brown plastic.",
+    "Lift the medium plastic bottle using one arm and lift the medium-sized plastic bottle with capped top using the other.",
+    "Pick up both the medium plastic bottle and the medium-sized plastic bottle with capped top together.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the liquid container dark brown plastic.",
+    "Grab the medium plastic bottle and grab the bottle with green label and white lid at once.",
+    "Grab the medium plastic bottle and the bottle with green label and white lid at the same time.",
+    "Grab the medium bottle for liquids with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the medium plastic bottle and take the medium-sized plastic bottle with capped top together.",
+    "Pick up the medium plastic bottle and the liquid container dark brown plastic together.",
+    "Pick up the medium bottle for liquids with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Use each arm to grab the medium plastic bottle and the bottle with green label and white lid.",
+    "Lift the medium bottle for liquids using one arm and lift the medium-sized plastic bottle with capped top using the other.",
+    "Pick up both the plastic orange bottle with rounded base and the liquid container dark brown plastic together.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the liquid container dark brown plastic.",
+    "Grab the medium bottle for liquids and grab the bottle with green label and white lid at once.",
+    "Grab the medium bottle for liquids and the bottle with green label and white lid at the same time.",
+    "Grab the medium plastic bottle with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Pick up the medium bottle for liquids and take the medium-sized plastic bottle with capped top together.",
+    "Pick up the medium plastic bottle and the bottle with green label and white lid together.",
+    "Pick up the medium bottle for liquids with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Use each arm to grab the medium bottle for liquids and the medium-sized plastic bottle with capped top.",
+    "Lift the medium bottle for liquids using one arm and lift the liquid container dark brown plastic using the other.",
+    "Pick up both the medium bottle for liquids and the bottle with green label and white lid together.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the bottle with green label and white lid.",
+    "Grab the medium plastic bottle and grab the bottle with green label and white lid at once.",
+    "Grab the medium plastic bottle and the liquid container dark brown plastic at the same time.",
+    "Grab the medium bottle for liquids with one arm, grab the liquid container dark brown plastic with the other.",
+    "Pick up the plastic orange bottle with rounded base and take the liquid container dark brown plastic together.",
+    "Pick up the medium bottle for liquids and the liquid container dark brown plastic together.",
+    "Pick up the medium bottle for liquids with one arm, grab the liquid container dark brown plastic with the other.",
+    "Use each arm to grab the medium bottle for liquids and the medium-sized plastic bottle with capped top.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the liquid container dark brown plastic using the other.",
+    "Pick up both the medium bottle for liquids and the bottle with green label and white lid together.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the liquid container dark brown plastic.",
+    "Grab the medium plastic bottle and grab the bottle with green label and white lid at once.",
+    "Grab the medium bottle for liquids and the medium-sized plastic bottle with capped top at the same time.",
+    "Grab the medium bottle for liquids with one arm, grab the liquid container dark brown plastic with the other.",
+    "Pick up the medium plastic bottle and take the medium-sized plastic bottle with capped top together.",
+    "Pick up the medium plastic bottle and the medium-sized plastic bottle with capped top together.",
+    "Pick up the medium plastic bottle with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with green label and white lid.",
+    "Lift the medium bottle for liquids using one arm and lift the bottle with green label and white lid using the other.",
+    "Pick up both the plastic orange bottle with rounded base and the liquid container dark brown plastic together.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the bottle with green label and white lid.",
+    "Grab the plastic orange bottle with rounded base and grab the medium-sized plastic bottle with capped top at once.",
+    "Grab the plastic orange bottle with rounded base and the liquid container dark brown plastic at the same time.",
+    "Grab the medium plastic bottle with one arm, grab the liquid container dark brown plastic with the other.",
+    "Pick up the plastic orange bottle with rounded base and take the liquid container dark brown plastic together.",
+    "Pick up the medium plastic bottle and the liquid container dark brown plastic together.",
+    "Pick up the medium plastic bottle with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Use each arm to grab the medium plastic bottle and the liquid container dark brown plastic.",
+    "Lift the medium plastic bottle using one arm and lift the medium-sized plastic bottle with capped top using the other.",
+    "Pick up both the medium bottle for liquids and the bottle with green label and white lid together.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the bottle with green label and white lid.",
+    "Grab the plastic orange bottle with rounded base and grab the medium-sized plastic bottle with capped top at once.",
+    "Grab the medium plastic bottle and the bottle with green label and white lid at the same time.",
+    "Grab the medium plastic bottle with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Pick up the medium bottle for liquids and take the liquid container dark brown plastic together.",
+    "Pick up the medium bottle for liquids and the liquid container dark brown plastic together.",
+    "Pick up the medium bottle for liquids with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the medium-sized plastic bottle with capped top.",
+    "Lift the medium plastic bottle using one arm and lift the liquid container dark brown plastic using the other.",
+    "Pick up both the medium bottle for liquids and the liquid container dark brown plastic together.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the medium-sized plastic bottle with capped top.",
+    "Grab the plastic orange bottle with rounded base and grab the bottle with green label and white lid at once.",
+    "Grab the plastic orange bottle with rounded base and the bottle with green label and white lid at the same time.",
+    "Grab the medium plastic bottle with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the plastic orange bottle with rounded base and take the liquid container dark brown plastic together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001012.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use each arm to lift the bottle with black label and the yellow bottle with a green design.",
+    "Grab and hold the bottle with white screw cap, then grab the yellow bottle.",
+    "Let each arm grab either the small curved plastic bottle or the medium rectangular yellow bottle.",
+    "Hold the small curved plastic bottle in one arm, catch the bottle with green label with the other arm.",
+    "Secure the smooth brown and white patterned bottle, then secure the smooth bottle with rounded edges.",
+    "Pick both the curved bottle with white top and the yellow bottle one after another.",
+    "Collect the hand-sized plastic bottle, then pick up the yellow bottle with a green design.",
+    "Lift the hand-sized plastic bottle and also take hold of the bottle with a smooth plastic body.",
+    "Hold onto the brown bottle, then pick up the yellow bottle.",
+    "Lift the small curved plastic bottle and the bottle with green and white labels with separate arms.",
+    "Grab the plastic bottle using an arm and the bottle with green label with the other arm.",
+    "One arm grabs the bottle with white screw cap; the other arm grabs the medium rectangular yellow bottle.",
+    "Grab the white-capped bottle, pick up the yellow bottle with a green design.",
+    "Catch the white-capped bottle, then take hold of the plastic bottle.",
+    "Use one arm for the small curved plastic bottle and the other for the bottle with green and white labels.",
+    "Lift the bottle with white screw cap, continue and pick up the bottle with green label.",
+    "Grasp the plastic bottle first, then take the yellow bottle.",
+    "Take hold of the bottle with brown and white patterns and the rectangular bottle with cylindrical neck.",
+    "Catch the bottle with brown and white patterns, then catch the yellow container with rounded edges.",
+    "Hold the hand-sized plastic bottle in one arm, the yellow bottle with a green design in the other.",
+    "Catch the hand-sized plastic bottle, then grab the bottle with white cap too.",
+    "Grab the bottle with brown and white patterns with one arm, the yellow bottle with a green design with the other.",
+    "Grab the white-capped bottle using one arm and the yellow container with rounded edges using the other.",
+    "Lift both the hand-sized plastic bottle and the rectangular bottle with cylindrical neck simultaneously.",
+    "Grab the curved bottle with white top with one arm, the bottle with white cap with the other.",
+    "Hold onto the bottle with black label and then get the bottle with green and white labels.",
+    "Each arm should pick up one: the bottle holding liquid, then the bottle with white cap.",
+    "With both arms, pick up the smooth brown and white patterned bottle, then the bottle with green label.",
+    "Pick up the white-capped bottle and then pick up the medium rectangular yellow bottle.",
+    "Catch the hand-sized plastic bottle in one arm and the bottle with green label in the other arm.",
+    "Catch the small bottle with decorative design, grab the plastic bottle next.",
+    "Use both arms to lift the white-capped bottle and the yellow bottle.",
+    "Use one arm for the smooth brown and white patterned bottle, the other for the bottle with white cap.",
+    "Assign one arm to catch the bottle holding liquid, one for the rectangular bottle with cylindrical neck.",
+    "Pick up both the bottle with brown and white patterns and the bottle with green label.",
+    "Catch both the bottle with white screw cap and the yellow bottle with a green design quickly.",
+    "Secure both the bottle with black label and the plastic bottle quickly.",
+    "Catch the curved bottle with white top with one arm, the yellow container with rounded edges with another arm.",
+    "Lift both bottles, the hand-sized plastic bottle with one arm, the smooth bottle with rounded edges with the other.",
+    "Pick up both the plastic bottle and the smooth bottle with rounded edges together.",
+    "Secure the bottle with white screw cap and the yellow plastic bottle with white top in succession.",
+    "With two arms, catch both the white-capped bottle and the plastic bottle.",
+    "Grab the plastic bottle and pick up the bottle with white cap.",
+    "Use one arm for the smooth brown and white patterned bottle, another for the smooth bottle with rounded edges.",
+    "Assign one arm to each of the smooth brown and white patterned bottle and the bottle with green and white labels.",
+    "Pick up the bottle with black label, then pick up the bottle with green and white labels.",
+    "Hold both the smooth brown and white patterned bottle and the bottle with a smooth plastic body.",
+    "Hold the curved bottle with white top with one arm, hold the medium rectangular yellow bottle with the other.",
+    "Use both arms to pick up the white-capped bottle and the yellow plastic bottle with white top.",
+    "Use both arms to pick up the small curved plastic bottle and the medium rectangular yellow bottle.",
+    "Use each arm to lift the white-capped bottle and the yellow plastic bottle with white top.",
+    "Grab and hold the hand-sized plastic bottle, then grab the bottle with a smooth plastic body.",
+    "Let each arm grab either the plastic bottle or the smooth bottle with rounded edges.",
+    "Hold the white-capped bottle in one arm, catch the yellow plastic bottle with white top with the other arm.",
+    "Secure the small bottle with decorative design, then secure the bottle with green label.",
+    "Pick both the white-capped bottle and the bottle with green and white labels one after another.",
+    "Collect the white-capped bottle, then pick up the yellow bottle with a green design.",
+    "Lift the plastic bottle and also take hold of the yellow bottle.",
+    "Hold onto the bottle with white screw cap, then pick up the medium rectangular yellow bottle.",
+    "Lift the smooth brown and white patterned bottle and the bottle with a smooth plastic body with separate arms.",
+    "Grab the small curved plastic bottle using an arm and the yellow bottle with the other arm.",
+    "One arm grabs the bottle with white screw cap; the other arm grabs the yellow container with rounded edges.",
+    "Grab the bottle with brown and white patterns, pick up the bottle with green and white labels.",
+    "Catch the small curved plastic bottle, then take hold of the medium rectangular yellow bottle.",
+    "Use one arm for the small curved plastic bottle and the other for the yellow container with rounded edges.",
+    "Lift the small bottle with decorative design, continue and pick up the yellow bottle with a green design.",
+    "Grasp the brown bottle first, then take the plastic bottle.",
+    "Take hold of the hand-sized plastic bottle and the bottle with green label.",
+    "Catch the bottle with white screw cap, then catch the rectangular bottle with cylindrical neck.",
+    "Hold the small curved plastic bottle in one arm, the yellow container with rounded edges in the other.",
+    "Catch the bottle with black label, then grab the yellow container with rounded edges too.",
+    "Grab the bottle with black label with one arm, the bottle with a smooth plastic body with the other.",
+    "Grab the small bottle with decorative design using one arm and the yellow plastic bottle with white top using the other.",
+    "Lift both the brown bottle and the medium rectangular yellow bottle simultaneously.",
+    "Grab the smooth brown and white patterned bottle with one arm, the medium rectangular yellow bottle with the other.",
+    "Hold onto the small curved plastic bottle and then get the bottle with green label.",
+    "Each arm should pick up one: the bottle with black label, then the yellow plastic bottle with white top.",
+    "With both arms, pick up the small curved plastic bottle, then the bottle with green and white labels.",
+    "Pick up the bottle with black label and then pick up the medium rectangular yellow bottle.",
+    "Catch the hand-sized plastic bottle in one arm and the yellow container with rounded edges in the other arm.",
+    "Catch the small bottle with decorative design, grab the yellow bottle with a green design next.",
+    "Use both arms to lift the plastic bottle and the medium rectangular yellow bottle.",
+    "Use one arm for the white-capped bottle, the other for the smooth bottle with rounded edges.",
+    "Assign one arm to catch the bottle with black label, one for the rectangular bottle with cylindrical neck.",
+    "Pick up both the bottle with white screw cap and the bottle with a smooth plastic body.",
+    "Catch both the bottle holding liquid and the smooth bottle with rounded edges quickly.",
+    "Secure both the curved bottle with white top and the rectangular bottle with cylindrical neck quickly.",
+    "Catch the smooth brown and white patterned bottle with one arm, the smooth bottle with rounded edges with another arm.",
+    "Lift both bottles, the white-capped bottle with one arm, the yellow plastic bottle with white top with the other.",
+    "Pick up both the smooth brown and white patterned bottle and the bottle with white cap together.",
+    "Secure the small bottle with decorative design and the plastic bottle in succession.",
+    "With two arms, catch both the white-capped bottle and the bottle with green and white labels.",
+    "Grab the small curved plastic bottle and pick up the smooth bottle with rounded edges.",
+    "Use one arm for the bottle holding liquid, another for the yellow plastic bottle with white top.",
+    "Assign one arm to each of the hand-sized plastic bottle and the smooth bottle with rounded edges.",
+    "Pick up the brown bottle, then pick up the bottle with a smooth plastic body.",
+    "Hold both the bottle with white screw cap and the yellow bottle.",
+    "Hold the bottle holding liquid with one arm, hold the bottle with green and white labels with the other.",
+    "Use both arms to pick up the brown bottle and the yellow container with rounded edges.",
+    "Use both arms to pick up the bottle with black label and the bottle with green label."
+  ],
+  "unseen": [
+    "Grab the brown bottle with glossy swirls and grab the yellow rectangular bottle at once.",
+    "Use each arm to grab the brown bottle with glossy swirls and the yellow rectangular bottle.",
+    "Use each arm to lift a bottle: the cylindrical bottle with curved sides, then the yellow bottle for liquid storage.",
+    "Lift the cylindrical bottle with curved sides using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Grab the brown bottle with glossy swirls and the yellow rectangular bottle at the same time.",
+    "Pick up the glossy brown bottle and take the yellow bottle for liquid storage together.",
+    "Pick up the glossy brown bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the glossy brown bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the cylindrical bottle with curved sides with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up both the glossy brown bottle and the yellow rectangular bottle together.",
+    "Grab the cylindrical bottle with curved sides and grab the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab the glossy brown bottle and the hand-sized yellow plastic bottle.",
+    "Use each arm to lift a bottle: the brown bottle with glossy swirls, then the yellow bottle for liquid storage.",
+    "Lift the cylindrical bottle with curved sides using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Grab the brown bottle with glossy swirls and the yellow bottle for liquid storage at the same time.",
+    "Pick up the glossy brown bottle and take the yellow bottle for liquid storage together.",
+    "Pick up the brown bottle with glossy swirls and the hand-sized yellow plastic bottle together.",
+    "Grab the glossy brown bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up the brown bottle with glossy swirls with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the cylindrical bottle with curved sides and the hand-sized yellow plastic bottle together.",
+    "Grab the cylindrical bottle with curved sides and grab the yellow bottle for liquid storage at once.",
+    "Use each arm to grab the glossy brown bottle and the yellow bottle for liquid storage.",
+    "Use each arm to lift a bottle: the brown bottle with glossy swirls, then the yellow bottle for liquid storage.",
+    "Lift the glossy brown bottle using one arm and lift the yellow rectangular bottle using the other.",
+    "Grab the glossy brown bottle and the yellow rectangular bottle at the same time.",
+    "Pick up the glossy brown bottle and take the hand-sized yellow plastic bottle together.",
+    "Pick up the brown bottle with glossy swirls and the yellow rectangular bottle together.",
+    "Grab the brown bottle with glossy swirls with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the glossy brown bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the glossy brown bottle and the yellow rectangular bottle together.",
+    "Grab the glossy brown bottle and grab the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab the glossy brown bottle and the yellow bottle for liquid storage.",
+    "Use each arm to lift a bottle: the brown bottle with glossy swirls, then the yellow rectangular bottle.",
+    "Lift the glossy brown bottle using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Grab the brown bottle with glossy swirls and the hand-sized yellow plastic bottle at the same time.",
+    "Pick up the brown bottle with glossy swirls and take the hand-sized yellow plastic bottle together.",
+    "Pick up the cylindrical bottle with curved sides and the yellow rectangular bottle together.",
+    "Grab the glossy brown bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the cylindrical bottle with curved sides with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the glossy brown bottle and the yellow rectangular bottle together.",
+    "Grab the cylindrical bottle with curved sides and grab the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab the cylindrical bottle with curved sides and the yellow bottle for liquid storage.",
+    "Use each arm to lift a bottle: the glossy brown bottle, then the yellow rectangular bottle.",
+    "Lift the glossy brown bottle using one arm and lift the yellow rectangular bottle using the other.",
+    "Grab the glossy brown bottle and the yellow bottle for liquid storage at the same time.",
+    "Pick up the glossy brown bottle and take the yellow rectangular bottle together.",
+    "Pick up the brown bottle with glossy swirls and the hand-sized yellow plastic bottle together.",
+    "Grab the cylindrical bottle with curved sides with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the brown bottle with glossy swirls with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up both the brown bottle with glossy swirls and the yellow rectangular bottle together.",
+    "Grab the brown bottle with glossy swirls and grab the yellow rectangular bottle at once.",
+    "Use each arm to grab the cylindrical bottle with curved sides and the yellow bottle for liquid storage.",
+    "Use each arm to lift a bottle: the glossy brown bottle, then the hand-sized yellow plastic bottle.",
+    "Lift the cylindrical bottle with curved sides using one arm and lift the yellow rectangular bottle using the other.",
+    "Grab the cylindrical bottle with curved sides and the yellow bottle for liquid storage at the same time.",
+    "Pick up the glossy brown bottle and take the yellow rectangular bottle together.",
+    "Pick up the cylindrical bottle with curved sides and the yellow bottle for liquid storage together.",
+    "Grab the cylindrical bottle with curved sides with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the brown bottle with glossy swirls with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up both the brown bottle with glossy swirls and the yellow rectangular bottle together.",
+    "Grab the glossy brown bottle and grab the yellow rectangular bottle at once.",
+    "Use each arm to grab the brown bottle with glossy swirls and the yellow bottle for liquid storage.",
+    "Use each arm to lift a bottle: the brown bottle with glossy swirls, then the hand-sized yellow plastic bottle.",
+    "Lift the cylindrical bottle with curved sides using one arm and lift the yellow rectangular bottle using the other.",
+    "Grab the glossy brown bottle and the hand-sized yellow plastic bottle at the same time.",
+    "Pick up the glossy brown bottle and take the yellow bottle for liquid storage together.",
+    "Pick up the brown bottle with glossy swirls and the yellow rectangular bottle together.",
+    "Grab the cylindrical bottle with curved sides with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the glossy brown bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the cylindrical bottle with curved sides and the yellow rectangular bottle together.",
+    "Grab the cylindrical bottle with curved sides and grab the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab the cylindrical bottle with curved sides and the yellow bottle for liquid storage.",
+    "Use each arm to lift a bottle: the brown bottle with glossy swirls, then the hand-sized yellow plastic bottle.",
+    "Lift the brown bottle with glossy swirls using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Grab the glossy brown bottle and the yellow bottle for liquid storage at the same time.",
+    "Pick up the glossy brown bottle and take the hand-sized yellow plastic bottle together.",
+    "Pick up the glossy brown bottle and the yellow bottle for liquid storage together.",
+    "Grab the glossy brown bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the cylindrical bottle with curved sides with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the brown bottle with glossy swirls and the yellow bottle for liquid storage together.",
+    "Grab the cylindrical bottle with curved sides and grab the yellow bottle for liquid storage at once.",
+    "Use each arm to grab the glossy brown bottle and the yellow bottle for liquid storage.",
+    "Use each arm to lift a bottle: the glossy brown bottle, then the yellow rectangular bottle.",
+    "Lift the cylindrical bottle with curved sides using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Grab the cylindrical bottle with curved sides and the yellow rectangular bottle at the same time.",
+    "Pick up the glossy brown bottle and take the yellow rectangular bottle together.",
+    "Pick up the brown bottle with glossy swirls and the yellow bottle for liquid storage together.",
+    "Grab the glossy brown bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the brown bottle with glossy swirls with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up both the glossy brown bottle and the yellow bottle for liquid storage together.",
+    "Grab the brown bottle with glossy swirls and grab the yellow bottle for liquid storage at once.",
+    "Use each arm to grab the glossy brown bottle and the yellow bottle for liquid storage.",
+    "Use each arm to lift a bottle: the cylindrical bottle with curved sides, then the hand-sized yellow plastic bottle.",
+    "Lift the brown bottle with glossy swirls using one arm and lift the yellow rectangular bottle using the other.",
+    "Grab the brown bottle with glossy swirls and the yellow bottle for liquid storage at the same time.",
+    "Pick up the brown bottle with glossy swirls and take the yellow bottle for liquid storage together.",
+    "Pick up the cylindrical bottle with curved sides and the hand-sized yellow plastic bottle together.",
+    "Grab the brown bottle with glossy swirls with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the brown bottle with glossy swirls with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up both the brown bottle with glossy swirls and the hand-sized yellow plastic bottle together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001021.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to lift the medium-sized green bottle and the bottle with white cap.",
+    "Grab the handheld green bottle with one arm, the plastic bottle with the other.",
+    "Hold onto the bottle with narrow top, then pick up the medium rectangular yellow bottle.",
+    "Use each arm to lift the medium-sized green bottle and the yellow bottle with a green design.",
+    "Hold the bottle with white printed label with one arm, hold the yellow bottle with the other.",
+    "Catch the medium green bottle, then catch the yellow bottle.",
+    "Hold both the bottle with white printed label and the plastic bottle.",
+    "Grasp the handheld green bottle first, then take the bottle with green and white labels.",
+    "Secure both the bottle with rounded neck and the plastic bottle quickly.",
+    "Let each arm grab either the bottle with narrow top or the bottle with green label.",
+    "Lift the medium green bottle with capped neck and the bottle with white cap with separate arms.",
+    "Lift both bottles, the bottle with narrow top with one arm, the yellow plastic bottle with white top with the other.",
+    "Grab and hold the smooth green bottle, then grab the bottle with a smooth plastic body.",
+    "Use both arms to pick up the handheld green bottle and the bottle with white cap.",
+    "Grab the handheld green bottle using one arm and the yellow bottle using the other.",
+    "Assign one arm to each of the bottle with rounded neck and the yellow bottle.",
+    "Secure the bottle with rounded neck and the smooth bottle with rounded edges in succession.",
+    "Catch the bottle with white printed label, grab the yellow container with rounded edges next.",
+    "Each arm should pick up one: the handheld green bottle, then the medium rectangular yellow bottle.",
+    "Lift the bottle with narrow top and also take hold of the yellow bottle with a green design.",
+    "Catch the medium green bottle in one arm and the plastic bottle in the other arm.",
+    "With two arms, catch both the medium green bottle and the bottle with a smooth plastic body.",
+    "With both arms, pick up the bottle with white printed label, then the yellow bottle.",
+    "Pick up both the smooth green bottle and the yellow plastic bottle with white top together.",
+    "Use both arms to pick up the medium green bottle with capped neck and the bottle with green and white labels.",
+    "Grab the bottle with rounded neck, pick up the yellow container with rounded edges.",
+    "Catch the medium green bottle with capped neck, then take hold of the bottle with white cap.",
+    "Pick up the bottle with rounded neck, then pick up the bottle with green and white labels.",
+    "Pick both the bottle with rounded neck and the yellow bottle one after another.",
+    "Collect the medium green bottle with capped neck, then pick up the yellow plastic bottle with white top.",
+    "One arm grabs the bottle with white printed label; the other arm grabs the plastic bottle.",
+    "Catch both the smooth green bottle and the bottle with white cap quickly.",
+    "Lift both the handheld green bottle and the yellow container with rounded edges simultaneously.",
+    "Assign one arm to catch the bottle with narrow top, one for the bottle with green label.",
+    "Use one arm for the plastic bottle, the other for the yellow bottle.",
+    "Grab the smooth green bottle with one arm, the rectangular bottle with cylindrical neck with the other.",
+    "Take hold of the medium-sized green bottle and the yellow bottle.",
+    "Pick up both the medium-sized green bottle and the bottle with a smooth plastic body.",
+    "Lift the handheld green bottle, continue and pick up the yellow container with rounded edges.",
+    "Grab the plastic bottle and pick up the bottle with a smooth plastic body.",
+    "Use one arm for the green bottle with indented base, another for the yellow bottle.",
+    "Hold onto the bottle with narrow top and then get the bottle with green label.",
+    "Hold the handheld green bottle in one arm, the medium rectangular yellow bottle in the other.",
+    "Secure the smooth green plastic bottle, then secure the yellow bottle.",
+    "Pick up the medium green bottle with capped neck and then pick up the yellow bottle with a green design.",
+    "Catch the smooth green plastic bottle with one arm, the yellow bottle with another arm.",
+    "Use one arm for the medium green bottle and the other for the bottle with green and white labels.",
+    "Grab the bottle with narrow top using an arm and the yellow container with rounded edges with the other arm.",
+    "Catch the bottle with rounded neck, then grab the bottle with white cap too.",
+    "Hold the smooth green plastic bottle in one arm, catch the yellow container with rounded edges with the other arm.",
+    "Use both arms to lift the smooth green plastic bottle and the rectangular bottle with cylindrical neck.",
+    "Grab the bottle with white printed label with one arm, the yellow bottle with the other.",
+    "Hold onto the smooth green bottle, then pick up the yellow container with rounded edges.",
+    "Use each arm to lift the medium-sized green bottle and the bottle with a smooth plastic body.",
+    "Hold the medium green bottle with one arm, hold the bottle with white cap with the other.",
+    "Catch the handheld green bottle, then catch the bottle with green and white labels.",
+    "Hold both the smooth green bottle and the rectangular bottle with cylindrical neck.",
+    "Grasp the smooth green plastic bottle first, then take the bottle with a smooth plastic body.",
+    "Secure both the plastic bottle and the yellow bottle with a green design quickly.",
+    "Let each arm grab either the green bottle with indented base or the bottle with white cap.",
+    "Lift the smooth green plastic bottle and the bottle with green and white labels with separate arms.",
+    "Lift both bottles, the medium green bottle with one arm, the yellow bottle with the other.",
+    "Grab and hold the bottle with white printed label, then grab the bottle with green and white labels.",
+    "Use both arms to pick up the handheld green bottle and the smooth bottle with rounded edges.",
+    "Grab the medium green bottle with capped neck using one arm and the rectangular bottle with cylindrical neck using the other.",
+    "Assign one arm to each of the green bottle with indented base and the yellow plastic bottle with white top.",
+    "Secure the handheld green bottle and the yellow bottle with a green design in succession.",
+    "Catch the bottle with rounded neck, grab the yellow bottle with a green design next.",
+    "Each arm should pick up one: the medium green bottle with capped neck, then the yellow bottle.",
+    "Lift the medium green bottle and also take hold of the yellow bottle with a green design.",
+    "Catch the bottle with rounded neck in one arm and the bottle with green label in the other arm.",
+    "With two arms, catch both the medium-sized green bottle and the smooth bottle with rounded edges.",
+    "With both arms, pick up the bottle with rounded neck, then the smooth bottle with rounded edges.",
+    "Pick up both the bottle with white printed label and the medium rectangular yellow bottle together.",
+    "Use both arms to pick up the green bottle with indented base and the yellow bottle with a green design.",
+    "Grab the green bottle with indented base, pick up the bottle with green label.",
+    "Catch the handheld green bottle, then take hold of the plastic bottle.",
+    "Pick up the bottle with rounded neck, then pick up the bottle with a smooth plastic body.",
+    "Pick both the bottle with white printed label and the yellow bottle one after another.",
+    "Collect the bottle with narrow top, then pick up the plastic bottle.",
+    "One arm grabs the medium green bottle with capped neck; the other arm grabs the bottle with green and white labels.",
+    "Catch both the handheld green bottle and the bottle with white cap quickly.",
+    "Lift both the smooth green plastic bottle and the smooth bottle with rounded edges simultaneously.",
+    "Assign one arm to catch the green bottle with indented base, one for the bottle with green label.",
+    "Use one arm for the bottle with white printed label, the other for the plastic bottle.",
+    "Grab the bottle with white printed label with one arm, the smooth bottle with rounded edges with the other.",
+    "Take hold of the medium-sized green bottle and the bottle with green label.",
+    "Pick up both the bottle with narrow top and the bottle with green and white labels.",
+    "Lift the smooth green plastic bottle, continue and pick up the bottle with green and white labels.",
+    "Grab the handheld green bottle and pick up the plastic bottle.",
+    "Use one arm for the green bottle with indented base, another for the yellow bottle.",
+    "Hold onto the smooth green plastic bottle and then get the rectangular bottle with cylindrical neck.",
+    "Hold the bottle with rounded neck in one arm, the bottle with white cap in the other.",
+    "Secure the medium-sized green bottle, then secure the yellow container with rounded edges.",
+    "Pick up the green bottle with indented base and then pick up the rectangular bottle with cylindrical neck.",
+    "Catch the bottle with white printed label with one arm, the bottle with green and white labels with another arm.",
+    "Use one arm for the medium-sized green bottle and the other for the yellow bottle.",
+    "Grab the handheld green bottle using an arm and the bottle with green label with the other arm.",
+    "Catch the plastic bottle, then grab the rectangular bottle with cylindrical neck too.",
+    "Hold the bottle with rounded neck in one arm, catch the yellow bottle with a green design with the other arm."
+  ],
+  "unseen": [
+    "Lift the green bottle with white label using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Use each arm to lift a bottle: the green bottle with white label, then the yellow bottle for liquid storage.",
+    "Use each arm to grab the green bottle and the yellow bottle for liquid storage.",
+    "Pick up both the green bottle and the hand-sized yellow plastic bottle together.",
+    "Pick up the green bottle with white label with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the green bottle with white label and grab the hand-sized yellow plastic bottle at once.",
+    "Pick up the green bottle and take the yellow rectangular bottle together.",
+    "Grab the green bottle with white label with one arm, grab the yellow rectangular bottle with the other.",
+    "Grab the green bottle with white label and the yellow rectangular bottle at the same time.",
+    "Pick up the green bottle and the yellow bottle for liquid storage together.",
+    "Lift the green bottle with white label using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Use each arm to lift a bottle: the green bottle, then the hand-sized yellow plastic bottle.",
+    "Use each arm to grab the green bottle and the yellow rectangular bottle.",
+    "Pick up both the green bottle with white label and the yellow bottle for liquid storage together.",
+    "Pick up the green plastic bottle with ridged bottom with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the green bottle with white label and grab the hand-sized yellow plastic bottle at once.",
+    "Pick up the green bottle and take the yellow bottle for liquid storage together.",
+    "Grab the green plastic bottle with ridged bottom with one arm, grab the yellow rectangular bottle with the other.",
+    "Grab the green bottle with white label and the yellow rectangular bottle at the same time.",
+    "Pick up the green bottle with white label and the hand-sized yellow plastic bottle together.",
+    "Lift the green bottle using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Use each arm to lift a bottle: the green bottle with white label, then the hand-sized yellow plastic bottle.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the yellow rectangular bottle.",
+    "Pick up both the green bottle with white label and the yellow bottle for liquid storage together.",
+    "Pick up the green bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Grab the green bottle with white label and grab the yellow bottle for liquid storage at once.",
+    "Pick up the green plastic bottle with ridged bottom and take the hand-sized yellow plastic bottle together.",
+    "Grab the green bottle with white label with one arm, grab the yellow rectangular bottle with the other.",
+    "Grab the green bottle with white label and the yellow bottle for liquid storage at the same time.",
+    "Pick up the green bottle and the yellow bottle for liquid storage together.",
+    "Lift the green bottle using one arm and lift the yellow rectangular bottle using the other.",
+    "Use each arm to lift a bottle: the green bottle, then the hand-sized yellow plastic bottle.",
+    "Use each arm to grab the green bottle and the hand-sized yellow plastic bottle.",
+    "Pick up both the green bottle and the yellow rectangular bottle together.",
+    "Pick up the green bottle with white label with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the green plastic bottle with ridged bottom and grab the yellow rectangular bottle at once.",
+    "Pick up the green bottle and take the hand-sized yellow plastic bottle together.",
+    "Grab the green bottle with white label with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the green bottle and the hand-sized yellow plastic bottle at the same time.",
+    "Pick up the green bottle with white label and the yellow rectangular bottle together.",
+    "Lift the green bottle with white label using one arm and lift the yellow rectangular bottle using the other.",
+    "Use each arm to lift a bottle: the green plastic bottle with ridged bottom, then the hand-sized yellow plastic bottle.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the hand-sized yellow plastic bottle.",
+    "Pick up both the green bottle and the yellow bottle for liquid storage together.",
+    "Pick up the green bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the green bottle with white label and grab the hand-sized yellow plastic bottle at once.",
+    "Pick up the green plastic bottle with ridged bottom and take the yellow bottle for liquid storage together.",
+    "Grab the green bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Grab the green plastic bottle with ridged bottom and the yellow rectangular bottle at the same time.",
+    "Pick up the green bottle and the yellow bottle for liquid storage together.",
+    "Lift the green bottle using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Use each arm to lift a bottle: the green bottle with white label, then the yellow bottle for liquid storage.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the yellow bottle for liquid storage.",
+    "Pick up both the green bottle with white label and the yellow rectangular bottle together.",
+    "Pick up the green bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Grab the green bottle with white label and grab the hand-sized yellow plastic bottle at once.",
+    "Pick up the green bottle with white label and take the hand-sized yellow plastic bottle together.",
+    "Grab the green bottle with white label with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the green bottle and the yellow bottle for liquid storage at the same time.",
+    "Pick up the green plastic bottle with ridged bottom and the yellow rectangular bottle together.",
+    "Lift the green bottle using one arm and lift the yellow rectangular bottle using the other.",
+    "Use each arm to lift a bottle: the green bottle with white label, then the hand-sized yellow plastic bottle.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the hand-sized yellow plastic bottle.",
+    "Pick up both the green bottle with white label and the hand-sized yellow plastic bottle together.",
+    "Pick up the green bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Grab the green bottle with white label and grab the yellow rectangular bottle at once.",
+    "Pick up the green plastic bottle with ridged bottom and take the yellow bottle for liquid storage together.",
+    "Grab the green plastic bottle with ridged bottom with one arm, grab the yellow rectangular bottle with the other.",
+    "Grab the green plastic bottle with ridged bottom and the yellow rectangular bottle at the same time.",
+    "Pick up the green bottle with white label and the yellow rectangular bottle together.",
+    "Lift the green bottle with white label using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Use each arm to lift a bottle: the green bottle, then the yellow rectangular bottle.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the yellow bottle for liquid storage.",
+    "Pick up both the green bottle with white label and the yellow rectangular bottle together.",
+    "Pick up the green plastic bottle with ridged bottom with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Grab the green bottle and grab the yellow bottle for liquid storage at once.",
+    "Pick up the green bottle with white label and take the hand-sized yellow plastic bottle together.",
+    "Grab the green bottle with white label with one arm, grab the yellow rectangular bottle with the other.",
+    "Grab the green plastic bottle with ridged bottom and the hand-sized yellow plastic bottle at the same time.",
+    "Pick up the green plastic bottle with ridged bottom and the yellow rectangular bottle together.",
+    "Lift the green bottle using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Use each arm to lift a bottle: the green plastic bottle with ridged bottom, then the yellow bottle for liquid storage.",
+    "Use each arm to grab the green bottle and the hand-sized yellow plastic bottle.",
+    "Pick up both the green plastic bottle with ridged bottom and the hand-sized yellow plastic bottle together.",
+    "Pick up the green bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the green bottle with white label and grab the hand-sized yellow plastic bottle at once.",
+    "Pick up the green bottle and take the yellow rectangular bottle together.",
+    "Grab the green plastic bottle with ridged bottom with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Grab the green bottle with white label and the yellow bottle for liquid storage at the same time.",
+    "Pick up the green plastic bottle with ridged bottom and the hand-sized yellow plastic bottle together.",
+    "Lift the green bottle using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Use each arm to lift a bottle: the green bottle, then the yellow bottle for liquid storage.",
+    "Use each arm to grab the green bottle with white label and the yellow rectangular bottle.",
+    "Pick up both the green bottle and the yellow rectangular bottle together.",
+    "Pick up the green bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the green bottle and grab the hand-sized yellow plastic bottle at once.",
+    "Pick up the green bottle with white label and take the yellow bottle for liquid storage together.",
+    "Grab the green bottle with white label with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the green plastic bottle with ridged bottom and the yellow rectangular bottle at the same time.",
+    "Pick up the green bottle with white label and the yellow bottle for liquid storage together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001031.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch both the cylindrical bottle with white label and the medium bottle with colorful label quickly.",
+    "Hold the smooth plastic bottle for beverages in one arm, catch the round-bottom bottle with white cap with the other arm.",
+    "Let each arm grab either the bottle with tapered cylindrical shape or the medium bottle with colorful label.",
+    "Use both arms to pick up the brown bottle with green screw-on cap and the smooth orange bottle.",
+    "Pick up the brown bottle, then pick up the curved orange soda bottle.",
+    "Catch the small drink bottle with logo with one arm, the cylindrical orange plastic bottle with another arm.",
+    "Lift both bottles, the hand-sized bottle with grooves with one arm, the round-bottom bottle with white cap with the other.",
+    "With two arms, catch both the green-capped bottle and the bottle for holding drinks.",
+    "Pick up both the brown bottle and the plastic bottle.",
+    "Grab the bottle with green cap with one arm, the smooth orange bottle with the other.",
+    "Use each arm to lift the brown bottle with white printed label and the orange drink bottle with label.",
+    "Secure both the hand-sized bottle with grooves and the smooth orange bottle quickly.",
+    "Pick both the brown bottle and the bottle for holding drinks one after another.",
+    "Take hold of the cylindrical bottle with white label and the ridged orange bottle with grooves.",
+    "Assign one arm to catch the plastic bottle with ribbed pattern, one for the ridged orange bottle with grooves.",
+    "Grasp the hand-sized bottle with grooves first, then take the orange drink bottle with label.",
+    "Hold the plastic bottle with ribbed pattern in one arm, the cylindrical orange plastic bottle in the other.",
+    "Secure the bottle with green cap, then secure the plastic bottle.",
+    "Use both arms to lift the cylindrical bottle with white label and the ridged orange bottle with grooves.",
+    "Grab the bottle with tapered cylindrical shape with one arm, the orange bottle with the other.",
+    "Assign one arm to each of the bottle with tapered cylindrical shape and the grooved orange drink bottle.",
+    "Catch the cylindrical bottle with white label, then catch the bottle for holding drinks.",
+    "Each arm should pick up one: the smooth plastic bottle for beverages, then the smooth orange bottle.",
+    "Hold the brown bottle with green screw-on cap with one arm, hold the ridged orange bottle with grooves with the other.",
+    "Grab the green-capped bottle and pick up the bottle for holding drinks.",
+    "Use one arm for the bottle with tapered cylindrical shape, another for the orange bottle.",
+    "Use both arms to pick up the smooth plastic bottle for beverages and the orange bottle.",
+    "Hold both the brown bottle with white printed label and the smooth orange bottle.",
+    "Lift the hand-sized bottle with grooves and also take hold of the bottle for holding drinks.",
+    "Use one arm for the plastic bottle with ribbed pattern and the other for the plastic bottle.",
+    "Pick up the small drink bottle with logo and then pick up the medium bottle with colorful label.",
+    "Grab the small brown plastic bottle, pick up the cylindrical orange plastic bottle.",
+    "Grab and hold the green-capped bottle, then grab the orange drink bottle with label.",
+    "Lift the plastic bottle with ribbed pattern, continue and pick up the ridged orange bottle with grooves.",
+    "Catch the bottle with tapered cylindrical shape, then grab the ridged orange bottle with grooves too.",
+    "Catch the smooth plastic bottle for beverages, grab the bottle for holding drinks next.",
+    "Lift both the brown bottle with white printed label and the curved orange soda bottle simultaneously.",
+    "Collect the hand-sized bottle with grooves, then pick up the grooved orange drink bottle.",
+    "Catch the green-capped bottle, then take hold of the ridged orange bottle with grooves.",
+    "Grab the cylindrical bottle with white label using one arm and the plastic bottle using the other.",
+    "Catch the hand-sized bottle with grooves in one arm and the bottle for holding drinks in the other arm.",
+    "Hold onto the bottle with green cap and then get the grooved orange drink bottle.",
+    "Pick up both the brown bottle with white printed label and the smooth orange bottle together.",
+    "Secure the smooth plastic bottle for beverages and the plastic bottle in succession.",
+    "Lift the brown bottle with white printed label and the orange drink bottle with label with separate arms.",
+    "Use one arm for the small brown plastic bottle, the other for the cylindrical orange plastic bottle.",
+    "One arm grabs the small drink bottle with logo; the other arm grabs the orange bottle.",
+    "Hold onto the bottle with tapered cylindrical shape, then pick up the smooth orange bottle.",
+    "Grab the bottle with green cap using an arm and the bottle for holding drinks with the other arm.",
+    "With both arms, pick up the plastic bottle with ribbed pattern, then the round-bottom bottle with white cap.",
+    "Catch both the green-capped bottle and the curved orange soda bottle quickly.",
+    "Hold the cylindrical bottle with white label in one arm, catch the orange drink bottle with label with the other arm.",
+    "Let each arm grab either the cylindrical bottle with white label or the smooth orange bottle.",
+    "Use both arms to pick up the small drink bottle with logo and the bottle for holding drinks.",
+    "Pick up the brown bottle with green screw-on cap, then pick up the bottle for holding drinks.",
+    "Catch the small brown plastic bottle with one arm, the round-bottom bottle with white cap with another arm.",
+    "Lift both bottles, the brown bottle with white printed label with one arm, the orange bottle with the other.",
+    "With two arms, catch both the cylindrical bottle with white label and the grooved orange drink bottle.",
+    "Pick up both the small drink bottle with logo and the grooved orange drink bottle.",
+    "Grab the small brown plastic bottle with one arm, the orange bottle with the other.",
+    "Use each arm to lift the brown bottle and the bottle for holding drinks.",
+    "Secure both the small brown plastic bottle and the medium bottle with colorful label quickly.",
+    "Pick both the plastic bottle with ribbed pattern and the cylindrical orange plastic bottle one after another.",
+    "Take hold of the brown bottle with green screw-on cap and the light and medium-sized bottle.",
+    "Assign one arm to catch the small brown plastic bottle, one for the bottle for holding drinks.",
+    "Grasp the plastic bottle with ribbed pattern first, then take the bottle for holding drinks.",
+    "Hold the hand-sized bottle with grooves in one arm, the medium bottle with colorful label in the other.",
+    "Secure the green-capped bottle, then secure the ridged orange bottle with grooves.",
+    "Use both arms to lift the smooth plastic bottle for beverages and the grooved orange drink bottle.",
+    "Grab the green-capped bottle with one arm, the medium bottle with colorful label with the other.",
+    "Assign one arm to each of the cylindrical bottle with white label and the light and medium-sized bottle.",
+    "Catch the small brown plastic bottle, then catch the light and medium-sized bottle.",
+    "Each arm should pick up one: the brown bottle with green screw-on cap, then the orange bottle.",
+    "Hold the cylindrical bottle with white label with one arm, hold the smooth orange bottle with the other.",
+    "Grab the hand-sized bottle with grooves and pick up the round-bottom bottle with white cap.",
+    "Use one arm for the small drink bottle with logo, another for the smooth orange bottle.",
+    "Use both arms to pick up the green-capped bottle and the light and medium-sized bottle.",
+    "Hold both the bottle with green cap and the plastic bottle.",
+    "Lift the cylindrical bottle with white label and also take hold of the orange drink bottle with label.",
+    "Use one arm for the smooth plastic bottle for beverages and the other for the orange drink bottle with label.",
+    "Pick up the small brown plastic bottle and then pick up the cylindrical orange plastic bottle.",
+    "Grab the bottle with green cap, pick up the curved orange soda bottle.",
+    "Grab and hold the bottle with green cap, then grab the round-bottom bottle with white cap.",
+    "Lift the hand-sized bottle with grooves, continue and pick up the curved orange soda bottle.",
+    "Catch the bottle with tapered cylindrical shape, then grab the orange drink bottle with label too.",
+    "Catch the plastic bottle with ribbed pattern, grab the medium bottle with colorful label next.",
+    "Lift both the cylindrical bottle with white label and the grooved orange drink bottle simultaneously.",
+    "Collect the smooth plastic bottle for beverages, then pick up the smooth orange bottle.",
+    "Catch the cylindrical bottle with white label, then take hold of the ridged orange bottle with grooves.",
+    "Grab the brown bottle using one arm and the grooved orange drink bottle using the other.",
+    "Catch the hand-sized bottle with grooves in one arm and the orange bottle in the other arm.",
+    "Hold onto the cylindrical bottle with white label and then get the bottle for holding drinks.",
+    "Pick up both the small drink bottle with logo and the bottle for holding drinks together.",
+    "Secure the cylindrical bottle with white label and the plastic bottle in succession.",
+    "Lift the smooth plastic bottle for beverages and the light and medium-sized bottle with separate arms.",
+    "Use one arm for the bottle with green cap, the other for the smooth orange bottle.",
+    "One arm grabs the cylindrical bottle with white label; the other arm grabs the round-bottom bottle with white cap.",
+    "Hold onto the smooth plastic bottle for beverages, then pick up the bottle for holding drinks.",
+    "Grab the cylindrical bottle with white label using an arm and the cylindrical orange plastic bottle with the other arm.",
+    "With both arms, pick up the brown bottle, then the light and medium-sized bottle."
+  ],
+  "unseen": [
+    "Grab the plastic Starbucks bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Lift the bottle with Starbucks logo on label using one arm and lift the bottle with white cap using the other.",
+    "Grab the bottle with coffee-colored body and the bottle with ridged orange grip at the same time.",
+    "Pick up the plastic Starbucks bottle and the bottle with ridged orange grip together.",
+    "Grab the bottle with coffee-colored body and grab the bottle with ridged orange grip at once.",
+    "Use each arm to grab the plastic Starbucks bottle and the bottle with white cap.",
+    "Pick up the bottle with Starbucks logo on label and take the bottle with white cap together.",
+    "Use each arm to lift a bottle: the plastic Starbucks bottle, then the bottle with ridged orange grip.",
+    "Pick up both the bottle with Starbucks logo on label and the bottle with ridged orange grip together.",
+    "Pick up the bottle with coffee-colored body with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the bottle with Starbucks logo on label with one arm, grab the bottle with white cap with the other.",
+    "Lift the plastic Starbucks bottle using one arm and lift the bottle with white cap using the other.",
+    "Grab the bottle with coffee-colored body and the bottle with ridged orange grip at the same time.",
+    "Pick up the plastic Starbucks bottle and the white capped orange plastic bottle together.",
+    "Grab the plastic Starbucks bottle and grab the bottle with ridged orange grip at once.",
+    "Use each arm to grab the plastic Starbucks bottle and the bottle with ridged orange grip.",
+    "Pick up the plastic Starbucks bottle and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the plastic Starbucks bottle, then the white capped orange plastic bottle.",
+    "Pick up both the plastic Starbucks bottle and the bottle with ridged orange grip together.",
+    "Pick up the plastic Starbucks bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the plastic Starbucks bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Lift the plastic Starbucks bottle using one arm and lift the bottle with white cap using the other.",
+    "Grab the plastic Starbucks bottle and the white capped orange plastic bottle at the same time.",
+    "Pick up the bottle with Starbucks logo on label and the bottle with ridged orange grip together.",
+    "Grab the bottle with Starbucks logo on label and grab the bottle with white cap at once.",
+    "Use each arm to grab the bottle with coffee-colored body and the bottle with ridged orange grip.",
+    "Pick up the bottle with coffee-colored body and take the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the plastic Starbucks bottle, then the bottle with ridged orange grip.",
+    "Pick up both the bottle with coffee-colored body and the white capped orange plastic bottle together.",
+    "Pick up the bottle with Starbucks logo on label with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the plastic Starbucks bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Lift the bottle with coffee-colored body using one arm and lift the bottle with white cap using the other.",
+    "Grab the bottle with Starbucks logo on label and the white capped orange plastic bottle at the same time.",
+    "Pick up the plastic Starbucks bottle and the bottle with white cap together.",
+    "Grab the plastic Starbucks bottle and grab the bottle with white cap at once.",
+    "Use each arm to grab the bottle with coffee-colored body and the white capped orange plastic bottle.",
+    "Pick up the plastic Starbucks bottle and take the bottle with white cap together.",
+    "Use each arm to lift a bottle: the bottle with Starbucks logo on label, then the bottle with white cap.",
+    "Pick up both the bottle with coffee-colored body and the bottle with white cap together.",
+    "Pick up the bottle with coffee-colored body with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the plastic Starbucks bottle with one arm, grab the bottle with white cap with the other.",
+    "Lift the bottle with coffee-colored body using one arm and lift the bottle with white cap using the other.",
+    "Grab the plastic Starbucks bottle and the bottle with white cap at the same time.",
+    "Pick up the plastic Starbucks bottle and the bottle with ridged orange grip together.",
+    "Grab the bottle with Starbucks logo on label and grab the bottle with white cap at once.",
+    "Use each arm to grab the bottle with coffee-colored body and the white capped orange plastic bottle.",
+    "Pick up the plastic Starbucks bottle and take the bottle with white cap together.",
+    "Use each arm to lift a bottle: the plastic Starbucks bottle, then the white capped orange plastic bottle.",
+    "Pick up both the plastic Starbucks bottle and the bottle with white cap together.",
+    "Pick up the plastic Starbucks bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the bottle with coffee-colored body with one arm, grab the bottle with white cap with the other.",
+    "Lift the bottle with coffee-colored body using one arm and lift the white capped orange plastic bottle using the other.",
+    "Grab the plastic Starbucks bottle and the bottle with ridged orange grip at the same time.",
+    "Pick up the bottle with coffee-colored body and the bottle with ridged orange grip together.",
+    "Grab the plastic Starbucks bottle and grab the bottle with white cap at once.",
+    "Use each arm to grab the bottle with coffee-colored body and the white capped orange plastic bottle.",
+    "Pick up the plastic Starbucks bottle and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the bottle with Starbucks logo on label, then the bottle with ridged orange grip.",
+    "Pick up both the bottle with coffee-colored body and the white capped orange plastic bottle together.",
+    "Pick up the bottle with Starbucks logo on label with one arm, grab the bottle with white cap with the other.",
+    "Grab the plastic Starbucks bottle with one arm, grab the bottle with white cap with the other.",
+    "Lift the plastic Starbucks bottle using one arm and lift the bottle with white cap using the other.",
+    "Grab the bottle with Starbucks logo on label and the bottle with white cap at the same time.",
+    "Pick up the plastic Starbucks bottle and the bottle with white cap together.",
+    "Grab the bottle with Starbucks logo on label and grab the bottle with white cap at once.",
+    "Use each arm to grab the bottle with coffee-colored body and the white capped orange plastic bottle.",
+    "Pick up the bottle with Starbucks logo on label and take the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the bottle with coffee-colored body, then the white capped orange plastic bottle.",
+    "Pick up both the bottle with Starbucks logo on label and the white capped orange plastic bottle together.",
+    "Pick up the plastic Starbucks bottle with one arm, grab the bottle with white cap with the other.",
+    "Grab the bottle with Starbucks logo on label with one arm, grab the bottle with ridged orange grip with the other.",
+    "Lift the plastic Starbucks bottle using one arm and lift the bottle with ridged orange grip using the other.",
+    "Grab the bottle with coffee-colored body and the white capped orange plastic bottle at the same time.",
+    "Pick up the bottle with Starbucks logo on label and the white capped orange plastic bottle together.",
+    "Grab the bottle with coffee-colored body and grab the bottle with ridged orange grip at once.",
+    "Use each arm to grab the bottle with coffee-colored body and the white capped orange plastic bottle.",
+    "Pick up the bottle with Starbucks logo on label and take the bottle with white cap together.",
+    "Use each arm to lift a bottle: the bottle with Starbucks logo on label, then the white capped orange plastic bottle.",
+    "Pick up both the bottle with Starbucks logo on label and the bottle with white cap together.",
+    "Pick up the bottle with coffee-colored body with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the bottle with coffee-colored body with one arm, grab the bottle with ridged orange grip with the other.",
+    "Lift the plastic Starbucks bottle using one arm and lift the white capped orange plastic bottle using the other.",
+    "Grab the bottle with coffee-colored body and the white capped orange plastic bottle at the same time.",
+    "Pick up the bottle with coffee-colored body and the white capped orange plastic bottle together.",
+    "Grab the bottle with Starbucks logo on label and grab the white capped orange plastic bottle at once.",
+    "Use each arm to grab the plastic Starbucks bottle and the bottle with white cap.",
+    "Pick up the plastic Starbucks bottle and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the bottle with coffee-colored body, then the bottle with white cap.",
+    "Pick up both the bottle with Starbucks logo on label and the white capped orange plastic bottle together.",
+    "Pick up the bottle with Starbucks logo on label with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the bottle with coffee-colored body with one arm, grab the bottle with ridged orange grip with the other.",
+    "Lift the plastic Starbucks bottle using one arm and lift the bottle with white cap using the other.",
+    "Grab the bottle with coffee-colored body and the white capped orange plastic bottle at the same time.",
+    "Pick up the bottle with coffee-colored body and the bottle with ridged orange grip together.",
+    "Grab the bottle with Starbucks logo on label and grab the white capped orange plastic bottle at once.",
+    "Use each arm to grab the bottle with coffee-colored body and the bottle with white cap.",
+    "Pick up the bottle with Starbucks logo on label and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the bottle with Starbucks logo on label, then the white capped orange plastic bottle.",
+    "Pick up both the plastic Starbucks bottle and the bottle with white cap together.",
+    "Pick up the bottle with Starbucks logo on label with one arm, grab the white capped orange plastic bottle with the other."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001036.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "One arm grabs the smooth brown bottle with green label; the other arm grabs the plastic bottle.",
+    "Catch the medium-sized brown plastic bottle, grab the orange bottle next.",
+    "Hold both the rectangular brown body with white top and the drinking bottle with yellow label.",
+    "Assign one arm to catch the smooth brown bottle with green label, one for the white and orange plastic bottle.",
+    "Pick up the bottle with green cap, then pick up the bottle with ribbed orange bottom.",
+    "Catch the medium-sized brown plastic bottle in one arm and the medium bottle with orange lid in the other arm.",
+    "Catch the dark brown bottle with a squared body, then grab the bottle with ribbed orange bottom too.",
+    "Collect the medium bottle with glossy surface, then pick up the plastic bottle.",
+    "Hold onto the medium-sized brown plastic bottle, then pick up the cylindrical orange and white bottle.",
+    "Lift the brown bottle with rounded rectangular shape, continue and pick up the white and orange plastic bottle.",
+    "Use one arm for the bottle with green cap, another for the cylindrical orange and white bottle.",
+    "Grab the medium bottle with glossy surface using one arm and the medium bottle with orange lid using the other.",
+    "Let each arm grab either the bottle with green cap or the smooth plastic bottle.",
+    "Catch the smooth brown bottle with green label with one arm, the drinking bottle with yellow label with another arm.",
+    "Use both arms to lift the brown bottle and the cylindrical orange and white bottle.",
+    "Lift the smooth plastic bottle with white cap and also take hold of the bottle with orange cap.",
+    "Hold onto the smooth brown bottle with green label and then get the drinking bottle with yellow label.",
+    "Grab the rectangular brown body with white top using an arm and the orange bottle with the other arm.",
+    "Secure the dark brown bottle with a squared body and the white and orange plastic bottle in succession.",
+    "Each arm should pick up one: the rectangular-shaped bottle with round cap, then the cylindrical orange and white bottle.",
+    "Use both arms to pick up the rectangular-shaped bottle with round cap and the medium orange bottle.",
+    "Take hold of the smooth brown bottle with green label and the drinking bottle with yellow label.",
+    "Use one arm for the rectangular-shaped bottle with round cap, the other for the medium orange bottle.",
+    "Hold the smooth brown bottle with green label in one arm, catch the plastic bottle with the other arm.",
+    "Grab the medium bottle with glossy surface with one arm, the plastic bottle with the other.",
+    "Secure both the dark brown bottle with a squared body and the white and orange plastic bottle quickly.",
+    "Lift the medium-sized brown plastic bottle and the medium bottle with orange lid with separate arms.",
+    "Catch the bottle with flat sides and logo, then take hold of the cylindrical orange and white bottle.",
+    "Pick up the bottle with green cap and then pick up the bottle with ribbed orange bottom.",
+    "Pick up both the smooth brown bottle with green label and the medium bottle with orange lid.",
+    "Grab and hold the bottle with green cap, then grab the smooth plastic bottle.",
+    "Lift both bottles, the rectangular brown body with white top with one arm, the orange and white bottle with cap with the other.",
+    "Secure the brown bottle with rounded rectangular shape, then secure the orange and white bottle with cap.",
+    "Hold the dark brown bottle with a squared body with one arm, hold the orange and white bottle with cap with the other.",
+    "With both arms, pick up the brown bottle with rounded rectangular shape, then the yellow label bottle.",
+    "Use one arm for the dark brown bottle with a squared body and the other for the cylindrical orange and white bottle.",
+    "Catch the dark brown bottle with a squared body, then catch the medium orange bottle.",
+    "Grab the rectangular brown body with white top, pick up the bottle with orange cap.",
+    "Grab the brown bottle with rounded rectangular shape and pick up the cylindrical orange and white bottle.",
+    "Use each arm to lift the smooth brown bottle with green label and the yellow label bottle.",
+    "Catch both the medium bottle with glossy surface and the yellow label bottle quickly.",
+    "Use both arms to pick up the rectangular-shaped bottle with round cap and the smooth plastic bottle.",
+    "With two arms, catch both the bottle with green cap and the orange and white bottle with cap.",
+    "Assign one arm to each of the plastic bottle and the white and orange plastic bottle.",
+    "Grab the medium bottle with glossy surface with one arm, the orange and white bottle with cap with the other.",
+    "Grasp the rectangular brown body with white top first, then take the white and orange plastic bottle.",
+    "Pick both the rectangular-shaped bottle with round cap and the bottle with ribbed orange bottom one after another.",
+    "Pick up both the plastic bottle and the smooth plastic bottle together.",
+    "Hold the smooth brown bottle with green label in one arm, the bottle with ribbed orange bottom in the other.",
+    "Lift both the plastic bottle and the orange bottle simultaneously.",
+    "One arm grabs the medium-sized brown plastic bottle; the other arm grabs the medium orange bottle.",
+    "Catch the plastic bottle, grab the drinking bottle with yellow label next.",
+    "Hold both the medium-sized brown plastic bottle and the yellow label bottle.",
+    "Assign one arm to catch the brown bottle, one for the yellow label bottle.",
+    "Pick up the smooth plastic bottle with white cap, then pick up the bottle with orange cap.",
+    "Catch the dark brown bottle with a squared body in one arm and the white and orange plastic bottle in the other arm.",
+    "Catch the medium-sized brown plastic bottle, then grab the plastic bottle too.",
+    "Collect the medium bottle with glossy surface, then pick up the white and orange plastic bottle.",
+    "Hold onto the bottle with green cap, then pick up the cylindrical orange and white bottle.",
+    "Lift the brown bottle with rounded rectangular shape, continue and pick up the orange bottle.",
+    "Use one arm for the medium-sized brown plastic bottle, another for the bottle with ribbed orange bottom.",
+    "Grab the medium-sized brown plastic bottle using one arm and the cylindrical orange and white bottle using the other.",
+    "Let each arm grab either the plastic bottle or the bottle with ribbed orange bottom.",
+    "Catch the brown bottle with one arm, the plastic bottle with another arm.",
+    "Use both arms to lift the rectangular-shaped bottle with round cap and the smooth plastic bottle.",
+    "Lift the medium bottle with glossy surface and also take hold of the medium bottle with orange lid.",
+    "Hold onto the smooth plastic bottle with white cap and then get the plastic bottle.",
+    "Grab the rectangular-shaped bottle with round cap using an arm and the plastic bottle with the other arm.",
+    "Secure the bottle with flat sides and logo and the smooth plastic bottle in succession.",
+    "Each arm should pick up one: the dark brown bottle with a squared body, then the medium bottle with orange lid.",
+    "Use both arms to pick up the bottle with flat sides and logo and the white and orange plastic bottle.",
+    "Take hold of the medium bottle with glossy surface and the white and orange plastic bottle.",
+    "Use one arm for the bottle with flat sides and logo, the other for the orange and white bottle with cap.",
+    "Hold the bottle with green cap in one arm, catch the orange and white bottle with cap with the other arm.",
+    "Grab the dark brown bottle with a squared body with one arm, the cylindrical orange and white bottle with the other.",
+    "Secure both the plastic bottle and the medium bottle with orange lid quickly.",
+    "Lift the rectangular brown body with white top and the orange bottle with separate arms.",
+    "Catch the smooth brown bottle with green label, then take hold of the smooth plastic bottle.",
+    "Pick up the plastic bottle and then pick up the medium bottle with orange lid.",
+    "Pick up both the dark brown bottle with a squared body and the orange bottle.",
+    "Grab and hold the medium-sized brown plastic bottle, then grab the orange bottle.",
+    "Lift both bottles, the dark brown bottle with a squared body with one arm, the smooth plastic bottle with the other.",
+    "Secure the smooth plastic bottle with white cap, then secure the medium bottle with orange lid.",
+    "Hold the smooth brown bottle with green label with one arm, hold the plastic bottle with the other.",
+    "With both arms, pick up the bottle with flat sides and logo, then the white and orange plastic bottle.",
+    "Use one arm for the smooth brown bottle with green label and the other for the yellow label bottle.",
+    "Catch the rectangular-shaped bottle with round cap, then catch the medium bottle with orange lid.",
+    "Grab the rectangular-shaped bottle with round cap, pick up the yellow label bottle.",
+    "Grab the dark brown bottle with a squared body and pick up the cylindrical orange and white bottle.",
+    "Use each arm to lift the smooth plastic bottle with white cap and the orange bottle.",
+    "Catch both the brown bottle with rounded rectangular shape and the yellow label bottle quickly.",
+    "Use both arms to pick up the medium bottle with glossy surface and the cylindrical orange and white bottle.",
+    "With two arms, catch both the rectangular brown body with white top and the bottle with ribbed orange bottom.",
+    "Assign one arm to each of the smooth plastic bottle with white cap and the white and orange plastic bottle.",
+    "Grab the bottle with green cap with one arm, the white and orange plastic bottle with the other.",
+    "Grasp the medium-sized brown plastic bottle first, then take the drinking bottle with yellow label.",
+    "Pick both the dark brown bottle with a squared body and the plastic bottle one after another.",
+    "Pick up both the rectangular-shaped bottle with round cap and the medium orange bottle together.",
+    "Hold the brown bottle in one arm, the medium orange bottle in the other.",
+    "Lift both the rectangular-shaped bottle with round cap and the bottle with ribbed orange bottom simultaneously."
+  ],
+  "unseen": [
+    "Pick up the bottle with green label and white lid and the bottle with yellow sticker label together.",
+    "Grab the medium-sized plastic bottle with capped top and the bottle with yellow sticker label at the same time.",
+    "Pick up both the medium-sized plastic bottle with capped top and the bottle with curved body together.",
+    "Use each arm to lift a bottle: the medium-sized plastic bottle with capped top, then the bottle with curved body.",
+    "Grab the medium-sized plastic bottle with capped top with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the curvy orange bottle with white section.",
+    "Pick up the bottle with green label and white lid and take the bottle with yellow sticker label together.",
+    "Grab the bottle with green label and white lid and grab the bottle with curved body at once.",
+    "Pick up the medium-sized plastic bottle with capped top with one arm, grab the curvy orange bottle with white section with the other.",
+    "Lift the medium-sized plastic bottle with capped top using one arm and lift the bottle with curved body using the other.",
+    "Pick up the medium-sized plastic bottle with capped top and the bottle with curved body together.",
+    "Grab the liquid container dark brown plastic and the bottle with curved body at the same time.",
+    "Pick up both the bottle with green label and white lid and the curvy orange bottle with white section together.",
+    "Use each arm to lift a bottle: the bottle with green label and white lid, then the bottle with curved body.",
+    "Grab the liquid container dark brown plastic with one arm, grab the curvy orange bottle with white section with the other.",
+    "Use each arm to grab the bottle with green label and white lid and the bottle with yellow sticker label.",
+    "Pick up the bottle with green label and white lid and take the bottle with curved body together.",
+    "Grab the bottle with green label and white lid and grab the bottle with curved body at once.",
+    "Pick up the bottle with green label and white lid with one arm, grab the curvy orange bottle with white section with the other.",
+    "Lift the bottle with green label and white lid using one arm and lift the bottle with curved body using the other.",
+    "Pick up the liquid container dark brown plastic and the curvy orange bottle with white section together.",
+    "Grab the bottle with green label and white lid and the bottle with yellow sticker label at the same time.",
+    "Pick up both the bottle with green label and white lid and the curvy orange bottle with white section together.",
+    "Use each arm to lift a bottle: the bottle with green label and white lid, then the curvy orange bottle with white section.",
+    "Grab the liquid container dark brown plastic with one arm, grab the curvy orange bottle with white section with the other.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the bottle with yellow sticker label.",
+    "Pick up the bottle with green label and white lid and take the bottle with yellow sticker label together.",
+    "Grab the bottle with green label and white lid and grab the bottle with curved body at once.",
+    "Pick up the medium-sized plastic bottle with capped top with one arm, grab the bottle with yellow sticker label with the other.",
+    "Lift the bottle with green label and white lid using one arm and lift the bottle with yellow sticker label using the other.",
+    "Pick up the medium-sized plastic bottle with capped top and the bottle with curved body together.",
+    "Grab the liquid container dark brown plastic and the bottle with curved body at the same time.",
+    "Pick up both the bottle with green label and white lid and the curvy orange bottle with white section together.",
+    "Use each arm to lift a bottle: the medium-sized plastic bottle with capped top, then the bottle with curved body.",
+    "Grab the bottle with green label and white lid with one arm, grab the bottle with yellow sticker label with the other.",
+    "Use each arm to grab the liquid container dark brown plastic and the curvy orange bottle with white section.",
+    "Pick up the liquid container dark brown plastic and take the bottle with yellow sticker label together.",
+    "Grab the bottle with green label and white lid and grab the bottle with curved body at once.",
+    "Pick up the medium-sized plastic bottle with capped top with one arm, grab the bottle with yellow sticker label with the other.",
+    "Lift the liquid container dark brown plastic using one arm and lift the curvy orange bottle with white section using the other.",
+    "Pick up the bottle with green label and white lid and the curvy orange bottle with white section together.",
+    "Grab the medium-sized plastic bottle with capped top and the bottle with yellow sticker label at the same time.",
+    "Pick up both the liquid container dark brown plastic and the bottle with curved body together.",
+    "Use each arm to lift a bottle: the medium-sized plastic bottle with capped top, then the bottle with yellow sticker label.",
+    "Grab the bottle with green label and white lid with one arm, grab the bottle with yellow sticker label with the other.",
+    "Use each arm to grab the bottle with green label and white lid and the bottle with curved body.",
+    "Pick up the bottle with green label and white lid and take the bottle with curved body together.",
+    "Grab the liquid container dark brown plastic and grab the curvy orange bottle with white section at once.",
+    "Pick up the bottle with green label and white lid with one arm, grab the bottle with curved body with the other.",
+    "Lift the liquid container dark brown plastic using one arm and lift the bottle with yellow sticker label using the other.",
+    "Pick up the bottle with green label and white lid and the bottle with curved body together.",
+    "Grab the liquid container dark brown plastic and the curvy orange bottle with white section at the same time.",
+    "Pick up both the liquid container dark brown plastic and the bottle with curved body together.",
+    "Use each arm to lift a bottle: the bottle with green label and white lid, then the bottle with curved body.",
+    "Grab the bottle with green label and white lid with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the bottle with curved body.",
+    "Pick up the liquid container dark brown plastic and take the bottle with curved body together.",
+    "Grab the bottle with green label and white lid and grab the bottle with curved body at once.",
+    "Pick up the medium-sized plastic bottle with capped top with one arm, grab the bottle with curved body with the other.",
+    "Lift the bottle with green label and white lid using one arm and lift the bottle with yellow sticker label using the other.",
+    "Pick up the medium-sized plastic bottle with capped top and the bottle with curved body together.",
+    "Grab the medium-sized plastic bottle with capped top and the bottle with yellow sticker label at the same time.",
+    "Pick up both the liquid container dark brown plastic and the bottle with yellow sticker label together.",
+    "Use each arm to lift a bottle: the liquid container dark brown plastic, then the curvy orange bottle with white section.",
+    "Grab the medium-sized plastic bottle with capped top with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to grab the bottle with green label and white lid and the bottle with curved body.",
+    "Pick up the liquid container dark brown plastic and take the bottle with yellow sticker label together.",
+    "Grab the bottle with green label and white lid and grab the bottle with yellow sticker label at once.",
+    "Pick up the medium-sized plastic bottle with capped top with one arm, grab the bottle with yellow sticker label with the other.",
+    "Lift the bottle with green label and white lid using one arm and lift the bottle with yellow sticker label using the other.",
+    "Pick up the medium-sized plastic bottle with capped top and the curvy orange bottle with white section together.",
+    "Grab the bottle with green label and white lid and the bottle with curved body at the same time.",
+    "Pick up both the liquid container dark brown plastic and the bottle with yellow sticker label together.",
+    "Use each arm to lift a bottle: the medium-sized plastic bottle with capped top, then the bottle with curved body.",
+    "Grab the liquid container dark brown plastic with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the bottle with yellow sticker label.",
+    "Pick up the medium-sized plastic bottle with capped top and take the curvy orange bottle with white section together.",
+    "Grab the liquid container dark brown plastic and grab the bottle with curved body at once.",
+    "Pick up the liquid container dark brown plastic with one arm, grab the bottle with curved body with the other.",
+    "Lift the liquid container dark brown plastic using one arm and lift the curvy orange bottle with white section using the other.",
+    "Pick up the bottle with green label and white lid and the bottle with yellow sticker label together.",
+    "Grab the liquid container dark brown plastic and the curvy orange bottle with white section at the same time.",
+    "Pick up both the bottle with green label and white lid and the curvy orange bottle with white section together.",
+    "Use each arm to lift a bottle: the medium-sized plastic bottle with capped top, then the bottle with curved body.",
+    "Grab the bottle with green label and white lid with one arm, grab the curvy orange bottle with white section with the other.",
+    "Use each arm to grab the bottle with green label and white lid and the bottle with curved body.",
+    "Pick up the medium-sized plastic bottle with capped top and take the bottle with yellow sticker label together.",
+    "Grab the liquid container dark brown plastic and grab the bottle with yellow sticker label at once.",
+    "Pick up the bottle with green label and white lid with one arm, grab the bottle with curved body with the other.",
+    "Lift the bottle with green label and white lid using one arm and lift the bottle with yellow sticker label using the other.",
+    "Pick up the bottle with green label and white lid and the bottle with yellow sticker label together.",
+    "Grab the liquid container dark brown plastic and the bottle with yellow sticker label at the same time.",
+    "Pick up both the medium-sized plastic bottle with capped top and the curvy orange bottle with white section together.",
+    "Use each arm to lift a bottle: the liquid container dark brown plastic, then the bottle with yellow sticker label.",
+    "Grab the medium-sized plastic bottle with capped top with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the curvy orange bottle with white section.",
+    "Pick up the medium-sized plastic bottle with capped top and take the bottle with yellow sticker label together.",
+    "Grab the bottle with green label and white lid and grab the curvy orange bottle with white section at once.",
+    "Pick up the liquid container dark brown plastic with one arm, grab the bottle with curved body with the other.",
+    "Lift the liquid container dark brown plastic using one arm and lift the bottle with yellow sticker label using the other."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001048.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to lift the bottle with flat sides and logo and the bottle for holding drinks.",
+    "Hold the brown bottle in one arm, catch the bottle for holding drinks with the other arm.",
+    "Lift the brown bottle and the curved orange soda bottle with separate arms.",
+    "Take hold of the medium bottle with glossy surface and the orange drink bottle with label.",
+    "Pick up both the bottle with green cap and the medium bottle with colorful label.",
+    "Grab the bottle with flat sides and logo and pick up the medium bottle with colorful label.",
+    "Catch both the medium bottle with glossy surface and the curved orange soda bottle quickly.",
+    "Hold onto the rectangular-shaped bottle with round cap and then get the smooth orange bottle.",
+    "Grab and hold the plastic bottle, then grab the plastic bottle.",
+    "Hold both the smooth plastic bottle with white cap and the grooved orange drink bottle.",
+    "Grab the medium-sized brown plastic bottle using one arm and the smooth orange bottle using the other.",
+    "Catch the medium bottle with glossy surface with one arm, the medium bottle with colorful label with another arm.",
+    "With two arms, catch both the medium-sized brown plastic bottle and the curved orange soda bottle.",
+    "Pick up both the smooth brown bottle with green label and the medium bottle with colorful label together.",
+    "Assign one arm to each of the brown bottle with rounded rectangular shape and the ridged orange bottle with grooves.",
+    "Use one arm for the smooth plastic bottle with white cap and the other for the smooth orange bottle.",
+    "Grab the rectangular-shaped bottle with round cap using an arm and the round-bottom bottle with white cap with the other arm.",
+    "Grab the bottle with green cap with one arm, the orange drink bottle with label with the other.",
+    "Pick both the dark brown bottle with a squared body and the round-bottom bottle with white cap one after another.",
+    "Use one arm for the rectangular-shaped bottle with round cap, another for the plastic bottle.",
+    "Grab the smooth plastic bottle with white cap, pick up the medium bottle with colorful label.",
+    "Grasp the smooth brown bottle with green label first, then take the light and medium-sized bottle.",
+    "Catch the medium bottle with glossy surface, grab the smooth orange bottle next.",
+    "Lift both the smooth brown bottle with green label and the round-bottom bottle with white cap simultaneously.",
+    "Hold the medium bottle with glossy surface with one arm, hold the ridged orange bottle with grooves with the other.",
+    "Pick up the dark brown bottle with a squared body, then pick up the plastic bottle.",
+    "Use one arm for the smooth plastic bottle with white cap, the other for the curved orange soda bottle.",
+    "Use each arm to lift the brown bottle with rounded rectangular shape and the medium bottle with colorful label.",
+    "Catch the smooth brown bottle with green label in one arm and the light and medium-sized bottle in the other arm.",
+    "Catch the medium-sized brown plastic bottle, then grab the medium bottle with colorful label too.",
+    "Use both arms to pick up the rectangular brown body with white top and the grooved orange drink bottle.",
+    "Let each arm grab either the medium-sized brown plastic bottle or the ridged orange bottle with grooves.",
+    "With both arms, pick up the smooth plastic bottle with white cap, then the medium bottle with colorful label.",
+    "Lift the rectangular-shaped bottle with round cap and also take hold of the curved orange soda bottle.",
+    "Assign one arm to catch the rectangular-shaped bottle with round cap, one for the ridged orange bottle with grooves.",
+    "Each arm should pick up one: the bottle with green cap, then the light and medium-sized bottle.",
+    "Lift both bottles, the medium bottle with glossy surface with one arm, the light and medium-sized bottle with the other.",
+    "Catch the rectangular brown body with white top, then catch the curved orange soda bottle.",
+    "Grab the brown bottle with rounded rectangular shape with one arm, the smooth orange bottle with the other.",
+    "Use both arms to pick up the brown bottle and the cylindrical orange plastic bottle.",
+    "Pick up the medium bottle with glossy surface and then pick up the cylindrical orange plastic bottle.",
+    "Secure the rectangular brown body with white top, then secure the round-bottom bottle with white cap.",
+    "Hold onto the medium bottle with glossy surface, then pick up the curved orange soda bottle.",
+    "Lift the smooth plastic bottle with white cap, continue and pick up the light and medium-sized bottle.",
+    "Secure the rectangular brown body with white top and the cylindrical orange plastic bottle in succession.",
+    "Hold the medium-sized brown plastic bottle in one arm, the cylindrical orange plastic bottle in the other.",
+    "One arm grabs the brown bottle; the other arm grabs the medium bottle with colorful label.",
+    "Catch the plastic bottle, then take hold of the orange drink bottle with label.",
+    "Collect the smooth plastic bottle with white cap, then pick up the light and medium-sized bottle.",
+    "Secure both the bottle with green cap and the cylindrical orange plastic bottle quickly.",
+    "Use both arms to lift the brown bottle and the plastic bottle.",
+    "Hold the dark brown bottle with a squared body in one arm, catch the grooved orange drink bottle with the other arm.",
+    "Lift the medium-sized brown plastic bottle and the light and medium-sized bottle with separate arms.",
+    "Take hold of the bottle with flat sides and logo and the orange bottle.",
+    "Pick up both the bottle with flat sides and logo and the light and medium-sized bottle.",
+    "Grab the rectangular brown body with white top and pick up the cylindrical orange plastic bottle.",
+    "Catch both the smooth brown bottle with green label and the plastic bottle quickly.",
+    "Hold onto the plastic bottle and then get the curved orange soda bottle.",
+    "Grab and hold the rectangular-shaped bottle with round cap, then grab the grooved orange drink bottle.",
+    "Hold both the brown bottle with rounded rectangular shape and the bottle for holding drinks.",
+    "Grab the brown bottle using one arm and the orange drink bottle with label using the other.",
+    "Catch the medium bottle with glossy surface with one arm, the curved orange soda bottle with another arm.",
+    "With two arms, catch both the medium bottle with glossy surface and the orange bottle.",
+    "Pick up both the bottle with green cap and the orange drink bottle with label together.",
+    "Assign one arm to each of the smooth brown bottle with green label and the orange bottle.",
+    "Use one arm for the medium bottle with glossy surface and the other for the light and medium-sized bottle.",
+    "Grab the medium bottle with glossy surface using an arm and the orange drink bottle with label with the other arm.",
+    "Grab the medium-sized brown plastic bottle with one arm, the bottle for holding drinks with the other.",
+    "Pick both the rectangular-shaped bottle with round cap and the plastic bottle one after another.",
+    "Use one arm for the medium bottle with glossy surface, another for the medium bottle with colorful label.",
+    "Grab the brown bottle with rounded rectangular shape, pick up the orange bottle.",
+    "Grasp the plastic bottle first, then take the orange drink bottle with label.",
+    "Catch the brown bottle, grab the orange drink bottle with label next.",
+    "Lift both the plastic bottle and the bottle for holding drinks simultaneously.",
+    "Hold the smooth plastic bottle with white cap with one arm, hold the smooth orange bottle with the other.",
+    "Pick up the bottle with green cap, then pick up the curved orange soda bottle.",
+    "Use one arm for the bottle with green cap, the other for the light and medium-sized bottle.",
+    "Use each arm to lift the dark brown bottle with a squared body and the medium bottle with colorful label.",
+    "Catch the medium bottle with glossy surface in one arm and the plastic bottle in the other arm.",
+    "Catch the plastic bottle, then grab the plastic bottle too.",
+    "Use both arms to pick up the medium-sized brown plastic bottle and the orange drink bottle with label.",
+    "Let each arm grab either the medium bottle with glossy surface or the curved orange soda bottle.",
+    "With both arms, pick up the bottle with green cap, then the cylindrical orange plastic bottle.",
+    "Lift the bottle with flat sides and logo and also take hold of the orange bottle.",
+    "Assign one arm to catch the plastic bottle, one for the plastic bottle.",
+    "Each arm should pick up one: the rectangular brown body with white top, then the curved orange soda bottle.",
+    "Lift both bottles, the dark brown bottle with a squared body with one arm, the medium bottle with colorful label with the other.",
+    "Catch the medium bottle with glossy surface, then catch the orange drink bottle with label.",
+    "Grab the brown bottle with one arm, the orange drink bottle with label with the other.",
+    "Use both arms to pick up the brown bottle with rounded rectangular shape and the light and medium-sized bottle.",
+    "Pick up the plastic bottle and then pick up the bottle for holding drinks.",
+    "Secure the plastic bottle, then secure the plastic bottle.",
+    "Hold onto the plastic bottle, then pick up the ridged orange bottle with grooves.",
+    "Lift the smooth brown bottle with green label, continue and pick up the curved orange soda bottle.",
+    "Secure the rectangular brown body with white top and the curved orange soda bottle in succession.",
+    "Hold the bottle with green cap in one arm, the smooth orange bottle in the other.",
+    "One arm grabs the plastic bottle; the other arm grabs the medium bottle with colorful label.",
+    "Catch the dark brown bottle with a squared body, then take hold of the medium bottle with colorful label.",
+    "Collect the medium bottle with glossy surface, then pick up the cylindrical orange plastic bottle.",
+    "Secure both the plastic bottle and the grooved orange drink bottle quickly."
+  ],
+  "unseen": [
+    "Pick up the medium-sized plastic bottle with capped top with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the liquid container dark brown plastic and the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the liquid container dark brown plastic, then the bottle with ridged orange grip.",
+    "Lift the medium-sized plastic bottle with capped top using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the medium-sized plastic bottle with capped top and take the white capped orange plastic bottle together.",
+    "Use each arm to grab the liquid container dark brown plastic and the white capped orange plastic bottle.",
+    "Grab the bottle with green label and white lid and the bottle with ridged orange grip at the same time.",
+    "Grab the liquid container dark brown plastic and grab the bottle with ridged orange grip at once.",
+    "Pick up both the bottle with green label and white lid and the white capped orange plastic bottle together.",
+    "Grab the medium-sized plastic bottle with capped top with one arm, grab the bottle with white cap with the other.",
+    "Pick up the bottle with green label and white lid with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the medium-sized plastic bottle with capped top and the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the medium-sized plastic bottle with capped top, then the white capped orange plastic bottle.",
+    "Lift the medium-sized plastic bottle with capped top using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the medium-sized plastic bottle with capped top and take the bottle with white cap together.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the bottle with white cap.",
+    "Grab the medium-sized plastic bottle with capped top and the white capped orange plastic bottle at the same time.",
+    "Grab the bottle with green label and white lid and grab the bottle with white cap at once.",
+    "Pick up both the liquid container dark brown plastic and the bottle with white cap together.",
+    "Grab the medium-sized plastic bottle with capped top with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the bottle with green label and white lid with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the liquid container dark brown plastic and the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the liquid container dark brown plastic, then the bottle with white cap.",
+    "Lift the medium-sized plastic bottle with capped top using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the medium-sized plastic bottle with capped top and take the bottle with white cap together.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the white capped orange plastic bottle.",
+    "Grab the liquid container dark brown plastic and the bottle with white cap at the same time.",
+    "Grab the medium-sized plastic bottle with capped top and grab the bottle with white cap at once.",
+    "Pick up both the bottle with green label and white lid and the bottle with ridged orange grip together.",
+    "Grab the medium-sized plastic bottle with capped top with one arm, grab the bottle with white cap with the other.",
+    "Pick up the bottle with green label and white lid with one arm, grab the bottle with white cap with the other.",
+    "Pick up the bottle with green label and white lid and the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the medium-sized plastic bottle with capped top, then the bottle with ridged orange grip.",
+    "Lift the bottle with green label and white lid using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the liquid container dark brown plastic and take the white capped orange plastic bottle together.",
+    "Use each arm to grab the liquid container dark brown plastic and the bottle with ridged orange grip.",
+    "Grab the liquid container dark brown plastic and the white capped orange plastic bottle at the same time.",
+    "Grab the bottle with green label and white lid and grab the bottle with white cap at once.",
+    "Pick up both the medium-sized plastic bottle with capped top and the bottle with ridged orange grip together.",
+    "Grab the bottle with green label and white lid with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the liquid container dark brown plastic with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the liquid container dark brown plastic and the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the bottle with green label and white lid, then the white capped orange plastic bottle.",
+    "Lift the medium-sized plastic bottle with capped top using one arm and lift the bottle with white cap using the other.",
+    "Pick up the bottle with green label and white lid and take the bottle with white cap together.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the bottle with ridged orange grip.",
+    "Grab the medium-sized plastic bottle with capped top and the bottle with white cap at the same time.",
+    "Grab the bottle with green label and white lid and grab the bottle with ridged orange grip at once.",
+    "Pick up both the liquid container dark brown plastic and the bottle with white cap together.",
+    "Grab the bottle with green label and white lid with one arm, grab the bottle with white cap with the other.",
+    "Pick up the medium-sized plastic bottle with capped top with one arm, grab the bottle with white cap with the other.",
+    "Pick up the medium-sized plastic bottle with capped top and the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the liquid container dark brown plastic, then the white capped orange plastic bottle.",
+    "Lift the liquid container dark brown plastic using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the liquid container dark brown plastic and take the white capped orange plastic bottle together.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the bottle with white cap.",
+    "Grab the bottle with green label and white lid and the white capped orange plastic bottle at the same time.",
+    "Grab the liquid container dark brown plastic and grab the bottle with ridged orange grip at once.",
+    "Pick up both the bottle with green label and white lid and the bottle with ridged orange grip together.",
+    "Grab the bottle with green label and white lid with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the bottle with green label and white lid with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the bottle with green label and white lid and the bottle with white cap together.",
+    "Use each arm to lift a bottle: the liquid container dark brown plastic, then the bottle with ridged orange grip.",
+    "Lift the medium-sized plastic bottle with capped top using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the medium-sized plastic bottle with capped top and take the white capped orange plastic bottle together.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the white capped orange plastic bottle.",
+    "Grab the medium-sized plastic bottle with capped top and the white capped orange plastic bottle at the same time.",
+    "Grab the bottle with green label and white lid and grab the white capped orange plastic bottle at once.",
+    "Pick up both the bottle with green label and white lid and the bottle with white cap together.",
+    "Grab the medium-sized plastic bottle with capped top with one arm, grab the bottle with white cap with the other.",
+    "Pick up the medium-sized plastic bottle with capped top with one arm, grab the bottle with white cap with the other.",
+    "Pick up the medium-sized plastic bottle with capped top and the bottle with white cap together.",
+    "Use each arm to lift a bottle: the liquid container dark brown plastic, then the bottle with ridged orange grip.",
+    "Lift the bottle with green label and white lid using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the liquid container dark brown plastic and take the bottle with ridged orange grip together.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the white capped orange plastic bottle.",
+    "Grab the liquid container dark brown plastic and the white capped orange plastic bottle at the same time.",
+    "Grab the bottle with green label and white lid and grab the bottle with ridged orange grip at once.",
+    "Pick up both the liquid container dark brown plastic and the white capped orange plastic bottle together.",
+    "Grab the liquid container dark brown plastic with one arm, grab the bottle with white cap with the other.",
+    "Pick up the liquid container dark brown plastic with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the bottle with green label and white lid and the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the bottle with green label and white lid, then the white capped orange plastic bottle.",
+    "Lift the bottle with green label and white lid using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the medium-sized plastic bottle with capped top and take the bottle with ridged orange grip together.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the white capped orange plastic bottle.",
+    "Grab the liquid container dark brown plastic and the white capped orange plastic bottle at the same time.",
+    "Grab the medium-sized plastic bottle with capped top and grab the bottle with ridged orange grip at once.",
+    "Pick up both the bottle with green label and white lid and the white capped orange plastic bottle together.",
+    "Grab the bottle with green label and white lid with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the liquid container dark brown plastic with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the medium-sized plastic bottle with capped top and the bottle with white cap together.",
+    "Use each arm to lift a bottle: the medium-sized plastic bottle with capped top, then the bottle with white cap.",
+    "Lift the liquid container dark brown plastic using one arm and lift the bottle with white cap using the other.",
+    "Pick up the bottle with green label and white lid and take the white capped orange plastic bottle together.",
+    "Use each arm to grab the bottle with green label and white lid and the white capped orange plastic bottle.",
+    "Grab the bottle with green label and white lid and the bottle with white cap at the same time.",
+    "Grab the medium-sized plastic bottle with capped top and grab the bottle with white cap at once.",
+    "Pick up both the liquid container dark brown plastic and the bottle with white cap together.",
+    "Grab the medium-sized plastic bottle with capped top with one arm, grab the white capped orange plastic bottle with the other."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001055.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the cylindrical orange and white bottle with one arm, the orange bottle with the other.",
+    "Catch the orange bottle, grab the medium orange bottle next.",
+    "Assign one arm to catch the smooth plastic bottle, one for the medium orange bottle.",
+    "Grab the smooth plastic bottle and pick up the drinking bottle with yellow label.",
+    "Grab and hold the bottle with ribbed orange bottom, then grab the medium bottle with orange lid.",
+    "Secure the orange bottle, then secure the plastic bottle.",
+    "Use each arm to lift the orange and white bottle with cap and the orange and white bottle with cap.",
+    "Let each arm grab either the drinking bottle with yellow label or the bottle with ribbed orange bottom.",
+    "Hold onto the yellow label bottle, then pick up the white and orange plastic bottle.",
+    "Catch both the orange bottle and the cylindrical orange and white bottle quickly.",
+    "Assign one arm to each of the yellow label bottle and the plastic bottle.",
+    "Catch the bottle with orange cap with one arm, the orange bottle with another arm.",
+    "Lift both the medium bottle with orange lid and the white and orange plastic bottle simultaneously.",
+    "Grab the yellow label bottle with one arm, the plastic bottle with the other.",
+    "Pick up the white and orange plastic bottle and then pick up the cylindrical orange and white bottle.",
+    "Pick up the smooth plastic bottle, then pick up the bottle with ribbed orange bottom.",
+    "Collect the bottle with orange cap, then pick up the plastic bottle.",
+    "Use both arms to pick up the plastic bottle and the cylindrical orange and white bottle.",
+    "Pick up both the drinking bottle with yellow label and the cylindrical orange and white bottle together.",
+    "Catch the bottle with ribbed orange bottom, then grab the cylindrical orange and white bottle too.",
+    "Pick both the cylindrical orange and white bottle and the bottle with orange cap one after another.",
+    "One arm grabs the orange and white bottle with cap; the other arm grabs the bottle with ribbed orange bottom.",
+    "Lift the smooth plastic bottle and the plastic bottle with separate arms.",
+    "Grasp the yellow label bottle first, then take the smooth plastic bottle.",
+    "Hold the bottle with orange cap in one arm, catch the drinking bottle with yellow label with the other arm.",
+    "Hold the orange bottle in one arm, the drinking bottle with yellow label in the other.",
+    "Use one arm for the bottle with ribbed orange bottom, another for the orange and white bottle with cap.",
+    "Use both arms to pick up the plastic bottle and the yellow label bottle.",
+    "Lift both bottles, the cylindrical orange and white bottle with one arm, the medium orange bottle with the other.",
+    "Catch the drinking bottle with yellow label, then take hold of the orange and white bottle with cap.",
+    "Grab the plastic bottle using an arm and the medium orange bottle with the other arm.",
+    "Use one arm for the medium bottle with orange lid, the other for the orange and white bottle with cap.",
+    "Secure both the yellow label bottle and the white and orange plastic bottle quickly.",
+    "Use one arm for the smooth plastic bottle and the other for the white and orange plastic bottle.",
+    "Hold onto the bottle with orange cap and then get the bottle with orange cap.",
+    "Lift the yellow label bottle and also take hold of the yellow label bottle.",
+    "Hold the cylindrical orange and white bottle with one arm, hold the orange and white bottle with cap with the other.",
+    "Hold both the yellow label bottle and the bottle with ribbed orange bottom.",
+    "Grab the drinking bottle with yellow label, pick up the yellow label bottle.",
+    "Pick up both the plastic bottle and the plastic bottle.",
+    "Take hold of the yellow label bottle and the bottle with ribbed orange bottom.",
+    "With both arms, pick up the bottle with ribbed orange bottom, then the white and orange plastic bottle.",
+    "Secure the bottle with orange cap and the drinking bottle with yellow label in succession.",
+    "Grab the plastic bottle using one arm and the medium bottle with orange lid using the other.",
+    "Use both arms to lift the bottle with ribbed orange bottom and the bottle with ribbed orange bottom.",
+    "Catch the bottle with ribbed orange bottom in one arm and the drinking bottle with yellow label in the other arm.",
+    "Lift the orange and white bottle with cap, continue and pick up the bottle with orange cap.",
+    "Each arm should pick up one: the bottle with orange cap, then the smooth plastic bottle.",
+    "Catch the yellow label bottle, then catch the medium orange bottle.",
+    "With two arms, catch both the medium bottle with orange lid and the yellow label bottle.",
+    "Grab the cylindrical orange and white bottle with one arm, the yellow label bottle with the other.",
+    "Catch the smooth plastic bottle, grab the smooth plastic bottle next.",
+    "Assign one arm to catch the smooth plastic bottle, one for the medium orange bottle.",
+    "Grab the drinking bottle with yellow label and pick up the bottle with orange cap.",
+    "Grab and hold the cylindrical orange and white bottle, then grab the smooth plastic bottle.",
+    "Secure the drinking bottle with yellow label, then secure the white and orange plastic bottle.",
+    "Use each arm to lift the plastic bottle and the orange and white bottle with cap.",
+    "Let each arm grab either the smooth plastic bottle or the medium orange bottle.",
+    "Hold onto the smooth plastic bottle, then pick up the bottle with ribbed orange bottom.",
+    "Catch both the white and orange plastic bottle and the smooth plastic bottle quickly.",
+    "Assign one arm to each of the white and orange plastic bottle and the drinking bottle with yellow label.",
+    "Catch the smooth plastic bottle with one arm, the smooth plastic bottle with another arm.",
+    "Lift both the drinking bottle with yellow label and the cylindrical orange and white bottle simultaneously.",
+    "Grab the yellow label bottle with one arm, the yellow label bottle with the other.",
+    "Pick up the yellow label bottle and then pick up the white and orange plastic bottle.",
+    "Pick up the yellow label bottle, then pick up the bottle with ribbed orange bottom.",
+    "Collect the cylindrical orange and white bottle, then pick up the drinking bottle with yellow label.",
+    "Use both arms to pick up the medium bottle with orange lid and the medium orange bottle.",
+    "Pick up both the white and orange plastic bottle and the bottle with orange cap together.",
+    "Catch the orange bottle, then grab the medium bottle with orange lid too.",
+    "Pick both the smooth plastic bottle and the yellow label bottle one after another.",
+    "One arm grabs the cylindrical orange and white bottle; the other arm grabs the medium orange bottle.",
+    "Lift the medium orange bottle and the bottle with ribbed orange bottom with separate arms.",
+    "Grasp the drinking bottle with yellow label first, then take the medium bottle with orange lid.",
+    "Hold the bottle with ribbed orange bottom in one arm, catch the orange bottle with the other arm.",
+    "Hold the medium orange bottle in one arm, the plastic bottle in the other.",
+    "Use one arm for the bottle with orange cap, another for the bottle with orange cap.",
+    "Use both arms to pick up the bottle with ribbed orange bottom and the plastic bottle.",
+    "Lift both bottles, the white and orange plastic bottle with one arm, the orange and white bottle with cap with the other.",
+    "Catch the yellow label bottle, then take hold of the cylindrical orange and white bottle.",
+    "Grab the drinking bottle with yellow label using an arm and the medium bottle with orange lid with the other arm.",
+    "Use one arm for the yellow label bottle, the other for the drinking bottle with yellow label.",
+    "Secure both the medium bottle with orange lid and the bottle with ribbed orange bottom quickly.",
+    "Use one arm for the plastic bottle and the other for the bottle with ribbed orange bottom.",
+    "Hold onto the plastic bottle and then get the yellow label bottle.",
+    "Lift the orange bottle and also take hold of the cylindrical orange and white bottle.",
+    "Hold the medium orange bottle with one arm, hold the medium bottle with orange lid with the other.",
+    "Hold both the orange bottle and the plastic bottle.",
+    "Grab the bottle with ribbed orange bottom, pick up the yellow label bottle.",
+    "Pick up both the bottle with orange cap and the plastic bottle.",
+    "Take hold of the cylindrical orange and white bottle and the orange and white bottle with cap.",
+    "With both arms, pick up the yellow label bottle, then the medium orange bottle.",
+    "Secure the bottle with orange cap and the medium orange bottle in succession.",
+    "Grab the cylindrical orange and white bottle using one arm and the drinking bottle with yellow label using the other.",
+    "Use both arms to lift the medium orange bottle and the white and orange plastic bottle.",
+    "Catch the medium bottle with orange lid in one arm and the bottle with ribbed orange bottom in the other arm.",
+    "Lift the orange bottle, continue and pick up the yellow label bottle.",
+    "Each arm should pick up one: the cylindrical orange and white bottle, then the bottle with ribbed orange bottom.",
+    "Catch the orange and white bottle with cap, then catch the cylindrical orange and white bottle.",
+    "With two arms, catch both the white and orange plastic bottle and the smooth plastic bottle."
+  ],
+  "unseen": [
+    "Use each arm to lift a bottle: the curvy orange bottle with white section, then the bottle with yellow sticker label.",
+    "Pick up both the curvy orange bottle with white section and the bottle with yellow sticker label together.",
+    "Pick up the bottle with yellow sticker label and the bottle with curved body together.",
+    "Pick up the curvy orange bottle with white section and take the bottle with curved body together.",
+    "Grab the bottle with yellow sticker label and grab the bottle with yellow sticker label at once.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the bottle with yellow sticker label with the other.",
+    "Grab the curvy orange bottle with white section and the bottle with curved body at the same time.",
+    "Lift the bottle with curved body using one arm and lift the bottle with curved body using the other.",
+    "Grab the bottle with curved body with one arm, grab the bottle with yellow sticker label with the other.",
+    "Use each arm to grab the curvy orange bottle with white section and the bottle with yellow sticker label.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the bottle with curved body.",
+    "Pick up both the curvy orange bottle with white section and the curvy orange bottle with white section together.",
+    "Pick up the bottle with yellow sticker label and the bottle with curved body together.",
+    "Pick up the bottle with curved body and take the bottle with curved body together.",
+    "Grab the bottle with yellow sticker label and grab the curvy orange bottle with white section at once.",
+    "Pick up the curvy orange bottle with white section with one arm, grab the curvy orange bottle with white section with the other.",
+    "Grab the curvy orange bottle with white section and the bottle with yellow sticker label at the same time.",
+    "Lift the curvy orange bottle with white section using one arm and lift the bottle with yellow sticker label using the other.",
+    "Grab the bottle with curved body with one arm, grab the bottle with yellow sticker label with the other.",
+    "Use each arm to grab the curvy orange bottle with white section and the curvy orange bottle with white section.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the curvy orange bottle with white section.",
+    "Pick up both the curvy orange bottle with white section and the bottle with yellow sticker label together.",
+    "Pick up the bottle with yellow sticker label and the bottle with curved body together.",
+    "Pick up the bottle with curved body and take the curvy orange bottle with white section together.",
+    "Grab the bottle with yellow sticker label and grab the bottle with curved body at once.",
+    "Pick up the curvy orange bottle with white section with one arm, grab the bottle with curved body with the other.",
+    "Grab the bottle with curved body and the curvy orange bottle with white section at the same time.",
+    "Lift the bottle with curved body using one arm and lift the bottle with yellow sticker label using the other.",
+    "Grab the bottle with yellow sticker label with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to grab the bottle with curved body and the bottle with yellow sticker label.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the curvy orange bottle with white section.",
+    "Pick up both the bottle with curved body and the bottle with curved body together.",
+    "Pick up the bottle with curved body and the bottle with yellow sticker label together.",
+    "Pick up the curvy orange bottle with white section and take the bottle with curved body together.",
+    "Grab the curvy orange bottle with white section and grab the curvy orange bottle with white section at once.",
+    "Pick up the curvy orange bottle with white section with one arm, grab the bottle with curved body with the other.",
+    "Grab the bottle with yellow sticker label and the bottle with curved body at the same time.",
+    "Lift the bottle with yellow sticker label using one arm and lift the bottle with yellow sticker label using the other.",
+    "Grab the bottle with yellow sticker label with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to grab the bottle with curved body and the bottle with yellow sticker label.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the curvy orange bottle with white section.",
+    "Pick up both the bottle with yellow sticker label and the bottle with yellow sticker label together.",
+    "Pick up the curvy orange bottle with white section and the curvy orange bottle with white section together.",
+    "Pick up the bottle with curved body and take the bottle with yellow sticker label together.",
+    "Grab the bottle with yellow sticker label and grab the curvy orange bottle with white section at once.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the bottle with yellow sticker label with the other.",
+    "Grab the bottle with curved body and the curvy orange bottle with white section at the same time.",
+    "Lift the bottle with yellow sticker label using one arm and lift the bottle with curved body using the other.",
+    "Grab the bottle with curved body with one arm, grab the curvy orange bottle with white section with the other.",
+    "Use each arm to grab the curvy orange bottle with white section and the bottle with yellow sticker label.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the bottle with yellow sticker label.",
+    "Pick up both the curvy orange bottle with white section and the bottle with curved body together.",
+    "Pick up the curvy orange bottle with white section and the bottle with yellow sticker label together.",
+    "Pick up the bottle with curved body and take the bottle with curved body together.",
+    "Grab the bottle with yellow sticker label and grab the curvy orange bottle with white section at once.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the bottle with curved body with the other.",
+    "Grab the bottle with yellow sticker label and the bottle with curved body at the same time.",
+    "Lift the curvy orange bottle with white section using one arm and lift the bottle with yellow sticker label using the other.",
+    "Grab the bottle with yellow sticker label with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to grab the curvy orange bottle with white section and the curvy orange bottle with white section.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the bottle with yellow sticker label.",
+    "Pick up both the curvy orange bottle with white section and the bottle with yellow sticker label together.",
+    "Pick up the bottle with curved body and the bottle with yellow sticker label together.",
+    "Pick up the bottle with curved body and take the bottle with curved body together.",
+    "Grab the bottle with curved body and grab the bottle with curved body at once.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the curvy orange bottle with white section with the other.",
+    "Grab the curvy orange bottle with white section and the curvy orange bottle with white section at the same time.",
+    "Lift the bottle with yellow sticker label using one arm and lift the curvy orange bottle with white section using the other.",
+    "Grab the curvy orange bottle with white section with one arm, grab the bottle with yellow sticker label with the other.",
+    "Use each arm to grab the bottle with yellow sticker label and the curvy orange bottle with white section.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the bottle with curved body.",
+    "Pick up both the bottle with yellow sticker label and the curvy orange bottle with white section together.",
+    "Pick up the curvy orange bottle with white section and the bottle with yellow sticker label together.",
+    "Pick up the bottle with yellow sticker label and take the bottle with curved body together.",
+    "Grab the bottle with yellow sticker label and grab the bottle with yellow sticker label at once.",
+    "Pick up the bottle with curved body with one arm, grab the bottle with yellow sticker label with the other.",
+    "Grab the curvy orange bottle with white section and the bottle with yellow sticker label at the same time.",
+    "Lift the bottle with curved body using one arm and lift the bottle with yellow sticker label using the other.",
+    "Grab the bottle with yellow sticker label with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to grab the curvy orange bottle with white section and the bottle with yellow sticker label.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the curvy orange bottle with white section.",
+    "Pick up both the curvy orange bottle with white section and the curvy orange bottle with white section together.",
+    "Pick up the curvy orange bottle with white section and the bottle with curved body together.",
+    "Pick up the bottle with yellow sticker label and take the bottle with curved body together.",
+    "Grab the bottle with curved body and grab the bottle with curved body at once.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the bottle with yellow sticker label with the other.",
+    "Grab the curvy orange bottle with white section and the bottle with curved body at the same time.",
+    "Lift the curvy orange bottle with white section using one arm and lift the bottle with curved body using the other.",
+    "Grab the curvy orange bottle with white section with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to grab the curvy orange bottle with white section and the bottle with yellow sticker label.",
+    "Use each arm to lift a bottle: the curvy orange bottle with white section, then the bottle with yellow sticker label.",
+    "Pick up both the bottle with curved body and the curvy orange bottle with white section together.",
+    "Pick up the curvy orange bottle with white section and the bottle with yellow sticker label together.",
+    "Pick up the bottle with curved body and take the curvy orange bottle with white section together.",
+    "Grab the bottle with curved body and grab the bottle with yellow sticker label at once.",
+    "Pick up the curvy orange bottle with white section with one arm, grab the curvy orange bottle with white section with the other.",
+    "Grab the curvy orange bottle with white section and the bottle with yellow sticker label at the same time.",
+    "Lift the curvy orange bottle with white section using one arm and lift the bottle with yellow sticker label using the other.",
+    "Grab the curvy orange bottle with white section with one arm, grab the bottle with yellow sticker label with the other.",
+    "Use each arm to grab the bottle with curved body and the bottle with curved body."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001060.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to lift the plastic bottle with bright red color and the bottle for liquid.",
+    "Use each arm to lift the plastic bottle and the yellow bottle.",
+    "Lift the bottle with red cap and the yellow bottle with separate arms.",
+    "Lift the red bottle with curved grooves and also take hold of the smooth plastic bottle.",
+    "Use both arms to pick up the bottle with red cap and the medium plastic bottle with cap.",
+    "Use both arms to pick up the yellow text bottle and the handheld curvy bottle.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the yellow bottle for liquid storage.",
+    "Catch the red bottle with white bottom text in one arm and the plastic bottle with curved sides in the other arm.",
+    "Pick up both the red bottle and the yellow bottle for liquid storage.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the smooth plastic bottle.",
+    "Hold onto the smooth red cylindrical bottle and then get the yellow bottle for liquid storage.",
+    "Pick both the handheld plastic bottle and the medium plastic bottle with cap one after another.",
+    "Grab the plastic bottle using an arm and the medium-sized bottle with the other arm.",
+    "Secure both the red bottle with white bottom text and the yellow bottle with dark label quickly.",
+    "With two arms, catch both the handheld plastic bottle and the handheld curvy bottle.",
+    "Catch the medium-size plastic bottle with one arm, the plastic bottle with curved sides with another arm.",
+    "Lift the red bottle with narrow neck, continue and pick up the yellow bottle.",
+    "Use one arm for the red bottle with white bottom text, the other for the medium-sized bottle.",
+    "Hold the yellow text bottle in one arm, catch the medium plastic bottle with cap with the other arm.",
+    "Catch the bottle with red cap, then catch the yellow bottle with dark label.",
+    "Hold both the red bottle and the bottle with screw cap.",
+    "Secure the red bottle with screw cap, then secure the plastic bottle.",
+    "Catch both the red bottle with screw cap and the yellow bottle with blue label quickly.",
+    "Hold the red bottle with one arm, hold the yellow bottle with dark label with the other.",
+    "Pick up both the red bottle and the medium-sized bottle together.",
+    "Catch the medium-size plastic bottle, grab the bottle for liquid next.",
+    "Catch the yellow text bottle, then take hold of the yellow bottle.",
+    "Assign one arm to each of the red bottle with narrow neck and the yellow bottle with dark label.",
+    "Grab and hold the medium-size plastic bottle, then grab the plastic bottle with curved sides.",
+    "Grab the yellow text bottle and pick up the handheld curvy bottle.",
+    "Use one arm for the red bottle with screw cap, another for the handheld curvy bottle.",
+    "Take hold of the bottle with red cap and the smooth plastic bottle.",
+    "Grab the bottle with red cap with one arm, the medium plastic bottle with cap with the other.",
+    "With both arms, pick up the red bottle with narrow neck, then the yellow bottle for liquid storage.",
+    "Hold the red bottle with narrow neck in one arm, the plastic bottle with curved sides in the other.",
+    "Lift both the plastic bottle and the yellow bottle with dark label simultaneously.",
+    "Grab the red bottle, pick up the plastic bottle with curved sides.",
+    "Catch the red bottle with narrow neck, then grab the yellow bottle for liquid storage too.",
+    "Grab the medium-size plastic bottle using one arm and the smooth plastic bottle using the other.",
+    "Pick up the red bottle and then pick up the bottle for liquid.",
+    "Secure the plastic bottle and the bottle with screw cap in succession.",
+    "Grasp the red bottle first, then take the medium plastic bottle with cap.",
+    "Pick up the red bottle with narrow neck, then pick up the plastic bottle.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the plastic bottle with the other.",
+    "Use one arm for the red bottle with curved grooves and the other for the bottle with screw cap.",
+    "Hold onto the medium-size plastic bottle, then pick up the medium-sized bottle.",
+    "One arm grabs the bottle with red cap; the other arm grabs the yellow bottle for liquid storage.",
+    "Let each arm grab either the red bottle or the yellow bottle.",
+    "Collect the medium-size plastic bottle, then pick up the plastic bottle with curved sides.",
+    "Grab the red bottle with one arm, the yellow bottle with the other.",
+    "Use both arms to lift the yellow text bottle and the bottle with screw cap.",
+    "Use each arm to lift the red bottle with white bottom text and the bottle for liquid.",
+    "Lift the red bottle with white bottom text and the plastic bottle with curved sides with separate arms.",
+    "Lift the red bottle with white bottom text and also take hold of the medium plastic bottle with cap.",
+    "Use both arms to pick up the red bottle with screw cap and the yellow bottle with blue label.",
+    "Use both arms to pick up the red bottle and the yellow bottle for liquid storage.",
+    "Assign one arm to catch the plastic bottle, one for the yellow bottle for liquid storage.",
+    "Catch the bottle with red cap in one arm and the plastic bottle with curved sides in the other arm.",
+    "Pick up both the yellow text bottle and the yellow bottle with dark label.",
+    "Each arm should pick up one: the red bottle with curved grooves, then the medium-sized bottle.",
+    "Hold onto the smooth red cylindrical bottle and then get the smooth plastic bottle.",
+    "Pick both the red bottle with narrow neck and the medium-sized bottle one after another.",
+    "Grab the red bottle with screw cap using an arm and the plastic bottle with curved sides with the other arm.",
+    "Secure both the red bottle with white bottom text and the yellow bottle quickly.",
+    "With two arms, catch both the red bottle and the medium-sized bottle.",
+    "Catch the red bottle with one arm, the medium plastic bottle with cap with another arm.",
+    "Lift the red bottle, continue and pick up the yellow bottle with blue label.",
+    "Use one arm for the red bottle with curved grooves, the other for the bottle with screw cap.",
+    "Hold the red bottle with curved grooves in one arm, catch the medium-sized bottle with the other arm.",
+    "Catch the red bottle with white bottom text, then catch the yellow bottle for liquid storage.",
+    "Hold both the medium-size plastic bottle and the smooth plastic bottle.",
+    "Secure the plastic bottle with bright red color, then secure the yellow bottle with dark label.",
+    "Catch both the red bottle with narrow neck and the plastic bottle quickly.",
+    "Hold the red bottle with one arm, hold the yellow bottle with the other.",
+    "Pick up both the plastic bottle with bright red color and the smooth plastic bottle together.",
+    "Catch the bottle with red cap, grab the yellow bottle with blue label next.",
+    "Catch the red bottle with narrow neck, then take hold of the yellow bottle for liquid storage.",
+    "Assign one arm to each of the yellow text bottle and the medium-sized bottle.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the smooth plastic bottle.",
+    "Grab the red bottle with white bottom text and pick up the bottle with screw cap.",
+    "Use one arm for the yellow text bottle, another for the yellow bottle with blue label.",
+    "Take hold of the red bottle with narrow neck and the yellow bottle with dark label.",
+    "Grab the smooth red cylindrical bottle with one arm, the yellow bottle for liquid storage with the other.",
+    "With both arms, pick up the red bottle with curved grooves, then the yellow bottle for liquid storage.",
+    "Hold the red bottle with narrow neck in one arm, the yellow bottle with dark label in the other.",
+    "Lift both the red bottle with screw cap and the medium plastic bottle with cap simultaneously.",
+    "Grab the bottle with red cap, pick up the yellow bottle with blue label.",
+    "Catch the plastic bottle with bright red color, then grab the plastic bottle with curved sides too.",
+    "Grab the plastic bottle with bright red color using one arm and the handheld curvy bottle using the other.",
+    "Pick up the medium-size plastic bottle and then pick up the plastic bottle with curved sides.",
+    "Secure the plastic bottle and the plastic bottle with curved sides in succession.",
+    "Grasp the plastic bottle with bright red color first, then take the bottle for liquid.",
+    "Pick up the red bottle with white bottom text, then pick up the medium plastic bottle with cap.",
+    "Lift both bottles, the handheld plastic bottle with one arm, the yellow bottle with the other.",
+    "Use one arm for the yellow text bottle and the other for the medium plastic bottle with cap.",
+    "Hold onto the red bottle with screw cap, then pick up the yellow bottle.",
+    "One arm grabs the red bottle with white bottom text; the other arm grabs the yellow bottle.",
+    "Let each arm grab either the handheld plastic bottle or the bottle with screw cap.",
+    "Collect the red bottle with narrow neck, then pick up the medium-sized bottle.",
+    "Grab the handheld plastic bottle with one arm, the yellow bottle for liquid storage with the other."
+  ],
+  "unseen": [
+    "Pick up the shiny red bottle and the smooth bottle with blue text together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the yellow bottle with white cap with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the curvy yellow plastic bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the smooth bottle with blue text at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the smooth bottle with blue text using the other.",
+    "Pick up the bottle with white and yellow label and take the yellow bottle with white cap together.",
+    "Pick up both the shiny red bottle and the curvy yellow plastic bottle together.",
+    "Grab the shiny red bottle and the smooth bottle with blue text at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the smooth bottle with blue text.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the smooth bottle with blue text.",
+    "Pick up the bottle with white and yellow label and the smooth bottle with blue text together.",
+    "Grab the shiny red bottle with one arm, grab the curvy yellow plastic bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the smooth bottle with blue text with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the smooth bottle with blue text at once.",
+    "Lift the shiny red bottle using one arm and lift the yellow bottle with white cap using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the curvy yellow plastic bottle together.",
+    "Pick up both the shiny red bottle and the yellow bottle with white cap together.",
+    "Grab the bottle with yellow Chinese characters and the smooth bottle with blue text at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the yellow bottle with white cap.",
+    "Use each arm to grab the bottle with white and yellow label and the yellow bottle with white cap.",
+    "Pick up the shiny red bottle and the curvy yellow plastic bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the smooth bottle with blue text with the other.",
+    "Pick up the shiny red bottle with one arm, grab the yellow bottle with white cap with the other.",
+    "Grab the shiny red bottle and grab the smooth bottle with blue text at once.",
+    "Lift the shiny red bottle using one arm and lift the curvy yellow plastic bottle using the other.",
+    "Pick up the bottle with white and yellow label and take the yellow bottle with white cap together.",
+    "Pick up both the bottle with white and yellow label and the yellow bottle with white cap together.",
+    "Grab the shiny red bottle and the smooth bottle with blue text at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the smooth bottle with blue text.",
+    "Use each arm to grab the bottle with white and yellow label and the smooth bottle with blue text.",
+    "Pick up the bottle with yellow Chinese characters and the smooth bottle with blue text together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the smooth bottle with blue text with the other.",
+    "Pick up the shiny red bottle with one arm, grab the yellow bottle with white cap with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the curvy yellow plastic bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the yellow bottle with white cap using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the curvy yellow plastic bottle together.",
+    "Pick up both the shiny red bottle and the curvy yellow plastic bottle together.",
+    "Grab the shiny red bottle and the yellow bottle with white cap at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the smooth bottle with blue text.",
+    "Use each arm to grab the shiny red bottle and the curvy yellow plastic bottle.",
+    "Pick up the bottle with yellow Chinese characters and the smooth bottle with blue text together.",
+    "Grab the shiny red bottle with one arm, grab the smooth bottle with blue text with the other.",
+    "Pick up the shiny red bottle with one arm, grab the smooth bottle with blue text with the other.",
+    "Grab the shiny red bottle and grab the curvy yellow plastic bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the yellow bottle with white cap using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the curvy yellow plastic bottle together.",
+    "Pick up both the bottle with white and yellow label and the smooth bottle with blue text together.",
+    "Grab the bottle with white and yellow label and the smooth bottle with blue text at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the yellow bottle with white cap.",
+    "Use each arm to grab the shiny red bottle and the yellow bottle with white cap.",
+    "Pick up the shiny red bottle and the smooth bottle with blue text together.",
+    "Grab the bottle with white and yellow label with one arm, grab the curvy yellow plastic bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the curvy yellow plastic bottle with the other.",
+    "Grab the shiny red bottle and grab the smooth bottle with blue text at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the curvy yellow plastic bottle using the other.",
+    "Pick up the bottle with white and yellow label and take the yellow bottle with white cap together.",
+    "Pick up both the bottle with yellow Chinese characters and the smooth bottle with blue text together.",
+    "Grab the shiny red bottle and the curvy yellow plastic bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the smooth bottle with blue text.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the curvy yellow plastic bottle.",
+    "Pick up the shiny red bottle and the curvy yellow plastic bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the yellow bottle with white cap with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the yellow bottle with white cap with the other.",
+    "Grab the shiny red bottle and grab the yellow bottle with white cap at once.",
+    "Lift the shiny red bottle using one arm and lift the yellow bottle with white cap using the other.",
+    "Pick up the bottle with white and yellow label and take the smooth bottle with blue text together.",
+    "Pick up both the shiny red bottle and the smooth bottle with blue text together.",
+    "Grab the bottle with white and yellow label and the smooth bottle with blue text at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the yellow bottle with white cap.",
+    "Use each arm to grab the shiny red bottle and the yellow bottle with white cap.",
+    "Pick up the bottle with yellow Chinese characters and the curvy yellow plastic bottle together.",
+    "Grab the shiny red bottle with one arm, grab the smooth bottle with blue text with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the curvy yellow plastic bottle with the other.",
+    "Grab the shiny red bottle and grab the yellow bottle with white cap at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the yellow bottle with white cap using the other.",
+    "Pick up the bottle with white and yellow label and take the yellow bottle with white cap together.",
+    "Pick up both the shiny red bottle and the smooth bottle with blue text together.",
+    "Grab the bottle with yellow Chinese characters and the curvy yellow plastic bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the curvy yellow plastic bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the yellow bottle with white cap.",
+    "Pick up the bottle with yellow Chinese characters and the yellow bottle with white cap together.",
+    "Grab the shiny red bottle with one arm, grab the yellow bottle with white cap with the other.",
+    "Pick up the shiny red bottle with one arm, grab the yellow bottle with white cap with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the smooth bottle with blue text at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the smooth bottle with blue text using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the yellow bottle with white cap together.",
+    "Pick up both the bottle with yellow Chinese characters and the yellow bottle with white cap together.",
+    "Grab the bottle with white and yellow label and the yellow bottle with white cap at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the smooth bottle with blue text.",
+    "Use each arm to grab the bottle with white and yellow label and the yellow bottle with white cap.",
+    "Pick up the bottle with white and yellow label and the smooth bottle with blue text together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the curvy yellow plastic bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the yellow bottle with white cap with the other.",
+    "Grab the shiny red bottle and grab the yellow bottle with white cap at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the curvy yellow plastic bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the curvy yellow plastic bottle together.",
+    "Pick up both the shiny red bottle and the smooth bottle with blue text together.",
+    "Grab the shiny red bottle and the yellow bottle with white cap at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the yellow bottle with white cap.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the smooth bottle with blue text."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001069.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take hold of the curved bottle with white top and the medium orange bottle.",
+    "Use one arm for the small curved plastic bottle, another for the bottle with ribbed orange bottom.",
+    "Catch the bottle with white screw cap with one arm, the medium bottle with orange lid with another arm.",
+    "Lift the curved bottle with white top and also take hold of the orange and white bottle with cap.",
+    "Use both arms to lift the plastic bottle and the cylindrical orange and white bottle.",
+    "Pick both the bottle with brown and white patterns and the yellow label bottle one after another.",
+    "Lift both the bottle with black label and the medium orange bottle simultaneously.",
+    "Catch the bottle with brown and white patterns, then take hold of the bottle with ribbed orange bottom.",
+    "Hold the curved bottle with white top in one arm, the medium orange bottle in the other.",
+    "With two arms, catch both the small bottle with decorative design and the plastic bottle.",
+    "Catch both the hand-sized plastic bottle and the orange bottle quickly.",
+    "Lift both bottles, the white-capped bottle with one arm, the orange bottle with the other.",
+    "Hold both the brown bottle and the bottle with orange cap.",
+    "Pick up both the hand-sized plastic bottle and the white and orange plastic bottle.",
+    "Use one arm for the brown bottle, the other for the drinking bottle with yellow label.",
+    "Grasp the bottle with brown and white patterns first, then take the yellow label bottle.",
+    "Hold the brown bottle in one arm, catch the orange bottle with the other arm.",
+    "Catch the brown bottle in one arm and the smooth plastic bottle in the other arm.",
+    "Grab the curved bottle with white top and pick up the orange and white bottle with cap.",
+    "Grab and hold the white-capped bottle, then grab the orange bottle.",
+    "Pick up both the bottle with brown and white patterns and the plastic bottle together.",
+    "Hold the bottle with white screw cap with one arm, hold the drinking bottle with yellow label with the other.",
+    "Secure the bottle with brown and white patterns, then secure the white and orange plastic bottle.",
+    "Grab the bottle with white screw cap using one arm and the bottle with ribbed orange bottom using the other.",
+    "Pick up the small bottle with decorative design, then pick up the drinking bottle with yellow label.",
+    "Lift the white-capped bottle and the orange and white bottle with cap with separate arms.",
+    "Secure both the bottle with brown and white patterns and the smooth plastic bottle quickly.",
+    "Secure the curved bottle with white top and the yellow label bottle in succession.",
+    "Catch the bottle with brown and white patterns, then catch the bottle with ribbed orange bottom.",
+    "Pick up the small bottle with decorative design and then pick up the smooth plastic bottle.",
+    "Grab the white-capped bottle, pick up the smooth plastic bottle.",
+    "Grab the small curved plastic bottle using an arm and the orange and white bottle with cap with the other arm.",
+    "Lift the plastic bottle, continue and pick up the orange bottle.",
+    "Use one arm for the plastic bottle and the other for the medium bottle with orange lid.",
+    "Use both arms to pick up the bottle with white screw cap and the orange bottle.",
+    "Assign one arm to catch the white-capped bottle, one for the bottle with ribbed orange bottom.",
+    "Hold onto the brown bottle, then pick up the orange bottle.",
+    "Grab the smooth brown and white patterned bottle with one arm, the bottle with orange cap with the other.",
+    "Each arm should pick up one: the small curved plastic bottle, then the medium orange bottle.",
+    "Collect the curved bottle with white top, then pick up the bottle with ribbed orange bottom.",
+    "Use both arms to pick up the bottle with white screw cap and the yellow label bottle.",
+    "One arm grabs the bottle with black label; the other arm grabs the smooth plastic bottle.",
+    "Use each arm to lift the small bottle with decorative design and the medium bottle with orange lid.",
+    "Let each arm grab either the bottle with white screw cap or the bottle with orange cap.",
+    "Assign one arm to each of the bottle with brown and white patterns and the plastic bottle.",
+    "Grab the brown bottle with one arm, the bottle with ribbed orange bottom with the other.",
+    "Hold onto the white-capped bottle and then get the yellow label bottle.",
+    "Catch the hand-sized plastic bottle, grab the plastic bottle next.",
+    "With both arms, pick up the smooth brown and white patterned bottle, then the orange and white bottle with cap.",
+    "Catch the bottle holding liquid, then grab the drinking bottle with yellow label too.",
+    "Take hold of the bottle with black label and the medium bottle with orange lid.",
+    "Use one arm for the bottle holding liquid, another for the orange bottle.",
+    "Catch the smooth brown and white patterned bottle with one arm, the yellow label bottle with another arm.",
+    "Lift the bottle with black label and also take hold of the drinking bottle with yellow label.",
+    "Use both arms to lift the white-capped bottle and the bottle with orange cap.",
+    "Pick both the white-capped bottle and the plastic bottle one after another.",
+    "Lift both the curved bottle with white top and the bottle with orange cap simultaneously.",
+    "Catch the brown bottle, then take hold of the plastic bottle.",
+    "Hold the bottle with black label in one arm, the medium orange bottle in the other.",
+    "With two arms, catch both the plastic bottle and the plastic bottle.",
+    "Catch both the white-capped bottle and the medium orange bottle quickly.",
+    "Lift both bottles, the white-capped bottle with one arm, the white and orange plastic bottle with the other.",
+    "Hold both the small bottle with decorative design and the bottle with ribbed orange bottom.",
+    "Pick up both the bottle holding liquid and the orange bottle.",
+    "Use one arm for the brown bottle, the other for the yellow label bottle.",
+    "Grasp the smooth brown and white patterned bottle first, then take the orange and white bottle with cap.",
+    "Hold the bottle with brown and white patterns in one arm, catch the medium bottle with orange lid with the other arm.",
+    "Catch the small bottle with decorative design in one arm and the white and orange plastic bottle in the other arm.",
+    "Grab the smooth brown and white patterned bottle and pick up the orange and white bottle with cap.",
+    "Grab and hold the small bottle with decorative design, then grab the smooth plastic bottle.",
+    "Pick up both the small bottle with decorative design and the medium orange bottle together.",
+    "Hold the hand-sized plastic bottle with one arm, hold the smooth plastic bottle with the other.",
+    "Secure the small bottle with decorative design, then secure the medium bottle with orange lid.",
+    "Grab the smooth brown and white patterned bottle using one arm and the medium bottle with orange lid using the other.",
+    "Pick up the bottle with brown and white patterns, then pick up the smooth plastic bottle.",
+    "Lift the hand-sized plastic bottle and the medium orange bottle with separate arms.",
+    "Secure both the bottle holding liquid and the bottle with orange cap quickly.",
+    "Secure the plastic bottle and the drinking bottle with yellow label in succession.",
+    "Catch the brown bottle, then catch the cylindrical orange and white bottle.",
+    "Pick up the curved bottle with white top and then pick up the plastic bottle.",
+    "Grab the small curved plastic bottle, pick up the plastic bottle.",
+    "Grab the white-capped bottle using an arm and the plastic bottle with the other arm.",
+    "Lift the bottle with white screw cap, continue and pick up the smooth plastic bottle.",
+    "Use one arm for the brown bottle and the other for the orange and white bottle with cap.",
+    "Use both arms to pick up the bottle holding liquid and the medium orange bottle.",
+    "Assign one arm to catch the bottle with white screw cap, one for the orange and white bottle with cap.",
+    "Hold onto the smooth brown and white patterned bottle, then pick up the white and orange plastic bottle.",
+    "Grab the hand-sized plastic bottle with one arm, the medium bottle with orange lid with the other.",
+    "Each arm should pick up one: the small curved plastic bottle, then the plastic bottle.",
+    "Collect the small curved plastic bottle, then pick up the medium orange bottle.",
+    "Use both arms to pick up the white-capped bottle and the cylindrical orange and white bottle.",
+    "One arm grabs the bottle holding liquid; the other arm grabs the yellow label bottle.",
+    "Use each arm to lift the brown bottle and the white and orange plastic bottle.",
+    "Let each arm grab either the bottle with black label or the yellow label bottle.",
+    "Assign one arm to each of the small curved plastic bottle and the white and orange plastic bottle.",
+    "Grab the bottle with black label with one arm, the medium bottle with orange lid with the other.",
+    "Hold onto the plastic bottle and then get the bottle with orange cap.",
+    "Catch the smooth brown and white patterned bottle, grab the bottle with ribbed orange bottom next.",
+    "With both arms, pick up the small bottle with decorative design, then the orange and white bottle with cap.",
+    "Catch the bottle with brown and white patterns, then grab the orange bottle too."
+  ],
+  "unseen": [
+    "Use each arm to grab the cylindrical bottle with curved sides and the bottle with yellow sticker label.",
+    "Pick up the cylindrical bottle with curved sides and take the bottle with yellow sticker label together.",
+    "Grab the brown bottle with glossy swirls with one arm, grab the curvy orange bottle with white section with the other.",
+    "Grab the cylindrical bottle with curved sides and the bottle with yellow sticker label at the same time.",
+    "Pick up the brown bottle with glossy swirls with one arm, grab the bottle with yellow sticker label with the other.",
+    "Use each arm to lift a bottle: the brown bottle with glossy swirls, then the bottle with curved body.",
+    "Lift the glossy brown bottle using one arm and lift the bottle with curved body using the other.",
+    "Pick up the cylindrical bottle with curved sides and the curvy orange bottle with white section together.",
+    "Pick up both the glossy brown bottle and the curvy orange bottle with white section together.",
+    "Grab the glossy brown bottle and grab the bottle with yellow sticker label at once.",
+    "Use each arm to grab the glossy brown bottle and the curvy orange bottle with white section.",
+    "Pick up the glossy brown bottle and take the bottle with curved body together.",
+    "Grab the glossy brown bottle with one arm, grab the curvy orange bottle with white section with the other.",
+    "Grab the brown bottle with glossy swirls and the bottle with yellow sticker label at the same time.",
+    "Pick up the brown bottle with glossy swirls with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to lift a bottle: the cylindrical bottle with curved sides, then the bottle with curved body.",
+    "Lift the cylindrical bottle with curved sides using one arm and lift the curvy orange bottle with white section using the other.",
+    "Pick up the cylindrical bottle with curved sides and the bottle with curved body together.",
+    "Pick up both the glossy brown bottle and the bottle with curved body together.",
+    "Grab the cylindrical bottle with curved sides and grab the bottle with curved body at once.",
+    "Use each arm to grab the cylindrical bottle with curved sides and the bottle with curved body.",
+    "Pick up the cylindrical bottle with curved sides and take the bottle with yellow sticker label together.",
+    "Grab the cylindrical bottle with curved sides with one arm, grab the bottle with yellow sticker label with the other.",
+    "Grab the brown bottle with glossy swirls and the bottle with yellow sticker label at the same time.",
+    "Pick up the cylindrical bottle with curved sides with one arm, grab the curvy orange bottle with white section with the other.",
+    "Use each arm to lift a bottle: the cylindrical bottle with curved sides, then the bottle with yellow sticker label.",
+    "Lift the cylindrical bottle with curved sides using one arm and lift the bottle with yellow sticker label using the other.",
+    "Pick up the brown bottle with glossy swirls and the bottle with yellow sticker label together.",
+    "Pick up both the brown bottle with glossy swirls and the curvy orange bottle with white section together.",
+    "Grab the brown bottle with glossy swirls and grab the bottle with curved body at once.",
+    "Use each arm to grab the cylindrical bottle with curved sides and the bottle with curved body.",
+    "Pick up the brown bottle with glossy swirls and take the bottle with yellow sticker label together.",
+    "Grab the brown bottle with glossy swirls with one arm, grab the curvy orange bottle with white section with the other.",
+    "Grab the brown bottle with glossy swirls and the bottle with yellow sticker label at the same time.",
+    "Pick up the glossy brown bottle with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to lift a bottle: the glossy brown bottle, then the curvy orange bottle with white section.",
+    "Lift the glossy brown bottle using one arm and lift the curvy orange bottle with white section using the other.",
+    "Pick up the brown bottle with glossy swirls and the bottle with yellow sticker label together.",
+    "Pick up both the glossy brown bottle and the curvy orange bottle with white section together.",
+    "Grab the glossy brown bottle and grab the bottle with curved body at once.",
+    "Use each arm to grab the brown bottle with glossy swirls and the bottle with yellow sticker label.",
+    "Pick up the brown bottle with glossy swirls and take the curvy orange bottle with white section together.",
+    "Grab the glossy brown bottle with one arm, grab the bottle with yellow sticker label with the other.",
+    "Grab the cylindrical bottle with curved sides and the curvy orange bottle with white section at the same time.",
+    "Pick up the brown bottle with glossy swirls with one arm, grab the curvy orange bottle with white section with the other.",
+    "Use each arm to lift a bottle: the glossy brown bottle, then the bottle with curved body.",
+    "Lift the glossy brown bottle using one arm and lift the curvy orange bottle with white section using the other.",
+    "Pick up the brown bottle with glossy swirls and the bottle with yellow sticker label together.",
+    "Pick up both the brown bottle with glossy swirls and the bottle with yellow sticker label together.",
+    "Grab the cylindrical bottle with curved sides and grab the bottle with curved body at once.",
+    "Use each arm to grab the glossy brown bottle and the bottle with curved body.",
+    "Pick up the glossy brown bottle and take the bottle with yellow sticker label together.",
+    "Grab the glossy brown bottle with one arm, grab the curvy orange bottle with white section with the other.",
+    "Grab the glossy brown bottle and the curvy orange bottle with white section at the same time.",
+    "Pick up the glossy brown bottle with one arm, grab the curvy orange bottle with white section with the other.",
+    "Use each arm to lift a bottle: the brown bottle with glossy swirls, then the bottle with yellow sticker label.",
+    "Lift the glossy brown bottle using one arm and lift the bottle with yellow sticker label using the other.",
+    "Pick up the cylindrical bottle with curved sides and the bottle with yellow sticker label together.",
+    "Pick up both the glossy brown bottle and the curvy orange bottle with white section together.",
+    "Grab the cylindrical bottle with curved sides and grab the bottle with curved body at once.",
+    "Use each arm to grab the glossy brown bottle and the bottle with yellow sticker label.",
+    "Pick up the cylindrical bottle with curved sides and take the bottle with curved body together.",
+    "Grab the cylindrical bottle with curved sides with one arm, grab the bottle with yellow sticker label with the other.",
+    "Grab the glossy brown bottle and the bottle with yellow sticker label at the same time.",
+    "Pick up the glossy brown bottle with one arm, grab the curvy orange bottle with white section with the other.",
+    "Use each arm to lift a bottle: the cylindrical bottle with curved sides, then the bottle with yellow sticker label.",
+    "Lift the brown bottle with glossy swirls using one arm and lift the curvy orange bottle with white section using the other.",
+    "Pick up the glossy brown bottle and the bottle with curved body together.",
+    "Pick up both the brown bottle with glossy swirls and the bottle with yellow sticker label together.",
+    "Grab the glossy brown bottle and grab the bottle with yellow sticker label at once.",
+    "Use each arm to grab the brown bottle with glossy swirls and the bottle with yellow sticker label.",
+    "Pick up the glossy brown bottle and take the bottle with yellow sticker label together.",
+    "Grab the brown bottle with glossy swirls with one arm, grab the bottle with curved body with the other.",
+    "Grab the cylindrical bottle with curved sides and the bottle with curved body at the same time.",
+    "Pick up the cylindrical bottle with curved sides with one arm, grab the bottle with yellow sticker label with the other.",
+    "Use each arm to lift a bottle: the cylindrical bottle with curved sides, then the bottle with yellow sticker label.",
+    "Lift the cylindrical bottle with curved sides using one arm and lift the bottle with curved body using the other.",
+    "Pick up the brown bottle with glossy swirls and the bottle with yellow sticker label together.",
+    "Pick up both the brown bottle with glossy swirls and the bottle with yellow sticker label together.",
+    "Grab the cylindrical bottle with curved sides and grab the bottle with yellow sticker label at once.",
+    "Use each arm to grab the cylindrical bottle with curved sides and the bottle with curved body.",
+    "Pick up the brown bottle with glossy swirls and take the bottle with yellow sticker label together.",
+    "Grab the glossy brown bottle with one arm, grab the bottle with yellow sticker label with the other.",
+    "Grab the glossy brown bottle and the bottle with yellow sticker label at the same time.",
+    "Pick up the brown bottle with glossy swirls with one arm, grab the curvy orange bottle with white section with the other.",
+    "Use each arm to lift a bottle: the brown bottle with glossy swirls, then the bottle with curved body.",
+    "Lift the cylindrical bottle with curved sides using one arm and lift the bottle with curved body using the other.",
+    "Pick up the cylindrical bottle with curved sides and the bottle with yellow sticker label together.",
+    "Pick up both the cylindrical bottle with curved sides and the curvy orange bottle with white section together.",
+    "Grab the glossy brown bottle and grab the curvy orange bottle with white section at once.",
+    "Use each arm to grab the brown bottle with glossy swirls and the curvy orange bottle with white section.",
+    "Pick up the brown bottle with glossy swirls and take the bottle with yellow sticker label together.",
+    "Grab the glossy brown bottle with one arm, grab the bottle with yellow sticker label with the other.",
+    "Grab the brown bottle with glossy swirls and the curvy orange bottle with white section at the same time.",
+    "Pick up the glossy brown bottle with one arm, grab the bottle with curved body with the other.",
+    "Use each arm to lift a bottle: the cylindrical bottle with curved sides, then the curvy orange bottle with white section.",
+    "Lift the glossy brown bottle using one arm and lift the curvy orange bottle with white section using the other.",
+    "Pick up the cylindrical bottle with curved sides and the bottle with yellow sticker label together.",
+    "Pick up both the brown bottle with glossy swirls and the curvy orange bottle with white section together.",
+    "Grab the cylindrical bottle with curved sides and grab the bottle with curved body at once."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001070.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the red bottle with curved grooves, another for the rounded orange bottle with yellow top.",
+    "Catch the red bottle with narrow neck with one arm, the orange bottle with bold labeling with another arm.",
+    "Use both arms to lift the red bottle with curved grooves and the small bottle with bright yellow lid.",
+    "Hold onto the red bottle with narrow neck and then get the yellow-capped bottle for beverages.",
+    "Catch the red bottle with narrow neck in one arm and the liquid container with orange body in the other arm.",
+    "Take hold of the red bottle with screw cap and the yellow-capped bottle for beverages.",
+    "With both arms, pick up the red bottle with white bottom text, then the orange bottle with bold labeling.",
+    "Collect the plastic bottle with bright red color, then pick up the orange bottle with bold labeling.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the yellow-capped orange plastic bottle.",
+    "Pick both the plastic bottle and the smooth orange cylindrical bottle one after another.",
+    "Pick up both the red bottle with screw cap and the small bottle with bright yellow lid.",
+    "Catch the yellow text bottle, then grab the small bottle with bright yellow lid too.",
+    "Secure the red bottle with screw cap, then secure the handheld medium-sized liquid bottle.",
+    "Lift the plastic bottle with bright red color and the rounded bottom orange plastic bottle with separate arms.",
+    "Assign one arm to each of the red bottle with narrow neck and the rounded bottom orange plastic bottle.",
+    "Catch the red bottle with white bottom text, then take hold of the yellow-capped bottle for beverages.",
+    "Grab and hold the yellow text bottle, then grab the yellow-capped bottle for beverages.",
+    "Catch the handheld plastic bottle, grab the bottle with yellow cap next.",
+    "Lift the bottle with red cap and also take hold of the rounded orange bottle with yellow top.",
+    "Grab the handheld plastic bottle and pick up the orange bottle.",
+    "Grab the red bottle with screw cap using one arm and the orange bottle with bold labeling using the other.",
+    "Lift the bottle with red cap, continue and pick up the yellow-capped bottle for beverages.",
+    "Hold the red bottle with curved grooves with one arm, hold the bottle with yellow cap with the other.",
+    "Hold both the smooth red cylindrical bottle and the cylindrical orange bottle with smooth surface.",
+    "Each arm should pick up one: the red bottle, then the handheld medium-sized liquid bottle.",
+    "Grab the plastic bottle with bright red color with one arm, the handheld medium-sized liquid bottle with the other.",
+    "Pick up the bottle with red cap, then pick up the orange bottle with bold labeling.",
+    "Use each arm to lift the red bottle and the rounded orange bottle with yellow top.",
+    "Grab the yellow text bottle, pick up the rounded orange bottle with yellow top.",
+    "Secure the bottle with red cap and the bottle with yellow cap in succession.",
+    "Lift both the plastic bottle with bright red color and the rounded orange bottle with yellow top simultaneously.",
+    "Secure both the plastic bottle and the liquid container with orange body quickly.",
+    "Grasp the medium-size plastic bottle first, then take the yellow-capped orange plastic bottle.",
+    "Assign one arm to catch the yellow text bottle, one for the orange bottle.",
+    "Catch the smooth red cylindrical bottle, then catch the orange bottle with bold labeling.",
+    "Use both arms to pick up the red bottle with white bottom text and the cylindrical orange bottle with smooth surface.",
+    "Use one arm for the red bottle with screw cap and the other for the smooth orange cylindrical bottle.",
+    "Grab the plastic bottle with bright red color with one arm, the yellow-capped bottle for beverages with the other.",
+    "Use one arm for the yellow text bottle, the other for the handheld medium-sized liquid bottle.",
+    "Hold the plastic bottle with bright red color in one arm, catch the smooth orange cylindrical bottle with the other arm.",
+    "With two arms, catch both the handheld plastic bottle and the handheld medium-sized liquid bottle.",
+    "Hold the smooth red cylindrical bottle in one arm, the handheld medium-sized liquid bottle in the other.",
+    "Use both arms to pick up the red bottle with screw cap and the rounded orange bottle with yellow top.",
+    "Let each arm grab either the red bottle with screw cap or the small bottle with bright yellow lid.",
+    "Hold onto the red bottle with white bottom text, then pick up the bottle with yellow cap.",
+    "Catch both the bottle with red cap and the rounded orange bottle with yellow top quickly.",
+    "Pick up the plastic bottle and then pick up the orange bottle.",
+    "Grab the red bottle using an arm and the yellow-capped bottle for beverages with the other arm.",
+    "Pick up both the smooth red cylindrical bottle and the small bottle with bright yellow lid together.",
+    "Lift both bottles, the yellow text bottle with one arm, the bottle with yellow cap with the other.",
+    "Use one arm for the red bottle with screw cap, another for the orange bottle.",
+    "Catch the red bottle with screw cap with one arm, the rounded bottom orange plastic bottle with another arm.",
+    "Use both arms to lift the plastic bottle with bright red color and the yellow-capped orange plastic bottle.",
+    "Hold onto the smooth red cylindrical bottle and then get the orange bottle.",
+    "Catch the medium-size plastic bottle in one arm and the orange bottle with bold labeling in the other arm.",
+    "Take hold of the red bottle and the orange bottle.",
+    "With both arms, pick up the red bottle with white bottom text, then the handheld medium-sized liquid bottle.",
+    "Collect the red bottle with narrow neck, then pick up the smooth orange cylindrical bottle.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the liquid container with orange body.",
+    "Pick both the yellow text bottle and the liquid container with orange body one after another.",
+    "Pick up both the red bottle with screw cap and the cylindrical orange bottle with smooth surface.",
+    "Catch the bottle with red cap, then grab the cylindrical orange bottle with smooth surface too.",
+    "Secure the red bottle with white bottom text, then secure the rounded orange bottle with yellow top.",
+    "Lift the red bottle with screw cap and the small bottle with bright yellow lid with separate arms.",
+    "Assign one arm to each of the plastic bottle and the smooth orange cylindrical bottle.",
+    "Catch the red bottle, then take hold of the small bottle with bright yellow lid.",
+    "Grab and hold the red bottle with narrow neck, then grab the orange bottle.",
+    "Catch the red bottle with narrow neck, grab the cylindrical orange bottle with smooth surface next.",
+    "Lift the plastic bottle and also take hold of the smooth orange cylindrical bottle.",
+    "Grab the plastic bottle with bright red color and pick up the yellow-capped bottle for beverages.",
+    "Grab the bottle with red cap using one arm and the yellow-capped bottle for beverages using the other.",
+    "Lift the red bottle with white bottom text, continue and pick up the rounded orange bottle with yellow top.",
+    "Hold the handheld plastic bottle with one arm, hold the cylindrical orange bottle with smooth surface with the other.",
+    "Hold both the red bottle with curved grooves and the rounded bottom orange plastic bottle.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the liquid container with orange body.",
+    "Grab the smooth red cylindrical bottle with one arm, the bottle with yellow cap with the other.",
+    "Pick up the medium-size plastic bottle, then pick up the smooth orange cylindrical bottle.",
+    "Use each arm to lift the plastic bottle with bright red color and the rounded bottom orange plastic bottle.",
+    "Grab the plastic bottle, pick up the yellow-capped orange plastic bottle.",
+    "Secure the smooth red cylindrical bottle and the orange bottle with bold labeling in succession.",
+    "Lift both the red bottle with screw cap and the yellow-capped orange plastic bottle simultaneously.",
+    "Secure both the handheld plastic bottle and the liquid container with orange body quickly.",
+    "Grasp the red bottle with narrow neck first, then take the rounded orange bottle with yellow top.",
+    "Assign one arm to catch the plastic bottle, one for the orange bottle with bold labeling.",
+    "Catch the red bottle, then catch the yellow-capped bottle for beverages.",
+    "Use both arms to pick up the red bottle with curved grooves and the orange bottle.",
+    "Use one arm for the red bottle with curved grooves and the other for the small bottle with bright yellow lid.",
+    "Grab the red bottle with curved grooves with one arm, the smooth orange cylindrical bottle with the other.",
+    "Use one arm for the red bottle with curved grooves, the other for the liquid container with orange body.",
+    "Hold the red bottle with curved grooves in one arm, catch the smooth orange cylindrical bottle with the other arm.",
+    "With two arms, catch both the red bottle with curved grooves and the yellow-capped bottle for beverages.",
+    "Hold the red bottle with narrow neck in one arm, the small bottle with bright yellow lid in the other.",
+    "Use both arms to pick up the red bottle with white bottom text and the bottle with yellow cap.",
+    "Let each arm grab either the yellow text bottle or the orange bottle with bold labeling.",
+    "Hold onto the bottle with red cap, then pick up the bottle with yellow cap.",
+    "Catch both the plastic bottle with bright red color and the cylindrical orange bottle with smooth surface quickly.",
+    "Pick up the red bottle with narrow neck and then pick up the small bottle with bright yellow lid.",
+    "Grab the plastic bottle using an arm and the orange bottle with bold labeling with the other arm.",
+    "Pick up both the plastic bottle with bright red color and the bottle with yellow cap together.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the bottle with yellow cap with the other."
+  ],
+  "unseen": [
+    "Grab the bottle with white and yellow label with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the medium plastic bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the medium plastic bottle using the other.",
+    "Pick up the shiny red bottle and take the medium plastic bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the medium plastic bottle with the other.",
+    "Grab the shiny red bottle and grab the plastic orange bottle with rounded base at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the medium plastic bottle.",
+    "Grab the shiny red bottle and the medium bottle for liquids at the same time.",
+    "Pick up both the shiny red bottle and the plastic orange bottle with rounded base together.",
+    "Pick up the shiny red bottle and the medium plastic bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the medium plastic bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up the shiny red bottle and take the medium plastic bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the medium plastic bottle with the other.",
+    "Grab the shiny red bottle and grab the plastic orange bottle with rounded base at once.",
+    "Use each arm to grab the bottle with white and yellow label and the plastic orange bottle with rounded base.",
+    "Grab the bottle with yellow Chinese characters and the medium plastic bottle at the same time.",
+    "Pick up both the shiny red bottle and the medium plastic bottle together.",
+    "Pick up the bottle with white and yellow label and the plastic orange bottle with rounded base together.",
+    "Grab the shiny red bottle with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the plastic orange bottle with rounded base.",
+    "Lift the shiny red bottle using one arm and lift the medium plastic bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the plastic orange bottle with rounded base together.",
+    "Pick up the shiny red bottle with one arm, grab the medium plastic bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the plastic orange bottle with rounded base at once.",
+    "Use each arm to grab the shiny red bottle and the medium bottle for liquids.",
+    "Grab the bottle with white and yellow label and the medium bottle for liquids at the same time.",
+    "Pick up both the shiny red bottle and the medium bottle for liquids together.",
+    "Pick up the bottle with yellow Chinese characters and the medium plastic bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the medium plastic bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the medium bottle for liquids together.",
+    "Pick up the shiny red bottle with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Grab the shiny red bottle and grab the medium plastic bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the medium plastic bottle.",
+    "Grab the bottle with yellow Chinese characters and the plastic orange bottle with rounded base at the same time.",
+    "Pick up both the bottle with white and yellow label and the plastic orange bottle with rounded base together.",
+    "Pick up the shiny red bottle and the plastic orange bottle with rounded base together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the plastic orange bottle with rounded base.",
+    "Lift the bottle with white and yellow label using one arm and lift the medium plastic bottle using the other.",
+    "Pick up the shiny red bottle and take the plastic orange bottle with rounded base together.",
+    "Pick up the shiny red bottle with one arm, grab the medium plastic bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the medium bottle for liquids at once.",
+    "Use each arm to grab the shiny red bottle and the plastic orange bottle with rounded base.",
+    "Grab the bottle with white and yellow label and the plastic orange bottle with rounded base at the same time.",
+    "Pick up both the shiny red bottle and the medium bottle for liquids together.",
+    "Pick up the bottle with white and yellow label and the plastic orange bottle with rounded base together.",
+    "Grab the bottle with white and yellow label with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the plastic orange bottle with rounded base.",
+    "Lift the shiny red bottle using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up the bottle with white and yellow label and take the medium bottle for liquids together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the medium bottle for liquids with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the medium plastic bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the medium bottle for liquids.",
+    "Grab the bottle with white and yellow label and the medium plastic bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the medium bottle for liquids together.",
+    "Pick up the bottle with yellow Chinese characters and the medium plastic bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the medium plastic bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up the shiny red bottle and take the medium plastic bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Grab the bottle with white and yellow label and grab the plastic orange bottle with rounded base at once.",
+    "Use each arm to grab the bottle with white and yellow label and the medium bottle for liquids.",
+    "Grab the bottle with yellow Chinese characters and the medium plastic bottle at the same time.",
+    "Pick up both the shiny red bottle and the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with yellow Chinese characters and the medium bottle for liquids together.",
+    "Grab the shiny red bottle with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the medium bottle for liquids.",
+    "Lift the shiny red bottle using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up the bottle with white and yellow label and take the medium bottle for liquids together.",
+    "Pick up the shiny red bottle with one arm, grab the medium plastic bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the medium plastic bottle at once.",
+    "Use each arm to grab the shiny red bottle and the medium plastic bottle.",
+    "Grab the bottle with yellow Chinese characters and the medium bottle for liquids at the same time.",
+    "Pick up both the bottle with white and yellow label and the medium plastic bottle together.",
+    "Pick up the shiny red bottle and the medium plastic bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the plastic orange bottle with rounded base.",
+    "Lift the bottle with white and yellow label using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up the bottle with white and yellow label and take the medium bottle for liquids together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Grab the bottle with white and yellow label and grab the plastic orange bottle with rounded base at once.",
+    "Use each arm to grab the shiny red bottle and the medium bottle for liquids.",
+    "Grab the shiny red bottle and the medium plastic bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the medium plastic bottle together.",
+    "Pick up the shiny red bottle and the medium plastic bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the medium bottle for liquids.",
+    "Lift the shiny red bottle using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up the shiny red bottle and take the medium plastic bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the medium bottle for liquids with the other.",
+    "Grab the shiny red bottle and grab the medium bottle for liquids at once.",
+    "Use each arm to grab the shiny red bottle and the medium bottle for liquids.",
+    "Grab the shiny red bottle and the medium plastic bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the plastic orange bottle with rounded base together.",
+    "Pick up the shiny red bottle and the medium plastic bottle together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001075.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the drink bottle with rounded yellow lid and the cylindrical bottle with separate arms.",
+    "Grab the smooth black bottle with ridges with one arm, the blue bottle with label with the other.",
+    "Grab the medium black bottle with printed label with one arm, the medium bottle for beverages with the other.",
+    "Lift both the beverage bottle with black body and the smooth plastic bottle simultaneously.",
+    "Secure the bottle with blue and yellow print, then secure the handheld bottle.",
+    "Use both arms to lift the bottle with blue and yellow print and the medium-sized bottle.",
+    "Catch the smooth black bottle with ridges with one arm, the plastic bottle with another arm.",
+    "One arm grabs the black bottle; the other arm grabs the smooth plastic bottle.",
+    "Hold the yellow-capped cylindrical bottle with one arm, hold the medium-sized bottle with the other.",
+    "Hold the bottle with blue and yellow print in one arm, catch the medium bottle for beverages with the other arm.",
+    "Secure the black plastic bottle with Pepsi logo and the handheld bottle in succession.",
+    "Each arm should pick up one: the yellow capped drink bottle, then the white bottle with blue accents.",
+    "Use each arm to lift the black cylindrical bottle with ridges and the white and blue bottle.",
+    "Hold onto the smooth black bottle with ridges and then get the white and blue bottle.",
+    "Lift the black cylindrical bottle with ridges, continue and pick up the handheld bottle.",
+    "Catch the smooth black bottle with ridges, then grab the white bottle with blue accents too.",
+    "Lift the yellow capped drink bottle and also take hold of the blue bottle.",
+    "Pick up both the bottle with blue and yellow print and the white bottle with blue accents together.",
+    "Hold onto the plastic bottle with colorful label, then pick up the white bottle with blue accents.",
+    "Hold the beverage bottle with black body in one arm, the bottle with blue cap in the other.",
+    "Grab the smooth black bottle with ridges, pick up the bottle with blue cap.",
+    "Use one arm for the drink bottle with rounded yellow lid, the other for the handheld bottle.",
+    "Lift both bottles, the medium bottle with yellow cap with one arm, the bottle for liquids with the other.",
+    "Assign one arm to each of the black bottle and the cylindrical bottle.",
+    "Use both arms to pick up the beverage bottle with black body and the medium bottle for beverages.",
+    "Collect the plastic bottle with colorful label, then pick up the handheld bottle.",
+    "Grab the medium black bottle with printed label and pick up the medium-sized bottle.",
+    "Use both arms to pick up the black bottle and the white and blue bottle.",
+    "Pick up both the yellow-capped cylindrical bottle and the medium bottle for beverages.",
+    "Secure both the medium bottle with yellow cap and the bottle with blue cap quickly.",
+    "Pick up the black plastic bottle with Pepsi logo and then pick up the plastic bottle.",
+    "Let each arm grab either the drink bottle with rounded yellow lid or the cylindrical bottle.",
+    "Catch both the black plastic bottle with Pepsi logo and the white and blue bottle quickly.",
+    "Use one arm for the black bottle, another for the white bottle with blue accents.",
+    "With both arms, pick up the bottle with blue and yellow print, then the medium-sized bottle.",
+    "With two arms, catch both the medium black bottle with printed label and the blue bottle with label.",
+    "Pick both the yellow capped drink bottle and the white and blue bottle one after another.",
+    "Assign one arm to catch the yellow capped drink bottle, one for the white bottle with blue accents.",
+    "Grab and hold the black plastic bottle with Pepsi logo, then grab the blue bottle.",
+    "Catch the yellow-capped cylindrical bottle, then take hold of the blue bottle.",
+    "Catch the medium bottle with yellow cap, then catch the cylindrical bottle.",
+    "Catch the smooth black bottle with ridges, grab the plastic bottle next.",
+    "Grab the beverage bottle with black body using one arm and the white bottle with blue accents using the other.",
+    "Grasp the drink bottle with rounded yellow lid first, then take the plastic bottle.",
+    "Hold both the black cylindrical bottle with ridges and the bottle for liquids.",
+    "Catch the medium bottle with yellow cap in one arm and the blue bottle in the other arm.",
+    "Use one arm for the bottle with blue and yellow print and the other for the blue bottle with label.",
+    "Pick up the black bottle, then pick up the bottle with blue cap.",
+    "Take hold of the yellow-capped cylindrical bottle and the medium bottle for beverages.",
+    "Grab the medium black bottle with printed label using an arm and the blue bottle with label with the other arm.",
+    "Lift the yellow-capped cylindrical bottle and the handheld bottle with separate arms.",
+    "Grab the medium black bottle with printed label with one arm, the plastic bottle with the other.",
+    "Grab the black bottle with one arm, the medium-sized bottle with the other.",
+    "Lift both the smooth black bottle with ridges and the blue bottle simultaneously.",
+    "Secure the medium bottle with yellow cap, then secure the cylindrical bottle.",
+    "Use both arms to lift the plastic bottle with colorful label and the smooth plastic bottle.",
+    "Catch the bottle with blue and yellow print with one arm, the blue bottle with label with another arm.",
+    "One arm grabs the yellow capped drink bottle; the other arm grabs the smooth plastic bottle.",
+    "Hold the black bottle with one arm, hold the handheld bottle with the other.",
+    "Hold the yellow-capped cylindrical bottle in one arm, catch the plastic bottle with the other arm.",
+    "Secure the plastic bottle with colorful label and the cylindrical bottle in succession.",
+    "Each arm should pick up one: the drink bottle with rounded yellow lid, then the blue bottle.",
+    "Use each arm to lift the plastic bottle with colorful label and the handheld bottle.",
+    "Hold onto the plastic bottle with colorful label and then get the bottle for liquids.",
+    "Lift the plastic bottle with colorful label, continue and pick up the bottle for liquids.",
+    "Catch the plastic bottle with colorful label, then grab the white bottle with blue accents too.",
+    "Lift the yellow capped drink bottle and also take hold of the cylindrical bottle.",
+    "Pick up both the medium black bottle with printed label and the bottle for liquids together.",
+    "Hold onto the medium bottle with yellow cap, then pick up the white bottle with blue accents.",
+    "Hold the beverage bottle with black body in one arm, the handheld bottle in the other.",
+    "Grab the black bottle, pick up the plastic bottle.",
+    "Use one arm for the yellow capped drink bottle, the other for the medium bottle for beverages.",
+    "Lift both bottles, the plastic bottle with colorful label with one arm, the smooth plastic bottle with the other.",
+    "Assign one arm to each of the beverage bottle with black body and the white and blue bottle.",
+    "Use both arms to pick up the black plastic bottle with Pepsi logo and the white and blue bottle.",
+    "Collect the black plastic bottle with Pepsi logo, then pick up the bottle for liquids.",
+    "Grab the black plastic bottle with Pepsi logo and pick up the handheld bottle.",
+    "Use both arms to pick up the medium black bottle with printed label and the plastic bottle.",
+    "Pick up both the drink bottle with rounded yellow lid and the bottle with blue cap.",
+    "Secure both the smooth black bottle with ridges and the bottle for liquids quickly.",
+    "Pick up the yellow capped drink bottle and then pick up the bottle for liquids.",
+    "Let each arm grab either the smooth black bottle with ridges or the plastic bottle.",
+    "Catch both the plastic bottle with colorful label and the blue bottle quickly.",
+    "Use one arm for the beverage bottle with black body, another for the bottle with blue cap.",
+    "With both arms, pick up the bottle with blue and yellow print, then the smooth plastic bottle.",
+    "With two arms, catch both the plastic bottle with colorful label and the blue bottle.",
+    "Pick both the medium bottle with yellow cap and the bottle for liquids one after another.",
+    "Assign one arm to catch the yellow-capped cylindrical bottle, one for the plastic bottle.",
+    "Grab and hold the smooth black bottle with ridges, then grab the smooth plastic bottle.",
+    "Catch the smooth black bottle with ridges, then take hold of the medium bottle for beverages.",
+    "Catch the yellow capped drink bottle, then catch the smooth plastic bottle.",
+    "Catch the bottle with blue and yellow print, grab the white bottle with blue accents next.",
+    "Grab the black cylindrical bottle with ridges using one arm and the handheld bottle using the other.",
+    "Grasp the medium bottle with yellow cap first, then take the medium bottle for beverages.",
+    "Hold both the plastic bottle with colorful label and the medium bottle for beverages.",
+    "Catch the black bottle in one arm and the cylindrical bottle in the other arm.",
+    "Use one arm for the medium black bottle with printed label and the other for the bottle for liquids.",
+    "Pick up the bottle with blue and yellow print, then pick up the handheld bottle.",
+    "Take hold of the yellow capped drink bottle and the bottle for liquids.",
+    "Grab the black plastic bottle with Pepsi logo using an arm and the white and blue bottle with the other arm."
+  ],
+  "unseen": [
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the blue-capped plastic bottle with the other.",
+    "Grab the hand-sized bottle with ridged bottom and grab the bottle with curved neck design at once.",
+    "Use each arm to grab the hand-sized bottle with ridged bottom and the bottle with ridged neck.",
+    "Grab the plastic bottle with blue label and the bottle with curved neck design at the same time.",
+    "Pick up both the bottle with ridges near base and the blue-capped plastic bottle together.",
+    "Use each arm to lift a bottle: the bottle with ridges near base, then the blue-capped plastic bottle.",
+    "Pick up the hand-sized bottle with ridged bottom and take the blue-capped plastic bottle together.",
+    "Lift the hand-sized bottle with ridged bottom using one arm and lift the blue-capped plastic bottle using the other.",
+    "Grab the hand-sized bottle with ridged bottom with one arm, grab the bottle with ridged neck with the other.",
+    "Pick up the plastic bottle with blue label and the bottle with curved neck design together.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the blue-capped plastic bottle with the other.",
+    "Grab the bottle with ridges near base and grab the blue-capped plastic bottle at once.",
+    "Use each arm to grab the hand-sized bottle with ridged bottom and the bottle with ridged neck.",
+    "Grab the hand-sized bottle with ridged bottom and the blue-capped plastic bottle at the same time.",
+    "Pick up both the bottle with ridges near base and the bottle with ridged neck together.",
+    "Use each arm to lift a bottle: the bottle with ridges near base, then the blue-capped plastic bottle.",
+    "Pick up the plastic bottle with blue label and take the bottle with ridged neck together.",
+    "Lift the bottle with ridges near base using one arm and lift the bottle with curved neck design using the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with curved neck design with the other.",
+    "Pick up the bottle with ridges near base and the bottle with ridged neck together.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the blue-capped plastic bottle with the other.",
+    "Grab the bottle with ridges near base and grab the bottle with ridged neck at once.",
+    "Use each arm to grab the bottle with ridges near base and the bottle with curved neck design.",
+    "Grab the hand-sized bottle with ridged bottom and the bottle with ridged neck at the same time.",
+    "Pick up both the bottle with ridges near base and the blue-capped plastic bottle together.",
+    "Use each arm to lift a bottle: the bottle with ridges near base, then the bottle with curved neck design.",
+    "Pick up the plastic bottle with blue label and take the blue-capped plastic bottle together.",
+    "Lift the bottle with ridges near base using one arm and lift the bottle with ridged neck using the other.",
+    "Grab the hand-sized bottle with ridged bottom with one arm, grab the bottle with ridged neck with the other.",
+    "Pick up the hand-sized bottle with ridged bottom and the blue-capped plastic bottle together.",
+    "Pick up the bottle with ridges near base with one arm, grab the bottle with curved neck design with the other.",
+    "Grab the plastic bottle with blue label and grab the blue-capped plastic bottle at once.",
+    "Use each arm to grab the bottle with ridges near base and the bottle with ridged neck.",
+    "Grab the bottle with ridges near base and the bottle with ridged neck at the same time.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with ridged neck together.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the bottle with ridged neck.",
+    "Pick up the bottle with ridges near base and take the bottle with curved neck design together.",
+    "Lift the plastic bottle with blue label using one arm and lift the bottle with ridged neck using the other.",
+    "Grab the hand-sized bottle with ridged bottom with one arm, grab the bottle with ridged neck with the other.",
+    "Pick up the plastic bottle with blue label and the bottle with curved neck design together.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the blue-capped plastic bottle with the other.",
+    "Grab the bottle with ridges near base and grab the bottle with curved neck design at once.",
+    "Use each arm to grab the bottle with ridges near base and the blue-capped plastic bottle.",
+    "Grab the bottle with ridges near base and the bottle with curved neck design at the same time.",
+    "Pick up both the plastic bottle with blue label and the bottle with ridged neck together.",
+    "Use each arm to lift a bottle: the bottle with ridges near base, then the bottle with ridged neck.",
+    "Pick up the bottle with ridges near base and take the bottle with curved neck design together.",
+    "Lift the hand-sized bottle with ridged bottom using one arm and lift the bottle with ridged neck using the other.",
+    "Grab the hand-sized bottle with ridged bottom with one arm, grab the bottle with curved neck design with the other.",
+    "Pick up the hand-sized bottle with ridged bottom and the bottle with ridged neck together.",
+    "Pick up the bottle with ridges near base with one arm, grab the bottle with curved neck design with the other.",
+    "Grab the hand-sized bottle with ridged bottom and grab the bottle with curved neck design at once.",
+    "Use each arm to grab the plastic bottle with blue label and the bottle with ridged neck.",
+    "Grab the bottle with ridges near base and the bottle with ridged neck at the same time.",
+    "Pick up both the hand-sized bottle with ridged bottom and the blue-capped plastic bottle together.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the bottle with curved neck design.",
+    "Pick up the hand-sized bottle with ridged bottom and take the bottle with ridged neck together.",
+    "Lift the hand-sized bottle with ridged bottom using one arm and lift the bottle with curved neck design using the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with curved neck design with the other.",
+    "Pick up the hand-sized bottle with ridged bottom and the blue-capped plastic bottle together.",
+    "Pick up the plastic bottle with blue label with one arm, grab the bottle with curved neck design with the other.",
+    "Grab the hand-sized bottle with ridged bottom and grab the bottle with ridged neck at once.",
+    "Use each arm to grab the bottle with ridges near base and the bottle with curved neck design.",
+    "Grab the hand-sized bottle with ridged bottom and the blue-capped plastic bottle at the same time.",
+    "Pick up both the plastic bottle with blue label and the blue-capped plastic bottle together.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the bottle with ridged neck.",
+    "Pick up the bottle with ridges near base and take the blue-capped plastic bottle together.",
+    "Lift the bottle with ridges near base using one arm and lift the blue-capped plastic bottle using the other.",
+    "Grab the bottle with ridges near base with one arm, grab the bottle with ridged neck with the other.",
+    "Pick up the bottle with ridges near base and the bottle with ridged neck together.",
+    "Pick up the plastic bottle with blue label with one arm, grab the bottle with curved neck design with the other.",
+    "Grab the hand-sized bottle with ridged bottom and grab the bottle with curved neck design at once.",
+    "Use each arm to grab the hand-sized bottle with ridged bottom and the bottle with curved neck design.",
+    "Grab the hand-sized bottle with ridged bottom and the blue-capped plastic bottle at the same time.",
+    "Pick up both the plastic bottle with blue label and the blue-capped plastic bottle together.",
+    "Use each arm to lift a bottle: the hand-sized bottle with ridged bottom, then the bottle with curved neck design.",
+    "Pick up the plastic bottle with blue label and take the bottle with ridged neck together.",
+    "Lift the plastic bottle with blue label using one arm and lift the blue-capped plastic bottle using the other.",
+    "Grab the bottle with ridges near base with one arm, grab the bottle with curved neck design with the other.",
+    "Pick up the plastic bottle with blue label and the blue-capped plastic bottle together.",
+    "Pick up the bottle with ridges near base with one arm, grab the bottle with curved neck design with the other.",
+    "Grab the bottle with ridges near base and grab the bottle with curved neck design at once.",
+    "Use each arm to grab the hand-sized bottle with ridged bottom and the bottle with ridged neck.",
+    "Grab the bottle with ridges near base and the bottle with ridged neck at the same time.",
+    "Pick up both the plastic bottle with blue label and the bottle with ridged neck together.",
+    "Use each arm to lift a bottle: the bottle with ridges near base, then the bottle with curved neck design.",
+    "Pick up the plastic bottle with blue label and take the bottle with curved neck design together.",
+    "Lift the plastic bottle with blue label using one arm and lift the bottle with curved neck design using the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with ridged neck with the other.",
+    "Pick up the hand-sized bottle with ridged bottom and the blue-capped plastic bottle together.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the bottle with ridged neck with the other.",
+    "Grab the hand-sized bottle with ridged bottom and grab the bottle with ridged neck at once.",
+    "Use each arm to grab the hand-sized bottle with ridged bottom and the bottle with curved neck design.",
+    "Grab the plastic bottle with blue label and the bottle with ridged neck at the same time.",
+    "Pick up both the plastic bottle with blue label and the bottle with ridged neck together.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the bottle with curved neck design.",
+    "Pick up the hand-sized bottle with ridged bottom and take the bottle with ridged neck together.",
+    "Lift the bottle with ridges near base using one arm and lift the bottle with ridged neck using the other.",
+    "Grab the bottle with ridges near base with one arm, grab the blue-capped plastic bottle with the other.",
+    "Pick up the plastic bottle with blue label and the bottle with curved neck design together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001079.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up both the bottle with yellow cap and the yellow-capped cylindrical bottle.",
+    "Pick both the cylindrical liquid bottle with yellow top and the medium black bottle with printed label one after another.",
+    "Catch the handheld plastic bottle, grab the smooth black bottle with ridges next.",
+    "Hold both the bottle with glossy plastic finish and the black bottle.",
+    "Catch the green bottle with black text label, then take hold of the black plastic bottle with Pepsi logo.",
+    "Use both arms to pick up the plastic bottle and the beverage bottle with black body.",
+    "Secure the green bottle with black text label and the black plastic bottle with Pepsi logo in succession.",
+    "Assign one arm to each of the bottle with glossy plastic finish and the beverage bottle with black body.",
+    "Grab the green bottle, pick up the beverage bottle with black body.",
+    "Hold the green bottle with one arm, hold the drink bottle with rounded yellow lid with the other.",
+    "Use one arm for the bottle with glossy plastic finish, the other for the black cylindrical bottle with ridges.",
+    "Hold the cylindrical bottle with rounded cap in one arm, the medium bottle with yellow cap in the other.",
+    "Pick up both the cylindrical bottle with rounded cap and the yellow-capped cylindrical bottle together.",
+    "With two arms, catch both the green bottle and the black bottle.",
+    "Grab the plastic bottle with one arm, the medium black bottle with printed label with the other.",
+    "Pick up the plastic bottle, then pick up the black cylindrical bottle with ridges.",
+    "Lift the cylindrical bottle with rounded cap and also take hold of the beverage bottle with black body.",
+    "Use both arms to pick up the cylindrical liquid bottle with yellow top and the black cylindrical bottle with ridges.",
+    "Lift both the bottle with glossy plastic finish and the yellow capped drink bottle simultaneously.",
+    "Use one arm for the handheld plastic bottle and the other for the black bottle.",
+    "Hold onto the green bottle and then get the beverage bottle with black body.",
+    "Lift the green bottle with white label, continue and pick up the yellow capped drink bottle.",
+    "With both arms, pick up the cylindrical liquid bottle with yellow top, then the medium black bottle with printed label.",
+    "Assign one arm to catch the green bottle with white label, one for the medium bottle with yellow cap.",
+    "Catch the plastic bottle in one arm and the beverage bottle with black body in the other arm.",
+    "Lift the green bottle and the plastic bottle with colorful label with separate arms.",
+    "Use one arm for the bottle with yellow cap, another for the black cylindrical bottle with ridges.",
+    "Lift both bottles, the green bottle with black text label with one arm, the yellow capped drink bottle with the other.",
+    "Collect the plastic bottle, then pick up the beverage bottle with black body.",
+    "Grab the medium bottle with green body using one arm and the plastic bottle with colorful label using the other.",
+    "Hold onto the plastic bottle with colored label, then pick up the yellow-capped cylindrical bottle.",
+    "Take hold of the bottle with yellow cap and the black plastic bottle with Pepsi logo.",
+    "One arm grabs the green bottle; the other arm grabs the black plastic bottle with Pepsi logo.",
+    "Secure both the bottle with glossy plastic finish and the black cylindrical bottle with ridges quickly.",
+    "Use each arm to lift the bottle with yellow cap and the black bottle.",
+    "Pick up the bottle with yellow cap and then pick up the beverage bottle with black body.",
+    "Catch both the bottle with glossy plastic finish and the drink bottle with rounded yellow lid quickly.",
+    "Grab the bottle with glossy plastic finish with one arm, the medium bottle with yellow cap with the other.",
+    "Catch the handheld plastic bottle, then grab the drink bottle with rounded yellow lid too.",
+    "Grab and hold the plastic bottle, then grab the yellow-capped cylindrical bottle.",
+    "Hold the green bottle with black text label in one arm, catch the plastic bottle with colorful label with the other arm.",
+    "Grab the smooth green and yellow bottle using an arm and the yellow-capped cylindrical bottle with the other arm.",
+    "Catch the cylindrical bottle with rounded cap, then catch the black plastic bottle with Pepsi logo.",
+    "Use both arms to lift the bottle with yellow cap and the plastic bottle with colorful label.",
+    "Grasp the green bottle with black text label first, then take the bottle with blue and yellow print.",
+    "Catch the medium bottle with green body with one arm, the beverage bottle with black body with another arm.",
+    "Each arm should pick up one: the green bottle with black text label, then the black plastic bottle with Pepsi logo.",
+    "Let each arm grab either the medium bottle with green body or the yellow-capped cylindrical bottle.",
+    "Secure the plastic bottle with colored label, then secure the bottle with blue and yellow print.",
+    "Grab the cylindrical bottle with rounded cap and pick up the drink bottle with rounded yellow lid.",
+    "Pick up both the handheld plastic bottle and the black plastic bottle with Pepsi logo.",
+    "Pick both the green bottle with black text label and the plastic bottle with colorful label one after another.",
+    "Catch the handheld plastic bottle, grab the medium bottle with yellow cap next.",
+    "Hold both the green bottle with white label and the yellow capped drink bottle.",
+    "Catch the medium bottle with green body, then take hold of the black bottle.",
+    "Use both arms to pick up the cylindrical bottle with rounded cap and the medium black bottle with printed label.",
+    "Secure the plastic bottle and the medium black bottle with printed label in succession.",
+    "Assign one arm to each of the green bottle with black text label and the medium bottle with yellow cap.",
+    "Grab the bottle with yellow cap, pick up the plastic bottle with colorful label.",
+    "Hold the bottle with yellow cap with one arm, hold the medium black bottle with printed label with the other.",
+    "Use one arm for the bottle with glossy plastic finish, the other for the yellow capped drink bottle.",
+    "Hold the smooth green and yellow bottle in one arm, the beverage bottle with black body in the other.",
+    "Pick up both the green bottle with black text label and the black plastic bottle with Pepsi logo together.",
+    "With two arms, catch both the green bottle and the black cylindrical bottle with ridges.",
+    "Grab the green bottle with black text label with one arm, the beverage bottle with black body with the other.",
+    "Pick up the plastic bottle, then pick up the yellow-capped cylindrical bottle.",
+    "Lift the bottle with yellow cap and also take hold of the medium black bottle with printed label.",
+    "Use both arms to pick up the bottle with yellow cap and the yellow capped drink bottle.",
+    "Lift both the green bottle with white label and the black plastic bottle with Pepsi logo simultaneously.",
+    "Use one arm for the green bottle with black text label and the other for the black bottle.",
+    "Hold onto the green bottle with white label and then get the yellow-capped cylindrical bottle.",
+    "Lift the bottle with yellow cap, continue and pick up the yellow-capped cylindrical bottle.",
+    "With both arms, pick up the handheld plastic bottle, then the medium black bottle with printed label.",
+    "Assign one arm to catch the plastic bottle, one for the black cylindrical bottle with ridges.",
+    "Catch the green bottle in one arm and the bottle with blue and yellow print in the other arm.",
+    "Lift the smooth green and yellow bottle and the medium bottle with yellow cap with separate arms.",
+    "Use one arm for the bottle with glossy plastic finish, another for the black cylindrical bottle with ridges.",
+    "Lift both bottles, the medium bottle with green body with one arm, the bottle with blue and yellow print with the other.",
+    "Collect the cylindrical liquid bottle with yellow top, then pick up the yellow-capped cylindrical bottle.",
+    "Grab the green bottle with white label using one arm and the plastic bottle with colorful label using the other.",
+    "Hold onto the handheld plastic bottle, then pick up the black bottle.",
+    "Take hold of the bottle with yellow cap and the yellow-capped cylindrical bottle.",
+    "One arm grabs the bottle with glossy plastic finish; the other arm grabs the yellow-capped cylindrical bottle.",
+    "Secure both the handheld plastic bottle and the plastic bottle with colorful label quickly.",
+    "Use each arm to lift the green bottle and the beverage bottle with black body.",
+    "Pick up the cylindrical liquid bottle with yellow top and then pick up the plastic bottle with colorful label.",
+    "Catch both the cylindrical bottle with rounded cap and the bottle with blue and yellow print quickly.",
+    "Grab the green bottle with one arm, the yellow capped drink bottle with the other.",
+    "Catch the green bottle with black text label, then grab the drink bottle with rounded yellow lid too.",
+    "Grab and hold the green bottle with white label, then grab the bottle with blue and yellow print.",
+    "Hold the smooth green and yellow bottle in one arm, catch the yellow-capped cylindrical bottle with the other arm.",
+    "Grab the cylindrical liquid bottle with yellow top using an arm and the smooth black bottle with ridges with the other arm.",
+    "Catch the cylindrical bottle with rounded cap, then catch the black bottle.",
+    "Use both arms to lift the bottle with yellow cap and the drink bottle with rounded yellow lid.",
+    "Grasp the smooth green and yellow bottle first, then take the drink bottle with rounded yellow lid.",
+    "Catch the cylindrical liquid bottle with yellow top with one arm, the plastic bottle with colorful label with another arm.",
+    "Each arm should pick up one: the plastic bottle, then the medium bottle with yellow cap.",
+    "Let each arm grab either the green bottle or the black cylindrical bottle with ridges.",
+    "Secure the handheld plastic bottle, then secure the beverage bottle with black body.",
+    "Grab the green bottle and pick up the beverage bottle with black body."
+  ],
+  "unseen": [
+    "Pick up both the yellow-capped bottle with smooth surface and the bottle with ridges near base together.",
+    "Lift the medium-sized drink bottle using one arm and lift the hand-sized bottle with ridged bottom using the other.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the plastic bottle with blue label.",
+    "Grab the bottle with green base and black prints with one arm, grab the bottle with ridges near base with the other.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the bottle with ridges near base with the other.",
+    "Grab the medium-sized drink bottle and the bottle with ridges near base at the same time.",
+    "Grab the medium-sized drink bottle and grab the plastic bottle with blue label at once.",
+    "Pick up the bottle with green base and black prints and the bottle with ridges near base together.",
+    "Pick up the medium-sized drink bottle and take the hand-sized bottle with ridged bottom together.",
+    "Pick up both the medium-sized drink bottle and the bottle with ridges near base together.",
+    "Lift the yellow-capped bottle with smooth surface using one arm and lift the bottle with ridges near base using the other.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the bottle with ridges near base.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Use each arm to grab the medium-sized drink bottle and the hand-sized bottle with ridged bottom.",
+    "Pick up the bottle with green base and black prints with one arm, grab the plastic bottle with blue label with the other.",
+    "Grab the bottle with green base and black prints and the plastic bottle with blue label at the same time.",
+    "Grab the bottle with green base and black prints and grab the bottle with ridges near base at once.",
+    "Pick up the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom together.",
+    "Pick up the yellow-capped bottle with smooth surface and take the plastic bottle with blue label together.",
+    "Pick up both the bottle with green base and black prints and the bottle with ridges near base together.",
+    "Lift the medium-sized drink bottle using one arm and lift the bottle with ridges near base using the other.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the plastic bottle with blue label.",
+    "Grab the medium-sized drink bottle with one arm, grab the bottle with ridges near base with the other.",
+    "Use each arm to grab the medium-sized drink bottle and the plastic bottle with blue label.",
+    "Pick up the bottle with green base and black prints with one arm, grab the bottle with ridges near base with the other.",
+    "Grab the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom at the same time.",
+    "Grab the bottle with green base and black prints and grab the bottle with ridges near base at once.",
+    "Pick up the bottle with green base and black prints and the hand-sized bottle with ridged bottom together.",
+    "Pick up the bottle with green base and black prints and take the plastic bottle with blue label together.",
+    "Pick up both the yellow-capped bottle with smooth surface and the plastic bottle with blue label together.",
+    "Lift the medium-sized drink bottle using one arm and lift the hand-sized bottle with ridged bottom using the other.",
+    "Use each arm to lift a bottle: the medium-sized drink bottle, then the plastic bottle with blue label.",
+    "Grab the bottle with green base and black prints with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom.",
+    "Pick up the bottle with green base and black prints with one arm, grab the plastic bottle with blue label with the other.",
+    "Grab the medium-sized drink bottle and the plastic bottle with blue label at the same time.",
+    "Grab the yellow-capped bottle with smooth surface and grab the hand-sized bottle with ridged bottom at once.",
+    "Pick up the medium-sized drink bottle and the hand-sized bottle with ridged bottom together.",
+    "Pick up the yellow-capped bottle with smooth surface and take the hand-sized bottle with ridged bottom together.",
+    "Pick up both the yellow-capped bottle with smooth surface and the bottle with ridges near base together.",
+    "Lift the medium-sized drink bottle using one arm and lift the plastic bottle with blue label using the other.",
+    "Use each arm to lift a bottle: the bottle with green base and black prints, then the bottle with ridges near base.",
+    "Grab the medium-sized drink bottle with one arm, grab the plastic bottle with blue label with the other.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the bottle with ridges near base.",
+    "Pick up the bottle with green base and black prints with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Grab the medium-sized drink bottle and the bottle with ridges near base at the same time.",
+    "Grab the bottle with green base and black prints and grab the plastic bottle with blue label at once.",
+    "Pick up the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom together.",
+    "Pick up the bottle with green base and black prints and take the hand-sized bottle with ridged bottom together.",
+    "Pick up both the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom together.",
+    "Lift the yellow-capped bottle with smooth surface using one arm and lift the plastic bottle with blue label using the other.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the plastic bottle with blue label.",
+    "Grab the bottle with green base and black prints with one arm, grab the bottle with ridges near base with the other.",
+    "Use each arm to grab the medium-sized drink bottle and the plastic bottle with blue label.",
+    "Pick up the bottle with green base and black prints with one arm, grab the plastic bottle with blue label with the other.",
+    "Grab the medium-sized drink bottle and the hand-sized bottle with ridged bottom at the same time.",
+    "Grab the medium-sized drink bottle and grab the plastic bottle with blue label at once.",
+    "Pick up the bottle with green base and black prints and the hand-sized bottle with ridged bottom together.",
+    "Pick up the medium-sized drink bottle and take the hand-sized bottle with ridged bottom together.",
+    "Pick up both the bottle with green base and black prints and the bottle with ridges near base together.",
+    "Lift the yellow-capped bottle with smooth surface using one arm and lift the bottle with ridges near base using the other.",
+    "Use each arm to lift a bottle: the medium-sized drink bottle, then the plastic bottle with blue label.",
+    "Grab the bottle with green base and black prints with one arm, grab the bottle with ridges near base with the other.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the plastic bottle with blue label.",
+    "Pick up the medium-sized drink bottle with one arm, grab the plastic bottle with blue label with the other.",
+    "Grab the bottle with green base and black prints and the hand-sized bottle with ridged bottom at the same time.",
+    "Grab the bottle with green base and black prints and grab the bottle with ridges near base at once.",
+    "Pick up the medium-sized drink bottle and the bottle with ridges near base together.",
+    "Pick up the yellow-capped bottle with smooth surface and take the hand-sized bottle with ridged bottom together.",
+    "Pick up both the bottle with green base and black prints and the bottle with ridges near base together.",
+    "Lift the bottle with green base and black prints using one arm and lift the bottle with ridges near base using the other.",
+    "Use each arm to lift a bottle: the bottle with green base and black prints, then the bottle with ridges near base.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the plastic bottle with blue label with the other.",
+    "Use each arm to grab the medium-sized drink bottle and the hand-sized bottle with ridged bottom.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Grab the yellow-capped bottle with smooth surface and the plastic bottle with blue label at the same time.",
+    "Grab the medium-sized drink bottle and grab the hand-sized bottle with ridged bottom at once.",
+    "Pick up the medium-sized drink bottle and the bottle with ridges near base together.",
+    "Pick up the yellow-capped bottle with smooth surface and take the bottle with ridges near base together.",
+    "Pick up both the yellow-capped bottle with smooth surface and the plastic bottle with blue label together.",
+    "Lift the medium-sized drink bottle using one arm and lift the plastic bottle with blue label using the other.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the hand-sized bottle with ridged bottom.",
+    "Grab the medium-sized drink bottle with one arm, grab the plastic bottle with blue label with the other.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the plastic bottle with blue label.",
+    "Pick up the bottle with green base and black prints with one arm, grab the bottle with ridges near base with the other.",
+    "Grab the medium-sized drink bottle and the plastic bottle with blue label at the same time.",
+    "Grab the bottle with green base and black prints and grab the bottle with ridges near base at once.",
+    "Pick up the bottle with green base and black prints and the plastic bottle with blue label together.",
+    "Pick up the medium-sized drink bottle and take the bottle with ridges near base together.",
+    "Pick up both the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom together.",
+    "Lift the bottle with green base and black prints using one arm and lift the bottle with ridges near base using the other.",
+    "Use each arm to lift a bottle: the bottle with green base and black prints, then the hand-sized bottle with ridged bottom.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Use each arm to grab the medium-sized drink bottle and the hand-sized bottle with ridged bottom.",
+    "Pick up the medium-sized drink bottle with one arm, grab the plastic bottle with blue label with the other.",
+    "Grab the bottle with green base and black prints and the plastic bottle with blue label at the same time.",
+    "Grab the bottle with green base and black prints and grab the hand-sized bottle with ridged bottom at once.",
+    "Pick up the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom together.",
+    "Pick up the bottle with green base and black prints and take the bottle with ridges near base together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001098.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld medium-sized liquid bottle using an arm and the bottle with green and white labels with the other arm.",
+    "Catch the liquid container with orange body, then grab the smooth bottle with rounded edges too.",
+    "Use both arms to pick up the orange bottle and the plastic bottle.",
+    "Catch the bottle with yellow cap with one arm, the bottle with white cap with another arm.",
+    "Use one arm for the cylindrical orange bottle with smooth surface and the other for the rectangular bottle with cylindrical neck.",
+    "Grab the orange bottle and pick up the rectangular bottle with cylindrical neck.",
+    "Lift both bottles, the liquid container with orange body with one arm, the medium rectangular yellow bottle with the other.",
+    "Lift the smooth orange cylindrical bottle, continue and pick up the smooth bottle with rounded edges.",
+    "Hold both the rounded orange bottle with yellow top and the yellow bottle.",
+    "Secure the smooth orange cylindrical bottle and the plastic bottle in succession.",
+    "Catch the yellow-capped bottle for beverages in one arm and the medium rectangular yellow bottle in the other arm.",
+    "Hold the handheld medium-sized liquid bottle in one arm, the bottle with green label in the other.",
+    "Catch the smooth orange cylindrical bottle, grab the smooth bottle with rounded edges next.",
+    "Use both arms to pick up the rounded bottom orange plastic bottle and the bottle with green label.",
+    "Use each arm to lift the orange bottle and the yellow container with rounded edges.",
+    "Grab and hold the yellow-capped bottle for beverages, then grab the plastic bottle.",
+    "Lift both the bottle with yellow cap and the bottle with a smooth plastic body simultaneously.",
+    "With two arms, catch both the handheld medium-sized liquid bottle and the yellow plastic bottle with white top.",
+    "Pick up both the cylindrical orange bottle with smooth surface and the yellow plastic bottle with white top together.",
+    "Assign one arm to catch the bottle with yellow cap, one for the bottle with white cap.",
+    "Hold the small bottle with bright yellow lid with one arm, hold the medium rectangular yellow bottle with the other.",
+    "Pick up the rounded bottom orange plastic bottle, then pick up the medium rectangular yellow bottle.",
+    "Catch the orange bottle with bold labeling, then take hold of the bottle with green and white labels.",
+    "Secure the liquid container with orange body, then secure the smooth bottle with rounded edges.",
+    "Catch both the liquid container with orange body and the bottle with a smooth plastic body quickly.",
+    "Let each arm grab either the orange bottle or the yellow bottle with a green design.",
+    "Secure both the yellow-capped orange plastic bottle and the smooth bottle with rounded edges quickly.",
+    "Use one arm for the handheld medium-sized liquid bottle, the other for the bottle with a smooth plastic body.",
+    "Hold onto the handheld medium-sized liquid bottle, then pick up the bottle with white cap.",
+    "Grab the yellow-capped orange plastic bottle with one arm, the medium rectangular yellow bottle with the other.",
+    "Lift the rounded bottom orange plastic bottle and the bottle with a smooth plastic body with separate arms.",
+    "Lift the cylindrical orange bottle with smooth surface and also take hold of the yellow bottle with a green design.",
+    "Grab the orange bottle with bold labeling with one arm, the yellow bottle with a green design with the other.",
+    "Grab the smooth orange cylindrical bottle, pick up the yellow bottle with a green design.",
+    "Grasp the small bottle with bright yellow lid first, then take the yellow container with rounded edges.",
+    "Hold onto the liquid container with orange body and then get the yellow bottle with a green design.",
+    "Pick up the rounded orange bottle with yellow top and then pick up the yellow bottle with a green design.",
+    "Grab the smooth orange cylindrical bottle using one arm and the yellow plastic bottle with white top using the other.",
+    "With both arms, pick up the rounded orange bottle with yellow top, then the bottle with a smooth plastic body.",
+    "Use one arm for the smooth orange cylindrical bottle, another for the bottle with green and white labels.",
+    "Take hold of the bottle with yellow cap and the plastic bottle.",
+    "Catch the handheld medium-sized liquid bottle, then catch the plastic bottle.",
+    "Each arm should pick up one: the handheld medium-sized liquid bottle, then the yellow plastic bottle with white top.",
+    "Pick up both the smooth orange cylindrical bottle and the bottle with a smooth plastic body.",
+    "One arm grabs the rounded orange bottle with yellow top; the other arm grabs the yellow bottle.",
+    "Hold the orange bottle with bold labeling in one arm, catch the bottle with a smooth plastic body with the other arm.",
+    "Assign one arm to each of the bottle with yellow cap and the rectangular bottle with cylindrical neck.",
+    "Collect the yellow-capped orange plastic bottle, then pick up the bottle with white cap.",
+    "Use both arms to lift the bottle with yellow cap and the yellow container with rounded edges.",
+    "Pick both the yellow-capped orange plastic bottle and the bottle with green and white labels one after another.",
+    "Grab the handheld medium-sized liquid bottle using an arm and the bottle with green and white labels with the other arm.",
+    "Catch the yellow-capped bottle for beverages, then grab the medium rectangular yellow bottle too.",
+    "Use both arms to pick up the small bottle with bright yellow lid and the bottle with white cap.",
+    "Catch the cylindrical orange bottle with smooth surface with one arm, the bottle with white cap with another arm.",
+    "Use one arm for the rounded bottom orange plastic bottle and the other for the bottle with white cap.",
+    "Grab the orange bottle with bold labeling and pick up the medium rectangular yellow bottle.",
+    "Lift both bottles, the liquid container with orange body with one arm, the bottle with green and white labels with the other.",
+    "Lift the cylindrical orange bottle with smooth surface, continue and pick up the bottle with white cap.",
+    "Hold both the smooth orange cylindrical bottle and the bottle with green label.",
+    "Secure the rounded bottom orange plastic bottle and the medium rectangular yellow bottle in succession.",
+    "Catch the yellow-capped orange plastic bottle in one arm and the plastic bottle in the other arm.",
+    "Hold the orange bottle in one arm, the smooth bottle with rounded edges in the other.",
+    "Catch the handheld medium-sized liquid bottle, grab the medium rectangular yellow bottle next.",
+    "Use both arms to pick up the orange bottle and the bottle with green label.",
+    "Use each arm to lift the bottle with yellow cap and the plastic bottle.",
+    "Grab and hold the rounded orange bottle with yellow top, then grab the yellow bottle.",
+    "Lift both the liquid container with orange body and the plastic bottle simultaneously.",
+    "With two arms, catch both the rounded orange bottle with yellow top and the yellow bottle.",
+    "Pick up both the liquid container with orange body and the rectangular bottle with cylindrical neck together.",
+    "Assign one arm to catch the bottle with yellow cap, one for the medium rectangular yellow bottle.",
+    "Hold the handheld medium-sized liquid bottle with one arm, hold the medium rectangular yellow bottle with the other.",
+    "Pick up the rounded bottom orange plastic bottle, then pick up the rectangular bottle with cylindrical neck.",
+    "Catch the yellow-capped bottle for beverages, then take hold of the bottle with green label.",
+    "Secure the liquid container with orange body, then secure the bottle with green and white labels.",
+    "Catch both the liquid container with orange body and the bottle with white cap quickly.",
+    "Let each arm grab either the small bottle with bright yellow lid or the rectangular bottle with cylindrical neck.",
+    "Secure both the yellow-capped orange plastic bottle and the yellow container with rounded edges quickly.",
+    "Use one arm for the bottle with yellow cap, the other for the yellow bottle.",
+    "Hold onto the bottle with yellow cap, then pick up the plastic bottle.",
+    "Grab the small bottle with bright yellow lid with one arm, the medium rectangular yellow bottle with the other.",
+    "Lift the small bottle with bright yellow lid and the plastic bottle with separate arms.",
+    "Lift the liquid container with orange body and also take hold of the smooth bottle with rounded edges.",
+    "Grab the handheld medium-sized liquid bottle with one arm, the bottle with white cap with the other.",
+    "Grab the orange bottle, pick up the yellow container with rounded edges.",
+    "Grasp the small bottle with bright yellow lid first, then take the bottle with green and white labels.",
+    "Hold onto the yellow-capped orange plastic bottle and then get the plastic bottle.",
+    "Pick up the yellow-capped bottle for beverages and then pick up the bottle with a smooth plastic body.",
+    "Grab the yellow-capped orange plastic bottle using one arm and the yellow container with rounded edges using the other.",
+    "With both arms, pick up the liquid container with orange body, then the yellow plastic bottle with white top.",
+    "Use one arm for the yellow-capped bottle for beverages, another for the rectangular bottle with cylindrical neck.",
+    "Take hold of the handheld medium-sized liquid bottle and the plastic bottle.",
+    "Catch the bottle with yellow cap, then catch the bottle with green label.",
+    "Each arm should pick up one: the orange bottle, then the yellow plastic bottle with white top.",
+    "Pick up both the small bottle with bright yellow lid and the bottle with white cap.",
+    "One arm grabs the small bottle with bright yellow lid; the other arm grabs the bottle with green label.",
+    "Hold the bottle with yellow cap in one arm, catch the rectangular bottle with cylindrical neck with the other arm.",
+    "Assign one arm to each of the small bottle with bright yellow lid and the smooth bottle with rounded edges.",
+    "Collect the cylindrical orange bottle with smooth surface, then pick up the bottle with a smooth plastic body.",
+    "Use both arms to lift the yellow-capped bottle for beverages and the rectangular bottle with cylindrical neck.",
+    "Pick both the handheld medium-sized liquid bottle and the yellow container with rounded edges one after another."
+  ],
+  "unseen": [
+    "Lift the plastic orange bottle with rounded base using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the medium plastic bottle and take the hand-sized yellow plastic bottle together.",
+    "Pick up the medium plastic bottle and the yellow bottle for liquid storage together.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the medium plastic bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the yellow rectangular bottle.",
+    "Grab the plastic orange bottle with rounded base and grab the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the yellow rectangular bottle.",
+    "Grab the medium plastic bottle and the yellow rectangular bottle at the same time.",
+    "Pick up both the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle together.",
+    "Lift the medium bottle for liquids using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Pick up the plastic orange bottle with rounded base and take the yellow bottle for liquid storage together.",
+    "Pick up the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle together.",
+    "Grab the medium bottle for liquids with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the yellow rectangular bottle with the other.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the hand-sized yellow plastic bottle.",
+    "Grab the medium plastic bottle and grab the yellow rectangular bottle at once.",
+    "Use each arm to grab the medium plastic bottle and the hand-sized yellow plastic bottle.",
+    "Grab the plastic orange bottle with rounded base and the yellow rectangular bottle at the same time.",
+    "Pick up both the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle together.",
+    "Lift the medium bottle for liquids using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the plastic orange bottle with rounded base and take the yellow bottle for liquid storage together.",
+    "Pick up the medium plastic bottle and the yellow rectangular bottle together.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the yellow rectangular bottle.",
+    "Grab the medium plastic bottle and grab the yellow rectangular bottle at once.",
+    "Use each arm to grab the medium plastic bottle and the yellow rectangular bottle.",
+    "Grab the medium plastic bottle and the hand-sized yellow plastic bottle at the same time.",
+    "Pick up both the medium plastic bottle and the yellow bottle for liquid storage together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Pick up the plastic orange bottle with rounded base and take the hand-sized yellow plastic bottle together.",
+    "Pick up the medium bottle for liquids and the hand-sized yellow plastic bottle together.",
+    "Grab the medium bottle for liquids with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the yellow rectangular bottle.",
+    "Grab the plastic orange bottle with rounded base and grab the yellow rectangular bottle at once.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle.",
+    "Grab the plastic orange bottle with rounded base and the yellow bottle for liquid storage at the same time.",
+    "Pick up both the plastic orange bottle with rounded base and the yellow bottle for liquid storage together.",
+    "Lift the medium bottle for liquids using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the medium bottle for liquids and take the yellow bottle for liquid storage together.",
+    "Pick up the plastic orange bottle with rounded base and the yellow bottle for liquid storage together.",
+    "Grab the medium plastic bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the yellow rectangular bottle.",
+    "Grab the medium bottle for liquids and grab the yellow bottle for liquid storage at once.",
+    "Use each arm to grab the medium plastic bottle and the yellow bottle for liquid storage.",
+    "Grab the plastic orange bottle with rounded base and the yellow bottle for liquid storage at the same time.",
+    "Pick up both the plastic orange bottle with rounded base and the yellow rectangular bottle together.",
+    "Lift the medium plastic bottle using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the medium bottle for liquids and take the yellow bottle for liquid storage together.",
+    "Pick up the plastic orange bottle with rounded base and the yellow rectangular bottle together.",
+    "Grab the medium plastic bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the medium plastic bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the yellow bottle for liquid storage.",
+    "Grab the plastic orange bottle with rounded base and grab the yellow rectangular bottle at once.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle.",
+    "Grab the medium bottle for liquids and the yellow rectangular bottle at the same time.",
+    "Pick up both the plastic orange bottle with rounded base and the yellow bottle for liquid storage together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Pick up the plastic orange bottle with rounded base and take the yellow rectangular bottle together.",
+    "Pick up the medium plastic bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the medium bottle for liquids with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up the medium plastic bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the yellow rectangular bottle.",
+    "Grab the plastic orange bottle with rounded base and grab the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the yellow rectangular bottle.",
+    "Grab the medium bottle for liquids and the yellow bottle for liquid storage at the same time.",
+    "Pick up both the medium plastic bottle and the yellow bottle for liquid storage together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Pick up the medium plastic bottle and take the yellow rectangular bottle together.",
+    "Pick up the medium bottle for liquids and the hand-sized yellow plastic bottle together.",
+    "Grab the medium plastic bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the hand-sized yellow plastic bottle.",
+    "Grab the plastic orange bottle with rounded base and grab the yellow rectangular bottle at once.",
+    "Use each arm to grab the medium plastic bottle and the yellow bottle for liquid storage.",
+    "Grab the medium bottle for liquids and the yellow rectangular bottle at the same time.",
+    "Pick up both the medium plastic bottle and the yellow rectangular bottle together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Pick up the medium plastic bottle and take the hand-sized yellow plastic bottle together.",
+    "Pick up the medium bottle for liquids and the yellow rectangular bottle together.",
+    "Grab the medium plastic bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the yellow bottle for liquid storage.",
+    "Grab the plastic orange bottle with rounded base and grab the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab the medium plastic bottle and the yellow rectangular bottle.",
+    "Grab the medium plastic bottle and the yellow bottle for liquid storage at the same time.",
+    "Pick up both the medium bottle for liquids and the hand-sized yellow plastic bottle together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Pick up the medium plastic bottle and take the hand-sized yellow plastic bottle together.",
+    "Pick up the medium plastic bottle and the yellow rectangular bottle together.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the yellow rectangular bottle with the other.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the yellow bottle for liquid storage.",
+    "Grab the medium bottle for liquids and grab the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab the medium plastic bottle and the hand-sized yellow plastic bottle.",
+    "Grab the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle at the same time.",
+    "Pick up both the medium plastic bottle and the hand-sized yellow plastic bottle together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001104.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the yellow bottle with a green design, then pick up the cylindrical orange plastic bottle.",
+    "Use one arm for the bottle with white cap, the other for the orange drink bottle with label.",
+    "Grab the bottle with a smooth plastic body using an arm and the bottle for holding drinks with the other arm.",
+    "Pick both the smooth bottle with rounded edges and the smooth orange bottle one after another.",
+    "Pick up both the yellow bottle with a green design and the round-bottom bottle with white cap together.",
+    "Hold the rectangular bottle with cylindrical neck with one arm, hold the round-bottom bottle with white cap with the other.",
+    "Use both arms to pick up the rectangular bottle with cylindrical neck and the grooved orange drink bottle.",
+    "Each arm should pick up one: the yellow bottle with a green design, then the ridged orange bottle with grooves.",
+    "Hold onto the bottle with green label and then get the bottle for holding drinks.",
+    "Catch the yellow container with rounded edges, then grab the smooth orange bottle too.",
+    "Use each arm to lift the medium rectangular yellow bottle and the orange bottle.",
+    "Lift both the bottle with white cap and the medium bottle with colorful label simultaneously.",
+    "Grab the bottle with a smooth plastic body and pick up the orange drink bottle with label.",
+    "With two arms, catch both the yellow container with rounded edges and the grooved orange drink bottle.",
+    "Grab the yellow bottle with one arm, the orange bottle with the other.",
+    "Catch the bottle with green label, then take hold of the ridged orange bottle with grooves.",
+    "Use one arm for the plastic bottle, another for the medium bottle with colorful label.",
+    "Lift the bottle with a smooth plastic body and also take hold of the medium bottle with colorful label.",
+    "Catch the rectangular bottle with cylindrical neck, grab the orange drink bottle with label next.",
+    "Hold both the smooth bottle with rounded edges and the plastic bottle.",
+    "Grab the bottle with a smooth plastic body using one arm and the bottle for holding drinks using the other.",
+    "Secure the yellow bottle, then secure the ridged orange bottle with grooves.",
+    "Use both arms to lift the bottle with green and white labels and the cylindrical orange plastic bottle.",
+    "Catch both the yellow container with rounded edges and the bottle for holding drinks quickly.",
+    "Grasp the plastic bottle first, then take the ridged orange bottle with grooves.",
+    "Collect the yellow bottle, then pick up the smooth orange bottle.",
+    "Take hold of the yellow bottle and the orange drink bottle with label.",
+    "Pick up both the yellow container with rounded edges and the ridged orange bottle with grooves.",
+    "Hold the bottle with a smooth plastic body in one arm, the bottle for holding drinks in the other.",
+    "Pick up the bottle with green label and then pick up the curved orange soda bottle.",
+    "With both arms, pick up the medium rectangular yellow bottle, then the cylindrical orange plastic bottle.",
+    "Catch the bottle with green and white labels, then catch the orange bottle.",
+    "Assign one arm to each of the bottle with green and white labels and the smooth orange bottle.",
+    "Grab the bottle with white cap, pick up the orange drink bottle with label.",
+    "One arm grabs the bottle with green and white labels; the other arm grabs the light and medium-sized bottle.",
+    "Let each arm grab either the bottle with white cap or the light and medium-sized bottle.",
+    "Lift the yellow bottle, continue and pick up the curved orange soda bottle.",
+    "Use both arms to pick up the yellow container with rounded edges and the orange bottle.",
+    "Lift both bottles, the medium rectangular yellow bottle with one arm, the round-bottom bottle with white cap with the other.",
+    "Grab the bottle with a smooth plastic body with one arm, the orange drink bottle with label with the other.",
+    "Hold the bottle with a smooth plastic body in one arm, catch the medium bottle with colorful label with the other arm.",
+    "Catch the yellow bottle with a green design with one arm, the plastic bottle with another arm.",
+    "Grab and hold the yellow plastic bottle with white top, then grab the round-bottom bottle with white cap.",
+    "Lift the yellow bottle with a green design and the orange drink bottle with label with separate arms.",
+    "Use one arm for the yellow plastic bottle with white top and the other for the grooved orange drink bottle.",
+    "Assign one arm to catch the bottle with green and white labels, one for the bottle for holding drinks.",
+    "Catch the yellow bottle with a green design in one arm and the smooth orange bottle in the other arm.",
+    "Hold onto the bottle with green label, then pick up the bottle for holding drinks.",
+    "Secure the yellow bottle and the curved orange soda bottle in succession.",
+    "Secure both the bottle with green label and the round-bottom bottle with white cap quickly.",
+    "Pick up the yellow bottle with a green design, then pick up the orange drink bottle with label.",
+    "Use one arm for the bottle with green and white labels, the other for the cylindrical orange plastic bottle.",
+    "Grab the bottle with white cap using an arm and the grooved orange drink bottle with the other arm.",
+    "Pick both the bottle with a smooth plastic body and the medium bottle with colorful label one after another.",
+    "Pick up both the bottle with green label and the bottle for holding drinks together.",
+    "Hold the bottle with a smooth plastic body with one arm, hold the grooved orange drink bottle with the other.",
+    "Use both arms to pick up the yellow bottle and the plastic bottle.",
+    "Each arm should pick up one: the smooth bottle with rounded edges, then the grooved orange drink bottle.",
+    "Hold onto the yellow container with rounded edges and then get the grooved orange drink bottle.",
+    "Catch the yellow container with rounded edges, then grab the curved orange soda bottle too.",
+    "Use each arm to lift the bottle with a smooth plastic body and the cylindrical orange plastic bottle.",
+    "Lift both the bottle with green and white labels and the bottle for holding drinks simultaneously.",
+    "Grab the plastic bottle and pick up the bottle for holding drinks.",
+    "With two arms, catch both the yellow container with rounded edges and the grooved orange drink bottle.",
+    "Grab the bottle with a smooth plastic body with one arm, the cylindrical orange plastic bottle with the other.",
+    "Catch the yellow bottle, then take hold of the medium bottle with colorful label.",
+    "Use one arm for the rectangular bottle with cylindrical neck, another for the grooved orange drink bottle.",
+    "Lift the bottle with white cap and also take hold of the light and medium-sized bottle.",
+    "Catch the bottle with green label, grab the bottle for holding drinks next.",
+    "Hold both the bottle with green and white labels and the orange drink bottle with label.",
+    "Grab the bottle with green label using one arm and the smooth orange bottle using the other.",
+    "Secure the medium rectangular yellow bottle, then secure the light and medium-sized bottle.",
+    "Use both arms to lift the bottle with white cap and the medium bottle with colorful label.",
+    "Catch both the bottle with green and white labels and the grooved orange drink bottle quickly.",
+    "Grasp the rectangular bottle with cylindrical neck first, then take the medium bottle with colorful label.",
+    "Collect the yellow bottle with a green design, then pick up the smooth orange bottle.",
+    "Take hold of the bottle with green label and the medium bottle with colorful label.",
+    "Pick up both the rectangular bottle with cylindrical neck and the orange drink bottle with label.",
+    "Hold the plastic bottle in one arm, the bottle for holding drinks in the other.",
+    "Pick up the bottle with green and white labels and then pick up the bottle for holding drinks.",
+    "With both arms, pick up the bottle with green and white labels, then the light and medium-sized bottle.",
+    "Catch the bottle with white cap, then catch the orange bottle.",
+    "Assign one arm to each of the bottle with green and white labels and the ridged orange bottle with grooves.",
+    "Grab the bottle with white cap, pick up the cylindrical orange plastic bottle.",
+    "One arm grabs the yellow plastic bottle with white top; the other arm grabs the cylindrical orange plastic bottle.",
+    "Let each arm grab either the medium rectangular yellow bottle or the cylindrical orange plastic bottle.",
+    "Lift the rectangular bottle with cylindrical neck, continue and pick up the light and medium-sized bottle.",
+    "Use both arms to pick up the bottle with green and white labels and the curved orange soda bottle.",
+    "Lift both bottles, the rectangular bottle with cylindrical neck with one arm, the medium bottle with colorful label with the other.",
+    "Grab the yellow plastic bottle with white top with one arm, the orange drink bottle with label with the other.",
+    "Hold the yellow bottle in one arm, catch the bottle for holding drinks with the other arm.",
+    "Catch the rectangular bottle with cylindrical neck with one arm, the plastic bottle with another arm.",
+    "Grab and hold the yellow container with rounded edges, then grab the grooved orange drink bottle.",
+    "Lift the plastic bottle and the orange bottle with separate arms.",
+    "Use one arm for the rectangular bottle with cylindrical neck and the other for the cylindrical orange plastic bottle.",
+    "Assign one arm to catch the medium rectangular yellow bottle, one for the ridged orange bottle with grooves.",
+    "Catch the yellow container with rounded edges in one arm and the ridged orange bottle with grooves in the other arm.",
+    "Hold onto the bottle with green and white labels, then pick up the medium bottle with colorful label.",
+    "Secure the bottle with white cap and the ridged orange bottle with grooves in succession.",
+    "Secure both the yellow bottle with a green design and the bottle for holding drinks quickly."
+  ],
+  "unseen": [
+    "Pick up the yellow rectangular bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up both the yellow bottle for liquid storage and the white capped orange plastic bottle together.",
+    "Pick up the yellow rectangular bottle and take the white capped orange plastic bottle together.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the white capped orange plastic bottle using the other.",
+    "Grab the hand-sized yellow plastic bottle and the bottle with ridged orange grip at the same time.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the bottle with white cap.",
+    "Grab the yellow rectangular bottle and grab the bottle with white cap at once.",
+    "Pick up the yellow bottle for liquid storage and the bottle with ridged orange grip together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the bottle with white cap.",
+    "Pick up the hand-sized yellow plastic bottle with one arm, grab the bottle with white cap with the other.",
+    "Pick up both the yellow rectangular bottle and the bottle with white cap together.",
+    "Pick up the yellow bottle for liquid storage and take the white capped orange plastic bottle together.",
+    "Lift the yellow rectangular bottle using one arm and lift the bottle with white cap using the other.",
+    "Grab the yellow rectangular bottle and the white capped orange plastic bottle at the same time.",
+    "Use each arm to grab the yellow rectangular bottle and the white capped orange plastic bottle.",
+    "Grab the hand-sized yellow plastic bottle and grab the white capped orange plastic bottle at once.",
+    "Pick up the yellow rectangular bottle and the bottle with ridged orange grip together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the bottle with white cap.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the bottle with white cap with the other.",
+    "Pick up both the yellow rectangular bottle and the bottle with ridged orange grip together.",
+    "Pick up the yellow bottle for liquid storage and take the bottle with ridged orange grip together.",
+    "Lift the yellow rectangular bottle using one arm and lift the bottle with ridged orange grip using the other.",
+    "Grab the yellow rectangular bottle and the bottle with white cap at the same time.",
+    "Use each arm to grab the yellow rectangular bottle and the white capped orange plastic bottle.",
+    "Grab the yellow rectangular bottle and grab the white capped orange plastic bottle at once.",
+    "Pick up the yellow bottle for liquid storage and the white capped orange plastic bottle together.",
+    "Grab the yellow rectangular bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the white capped orange plastic bottle.",
+    "Pick up the hand-sized yellow plastic bottle with one arm, grab the bottle with white cap with the other.",
+    "Pick up both the yellow rectangular bottle and the bottle with ridged orange grip together.",
+    "Pick up the yellow rectangular bottle and take the white capped orange plastic bottle together.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the bottle with white cap using the other.",
+    "Grab the yellow bottle for liquid storage and the bottle with ridged orange grip at the same time.",
+    "Use each arm to grab the yellow rectangular bottle and the white capped orange plastic bottle.",
+    "Grab the yellow bottle for liquid storage and grab the white capped orange plastic bottle at once.",
+    "Pick up the yellow bottle for liquid storage and the white capped orange plastic bottle together.",
+    "Grab the yellow rectangular bottle with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the bottle with white cap.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up both the yellow rectangular bottle and the bottle with ridged orange grip together.",
+    "Pick up the hand-sized yellow plastic bottle and take the white capped orange plastic bottle together.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the white capped orange plastic bottle using the other.",
+    "Grab the yellow rectangular bottle and the bottle with ridged orange grip at the same time.",
+    "Use each arm to grab the yellow bottle for liquid storage and the bottle with ridged orange grip.",
+    "Grab the yellow rectangular bottle and grab the white capped orange plastic bottle at once.",
+    "Pick up the yellow bottle for liquid storage and the white capped orange plastic bottle together.",
+    "Grab the yellow rectangular bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the bottle with white cap.",
+    "Pick up the hand-sized yellow plastic bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up both the yellow bottle for liquid storage and the bottle with ridged orange grip together.",
+    "Pick up the yellow rectangular bottle and take the white capped orange plastic bottle together.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the white capped orange plastic bottle using the other.",
+    "Grab the yellow bottle for liquid storage and the bottle with ridged orange grip at the same time.",
+    "Use each arm to grab the yellow bottle for liquid storage and the white capped orange plastic bottle.",
+    "Grab the yellow bottle for liquid storage and grab the bottle with ridged orange grip at once.",
+    "Pick up the yellow rectangular bottle and the white capped orange plastic bottle together.",
+    "Grab the yellow rectangular bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the white capped orange plastic bottle.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up both the hand-sized yellow plastic bottle and the bottle with white cap together.",
+    "Pick up the yellow bottle for liquid storage and take the bottle with white cap together.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the bottle with ridged orange grip using the other.",
+    "Grab the yellow bottle for liquid storage and the bottle with ridged orange grip at the same time.",
+    "Use each arm to grab the yellow bottle for liquid storage and the white capped orange plastic bottle.",
+    "Grab the hand-sized yellow plastic bottle and grab the bottle with ridged orange grip at once.",
+    "Pick up the yellow bottle for liquid storage and the white capped orange plastic bottle together.",
+    "Grab the hand-sized yellow plastic bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the bottle with ridged orange grip.",
+    "Pick up the hand-sized yellow plastic bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up both the hand-sized yellow plastic bottle and the white capped orange plastic bottle together.",
+    "Pick up the yellow rectangular bottle and take the bottle with ridged orange grip together.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the white capped orange plastic bottle using the other.",
+    "Grab the yellow bottle for liquid storage and the white capped orange plastic bottle at the same time.",
+    "Use each arm to grab the yellow rectangular bottle and the bottle with white cap.",
+    "Grab the yellow rectangular bottle and grab the bottle with ridged orange grip at once.",
+    "Pick up the yellow bottle for liquid storage and the bottle with white cap together.",
+    "Grab the yellow rectangular bottle with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the white capped orange plastic bottle.",
+    "Pick up the hand-sized yellow plastic bottle with one arm, grab the bottle with white cap with the other.",
+    "Pick up both the hand-sized yellow plastic bottle and the bottle with ridged orange grip together.",
+    "Pick up the yellow bottle for liquid storage and take the bottle with ridged orange grip together.",
+    "Lift the yellow rectangular bottle using one arm and lift the white capped orange plastic bottle using the other.",
+    "Grab the hand-sized yellow plastic bottle and the bottle with ridged orange grip at the same time.",
+    "Use each arm to grab the yellow rectangular bottle and the bottle with ridged orange grip.",
+    "Grab the yellow bottle for liquid storage and grab the white capped orange plastic bottle at once.",
+    "Pick up the yellow rectangular bottle and the bottle with ridged orange grip together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the white capped orange plastic bottle with the other.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the bottle with white cap.",
+    "Pick up the yellow rectangular bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up both the yellow rectangular bottle and the white capped orange plastic bottle together.",
+    "Pick up the hand-sized yellow plastic bottle and take the bottle with ridged orange grip together.",
+    "Lift the yellow rectangular bottle using one arm and lift the bottle with white cap using the other.",
+    "Grab the yellow rectangular bottle and the white capped orange plastic bottle at the same time.",
+    "Use each arm to grab the yellow rectangular bottle and the bottle with ridged orange grip.",
+    "Grab the yellow rectangular bottle and grab the bottle with white cap at once.",
+    "Pick up the hand-sized yellow plastic bottle and the bottle with ridged orange grip together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the white capped orange plastic bottle with the other.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the bottle with white cap."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001106.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic bottle using one arm and the grooved orange drink bottle using the other.",
+    "Use one arm for the bottle with green and white labels and the other for the grooved orange drink bottle.",
+    "Catch the medium rectangular yellow bottle, then catch the curved orange soda bottle.",
+    "Pick up both the bottle with green label and the orange bottle.",
+    "Grab the bottle with a smooth plastic body using an arm and the orange bottle with the other arm.",
+    "Catch the yellow container with rounded edges, grab the plastic bottle next.",
+    "Pick up the bottle with green label, then pick up the orange bottle.",
+    "Catch both the bottle with green and white labels and the light and medium-sized bottle quickly.",
+    "Grab the bottle with white cap with one arm, the plastic bottle with the other.",
+    "Grab the smooth bottle with rounded edges and pick up the medium bottle with colorful label.",
+    "Catch the bottle with a smooth plastic body, then grab the cylindrical orange plastic bottle too.",
+    "Secure both the bottle with green and white labels and the cylindrical orange plastic bottle quickly.",
+    "Use both arms to pick up the plastic bottle and the ridged orange bottle with grooves.",
+    "One arm grabs the medium rectangular yellow bottle; the other arm grabs the ridged orange bottle with grooves.",
+    "Hold both the plastic bottle and the curved orange soda bottle.",
+    "Lift the bottle with green label, continue and pick up the smooth orange bottle.",
+    "Lift the bottle with a smooth plastic body and the plastic bottle with separate arms.",
+    "Grab the yellow plastic bottle with white top with one arm, the orange drink bottle with label with the other.",
+    "Hold the medium rectangular yellow bottle in one arm, catch the bottle for holding drinks with the other arm.",
+    "Use both arms to lift the plastic bottle and the plastic bottle.",
+    "Assign one arm to catch the bottle with white cap, one for the smooth orange bottle.",
+    "Lift both the smooth bottle with rounded edges and the bottle for holding drinks simultaneously.",
+    "Use each arm to lift the medium rectangular yellow bottle and the light and medium-sized bottle.",
+    "Let each arm grab either the smooth bottle with rounded edges or the smooth orange bottle.",
+    "Assign one arm to each of the yellow bottle and the plastic bottle.",
+    "With two arms, catch both the yellow bottle with a green design and the light and medium-sized bottle.",
+    "Grasp the yellow bottle first, then take the bottle for holding drinks.",
+    "Catch the smooth bottle with rounded edges in one arm and the ridged orange bottle with grooves in the other arm.",
+    "Use one arm for the smooth bottle with rounded edges, another for the grooved orange drink bottle.",
+    "Pick up the bottle with green and white labels and then pick up the light and medium-sized bottle.",
+    "Pick both the bottle with green and white labels and the plastic bottle one after another.",
+    "Hold the yellow bottle with a green design with one arm, hold the curved orange soda bottle with the other.",
+    "Use both arms to pick up the bottle with green and white labels and the orange bottle.",
+    "With both arms, pick up the plastic bottle, then the cylindrical orange plastic bottle.",
+    "Hold the yellow bottle in one arm, the cylindrical orange plastic bottle in the other.",
+    "Each arm should pick up one: the yellow bottle with a green design, then the orange bottle.",
+    "Hold onto the bottle with green label and then get the smooth orange bottle.",
+    "Lift the bottle with green label and also take hold of the round-bottom bottle with white cap.",
+    "Take hold of the yellow bottle with a green design and the cylindrical orange plastic bottle.",
+    "Pick up both the plastic bottle and the round-bottom bottle with white cap together.",
+    "Secure the bottle with white cap, then secure the plastic bottle.",
+    "Catch the medium rectangular yellow bottle, then take hold of the bottle for holding drinks.",
+    "Collect the yellow plastic bottle with white top, then pick up the smooth orange bottle.",
+    "Grab the plastic bottle, pick up the bottle for holding drinks.",
+    "Lift both bottles, the rectangular bottle with cylindrical neck with one arm, the grooved orange drink bottle with the other.",
+    "Catch the rectangular bottle with cylindrical neck with one arm, the smooth orange bottle with another arm.",
+    "Use one arm for the bottle with green and white labels, the other for the plastic bottle.",
+    "Grab and hold the yellow bottle, then grab the bottle for holding drinks.",
+    "Secure the bottle with green label and the ridged orange bottle with grooves in succession.",
+    "Hold onto the bottle with white cap, then pick up the orange bottle.",
+    "Grab the rectangular bottle with cylindrical neck using one arm and the curved orange soda bottle using the other.",
+    "Use one arm for the yellow bottle and the other for the bottle for holding drinks.",
+    "Catch the bottle with green and white labels, then catch the round-bottom bottle with white cap.",
+    "Pick up both the smooth bottle with rounded edges and the cylindrical orange plastic bottle.",
+    "Grab the yellow plastic bottle with white top using an arm and the orange bottle with the other arm.",
+    "Catch the bottle with green and white labels, grab the bottle for holding drinks next.",
+    "Pick up the rectangular bottle with cylindrical neck, then pick up the curved orange soda bottle.",
+    "Catch both the yellow bottle with a green design and the orange bottle quickly.",
+    "Grab the yellow plastic bottle with white top with one arm, the grooved orange drink bottle with the other.",
+    "Grab the yellow plastic bottle with white top and pick up the light and medium-sized bottle.",
+    "Catch the yellow plastic bottle with white top, then grab the smooth orange bottle too.",
+    "Secure both the yellow bottle with a green design and the curved orange soda bottle quickly.",
+    "Use both arms to pick up the medium rectangular yellow bottle and the smooth orange bottle.",
+    "One arm grabs the bottle with green label; the other arm grabs the cylindrical orange plastic bottle.",
+    "Hold both the medium rectangular yellow bottle and the orange drink bottle with label.",
+    "Lift the bottle with white cap, continue and pick up the bottle for holding drinks.",
+    "Lift the bottle with green label and the medium bottle with colorful label with separate arms.",
+    "Grab the smooth bottle with rounded edges with one arm, the light and medium-sized bottle with the other.",
+    "Hold the smooth bottle with rounded edges in one arm, catch the bottle for holding drinks with the other arm.",
+    "Use both arms to lift the yellow container with rounded edges and the plastic bottle.",
+    "Assign one arm to catch the smooth bottle with rounded edges, one for the ridged orange bottle with grooves.",
+    "Lift both the yellow bottle and the bottle for holding drinks simultaneously.",
+    "Use each arm to lift the rectangular bottle with cylindrical neck and the light and medium-sized bottle.",
+    "Let each arm grab either the yellow bottle with a green design or the round-bottom bottle with white cap.",
+    "Assign one arm to each of the yellow plastic bottle with white top and the curved orange soda bottle.",
+    "With two arms, catch both the smooth bottle with rounded edges and the smooth orange bottle.",
+    "Grasp the bottle with a smooth plastic body first, then take the ridged orange bottle with grooves.",
+    "Catch the bottle with white cap in one arm and the grooved orange drink bottle in the other arm.",
+    "Use one arm for the rectangular bottle with cylindrical neck, another for the medium bottle with colorful label.",
+    "Pick up the yellow bottle with a green design and then pick up the orange drink bottle with label.",
+    "Pick both the bottle with white cap and the curved orange soda bottle one after another.",
+    "Hold the bottle with a smooth plastic body with one arm, hold the bottle for holding drinks with the other.",
+    "Use both arms to pick up the yellow container with rounded edges and the light and medium-sized bottle.",
+    "With both arms, pick up the plastic bottle, then the ridged orange bottle with grooves.",
+    "Hold the yellow plastic bottle with white top in one arm, the ridged orange bottle with grooves in the other.",
+    "Each arm should pick up one: the medium rectangular yellow bottle, then the cylindrical orange plastic bottle.",
+    "Hold onto the bottle with green and white labels and then get the bottle for holding drinks.",
+    "Lift the yellow plastic bottle with white top and also take hold of the orange bottle.",
+    "Take hold of the bottle with green and white labels and the medium bottle with colorful label.",
+    "Pick up both the yellow bottle with a green design and the orange bottle together.",
+    "Secure the smooth bottle with rounded edges, then secure the medium bottle with colorful label.",
+    "Catch the bottle with white cap, then take hold of the plastic bottle.",
+    "Collect the yellow plastic bottle with white top, then pick up the orange drink bottle with label.",
+    "Grab the bottle with white cap, pick up the bottle for holding drinks.",
+    "Lift both bottles, the bottle with a smooth plastic body with one arm, the orange drink bottle with label with the other.",
+    "Catch the medium rectangular yellow bottle with one arm, the curved orange soda bottle with another arm.",
+    "Use one arm for the bottle with white cap, the other for the cylindrical orange plastic bottle.",
+    "Grab and hold the smooth bottle with rounded edges, then grab the orange bottle.",
+    "Secure the yellow bottle and the plastic bottle in succession.",
+    "Hold onto the smooth bottle with rounded edges, then pick up the plastic bottle."
+  ],
+  "unseen": [
+    "Grab the yellow rectangular bottle and the bottle with white cap at the same time.",
+    "Grab the yellow rectangular bottle and grab the bottle with ridged orange grip at once.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the yellow bottle for liquid storage and take the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the bottle with ridged orange grip.",
+    "Pick up the yellow bottle for liquid storage and the bottle with ridged orange grip together.",
+    "Grab the yellow rectangular bottle with one arm, grab the bottle with white cap with the other.",
+    "Pick up the yellow rectangular bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the bottle with ridged orange grip.",
+    "Pick up both the yellow rectangular bottle and the bottle with white cap together.",
+    "Grab the yellow bottle for liquid storage and the bottle with white cap at the same time.",
+    "Grab the yellow rectangular bottle and grab the bottle with white cap at once.",
+    "Lift the yellow rectangular bottle using one arm and lift the bottle with white cap using the other.",
+    "Pick up the hand-sized yellow plastic bottle and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the white capped orange plastic bottle.",
+    "Pick up the yellow rectangular bottle and the bottle with white cap together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the hand-sized yellow plastic bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the white capped orange plastic bottle.",
+    "Pick up both the hand-sized yellow plastic bottle and the bottle with white cap together.",
+    "Grab the yellow bottle for liquid storage and the bottle with ridged orange grip at the same time.",
+    "Grab the hand-sized yellow plastic bottle and grab the white capped orange plastic bottle at once.",
+    "Lift the yellow rectangular bottle using one arm and lift the bottle with white cap using the other.",
+    "Pick up the yellow rectangular bottle and take the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the white capped orange plastic bottle.",
+    "Pick up the hand-sized yellow plastic bottle and the bottle with white cap together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the hand-sized yellow plastic bottle with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the bottle with white cap.",
+    "Pick up both the yellow bottle for liquid storage and the bottle with white cap together.",
+    "Grab the yellow bottle for liquid storage and the white capped orange plastic bottle at the same time.",
+    "Grab the yellow rectangular bottle and grab the bottle with white cap at once.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the hand-sized yellow plastic bottle and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the bottle with white cap.",
+    "Pick up the yellow rectangular bottle and the bottle with white cap together.",
+    "Grab the yellow rectangular bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the white capped orange plastic bottle with the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the white capped orange plastic bottle.",
+    "Pick up both the yellow rectangular bottle and the bottle with ridged orange grip together.",
+    "Grab the hand-sized yellow plastic bottle and the bottle with white cap at the same time.",
+    "Grab the hand-sized yellow plastic bottle and grab the white capped orange plastic bottle at once.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the yellow rectangular bottle and take the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the white capped orange plastic bottle.",
+    "Pick up the hand-sized yellow plastic bottle and the bottle with white cap together.",
+    "Grab the yellow rectangular bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the yellow rectangular bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the bottle with ridged orange grip.",
+    "Pick up both the yellow bottle for liquid storage and the bottle with white cap together.",
+    "Grab the yellow bottle for liquid storage and the bottle with white cap at the same time.",
+    "Grab the hand-sized yellow plastic bottle and grab the bottle with white cap at once.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the bottle with white cap using the other.",
+    "Pick up the yellow bottle for liquid storage and take the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the bottle with white cap.",
+    "Pick up the hand-sized yellow plastic bottle and the bottle with ridged orange grip together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the bottle with white cap with the other.",
+    "Pick up the yellow rectangular bottle with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the bottle with ridged orange grip.",
+    "Pick up both the yellow rectangular bottle and the bottle with ridged orange grip together.",
+    "Grab the yellow rectangular bottle and the bottle with ridged orange grip at the same time.",
+    "Grab the hand-sized yellow plastic bottle and grab the bottle with white cap at once.",
+    "Lift the yellow rectangular bottle using one arm and lift the bottle with white cap using the other.",
+    "Pick up the yellow bottle for liquid storage and take the bottle with white cap together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the bottle with white cap.",
+    "Pick up the hand-sized yellow plastic bottle and the white capped orange plastic bottle together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the bottle with ridged orange grip.",
+    "Pick up both the hand-sized yellow plastic bottle and the bottle with white cap together.",
+    "Grab the hand-sized yellow plastic bottle and the bottle with ridged orange grip at the same time.",
+    "Grab the hand-sized yellow plastic bottle and grab the bottle with ridged orange grip at once.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the hand-sized yellow plastic bottle and take the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the bottle with white cap.",
+    "Pick up the yellow rectangular bottle and the white capped orange plastic bottle together.",
+    "Grab the hand-sized yellow plastic bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the yellow rectangular bottle with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to grab the yellow rectangular bottle and the white capped orange plastic bottle.",
+    "Pick up both the hand-sized yellow plastic bottle and the bottle with white cap together.",
+    "Grab the yellow rectangular bottle and the bottle with ridged orange grip at the same time.",
+    "Grab the hand-sized yellow plastic bottle and grab the bottle with ridged orange grip at once.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the yellow bottle for liquid storage and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the bottle with ridged orange grip.",
+    "Pick up the hand-sized yellow plastic bottle and the bottle with ridged orange grip together.",
+    "Grab the yellow rectangular bottle with one arm, grab the bottle with white cap with the other.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the bottle with ridged orange grip.",
+    "Pick up both the yellow bottle for liquid storage and the white capped orange plastic bottle together.",
+    "Grab the yellow bottle for liquid storage and the bottle with ridged orange grip at the same time.",
+    "Grab the yellow bottle for liquid storage and grab the bottle with ridged orange grip at once.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the hand-sized yellow plastic bottle and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the bottle with ridged orange grip.",
+    "Pick up the hand-sized yellow plastic bottle and the white capped orange plastic bottle together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the white capped orange plastic bottle with the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the white capped orange plastic bottle.",
+    "Pick up both the yellow bottle for liquid storage and the white capped orange plastic bottle together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001116.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to pick up the smooth bottle and the rounded bottom orange plastic bottle.",
+    "Pick both the smooth bottle and the liquid container with orange body one after another.",
+    "Lift both the white bottle with red text and the cylindrical orange bottle with smooth surface simultaneously.",
+    "Lift the white cylindrical bottle and the orange bottle with separate arms.",
+    "Grab the bottle with orange screw cap and pick up the rounded bottom orange plastic bottle.",
+    "Assign one arm to each of the bottle with tapering neck and the yellow-capped orange plastic bottle.",
+    "Pick up the white bottle with orange lid, then pick up the handheld medium-sized liquid bottle.",
+    "Use both arms to lift the white bottle with red text and the yellow-capped orange plastic bottle.",
+    "Catch the bottle with tapering neck, then take hold of the orange bottle with bold labeling.",
+    "Pick up both the white bottle with red text and the rounded bottom orange plastic bottle.",
+    "Grab and hold the cylindrical bottle with red writing, then grab the liquid container with orange body.",
+    "Lift the bottle with tapering neck, continue and pick up the handheld medium-sized liquid bottle.",
+    "Each arm should pick up one: the medium-sized bottle, then the handheld medium-sized liquid bottle.",
+    "Let each arm grab either the white cylindrical bottle or the rounded bottom orange plastic bottle.",
+    "Secure the white bottle with orange lid, then secure the rounded bottom orange plastic bottle.",
+    "Grab the cylindrical bottle with red writing with one arm, the handheld medium-sized liquid bottle with the other.",
+    "Collect the handheld white bottle with cap, then pick up the yellow-capped orange plastic bottle.",
+    "Hold onto the white bottle for liquids, then pick up the liquid container with orange body.",
+    "Hold both the smooth bottle and the liquid container with orange body.",
+    "With both arms, pick up the smooth bottle, then the smooth orange cylindrical bottle.",
+    "Use one arm for the cylindrical bottle with red writing, the other for the rounded bottom orange plastic bottle.",
+    "Grab the white bottle with orange lid using an arm and the cylindrical orange bottle with smooth surface with the other arm.",
+    "Grab the white bottle with orange lid with one arm, the liquid container with orange body with the other.",
+    "Catch the white bottle with orange lid with one arm, the rounded orange bottle with yellow top with another arm.",
+    "Hold the white bottle for liquids in one arm, the handheld medium-sized liquid bottle in the other.",
+    "Hold the white bottle in one arm, catch the small bottle with bright yellow lid with the other arm.",
+    "Hold the handheld white bottle with cap with one arm, hold the yellow-capped bottle for beverages with the other.",
+    "Secure both the white cylindrical bottle and the orange bottle quickly.",
+    "Use each arm to lift the white bottle with orange lid and the small bottle with bright yellow lid.",
+    "Use one arm for the smooth bottle, another for the yellow-capped bottle for beverages.",
+    "One arm grabs the plastic bottle; the other arm grabs the rounded orange bottle with yellow top.",
+    "Grab the smooth bottle using one arm and the bottle with yellow cap using the other.",
+    "Grasp the medium-sized bottle first, then take the rounded orange bottle with yellow top.",
+    "Hold onto the smooth bottle and then get the liquid container with orange body.",
+    "Use one arm for the medium-sized bottle and the other for the yellow-capped orange plastic bottle.",
+    "Grab the white cylindrical bottle, pick up the liquid container with orange body.",
+    "Pick up both the bottle with tapering neck and the rounded orange bottle with yellow top together.",
+    "Catch both the white bottle for liquids and the orange bottle quickly.",
+    "Lift both bottles, the white bottle with one arm, the yellow-capped orange plastic bottle with the other.",
+    "Catch the white bottle with red text in one arm and the rounded orange bottle with yellow top in the other arm.",
+    "Catch the medium-sized bottle, grab the orange bottle next.",
+    "Assign one arm to catch the plastic bottle, one for the orange bottle with bold labeling.",
+    "Pick up the white cylindrical bottle and then pick up the cylindrical orange bottle with smooth surface.",
+    "Use both arms to pick up the white bottle and the bottle with yellow cap.",
+    "With two arms, catch both the bottle with orange screw cap and the rounded orange bottle with yellow top.",
+    "Lift the handheld white bottle with cap and also take hold of the cylindrical orange bottle with smooth surface.",
+    "Catch the smooth bottle, then grab the bottle with yellow cap too.",
+    "Take hold of the smooth bottle and the yellow-capped orange plastic bottle.",
+    "Secure the bottle with tapering neck and the small bottle with bright yellow lid in succession.",
+    "Catch the white bottle, then catch the orange bottle with bold labeling.",
+    "Use both arms to pick up the smooth bottle and the yellow-capped orange plastic bottle.",
+    "Pick both the smooth bottle and the smooth orange cylindrical bottle one after another.",
+    "Lift both the plastic bottle and the orange bottle with bold labeling simultaneously.",
+    "Lift the cylindrical bottle with red writing and the handheld medium-sized liquid bottle with separate arms.",
+    "Grab the cylindrical bottle with red writing and pick up the cylindrical orange bottle with smooth surface.",
+    "Assign one arm to each of the white bottle with orange lid and the cylindrical orange bottle with smooth surface.",
+    "Pick up the white bottle with red text, then pick up the liquid container with orange body.",
+    "Use both arms to lift the medium-sized bottle and the orange bottle.",
+    "Catch the white bottle for liquids, then take hold of the orange bottle with bold labeling.",
+    "Pick up both the bottle with orange screw cap and the smooth orange cylindrical bottle.",
+    "Grab and hold the medium-sized bottle, then grab the handheld medium-sized liquid bottle.",
+    "Lift the white cylindrical bottle, continue and pick up the cylindrical orange bottle with smooth surface.",
+    "Each arm should pick up one: the white bottle with red text, then the orange bottle with bold labeling.",
+    "Let each arm grab either the plastic bottle or the liquid container with orange body.",
+    "Secure the white bottle with red text, then secure the rounded orange bottle with yellow top.",
+    "Grab the cylindrical bottle with red writing with one arm, the yellow-capped orange plastic bottle with the other.",
+    "Collect the bottle with orange screw cap, then pick up the cylindrical orange bottle with smooth surface.",
+    "Hold onto the handheld white bottle with cap, then pick up the handheld medium-sized liquid bottle.",
+    "Hold both the bottle with tapering neck and the yellow-capped bottle for beverages.",
+    "With both arms, pick up the medium-sized bottle, then the orange bottle with bold labeling.",
+    "Use one arm for the handheld white bottle with cap, the other for the yellow-capped bottle for beverages.",
+    "Grab the white cylindrical bottle using an arm and the rounded orange bottle with yellow top with the other arm.",
+    "Grab the white bottle for liquids with one arm, the yellow-capped orange plastic bottle with the other.",
+    "Catch the bottle with orange screw cap with one arm, the bottle with yellow cap with another arm.",
+    "Hold the white bottle with red text in one arm, the rounded bottom orange plastic bottle in the other.",
+    "Hold the bottle with tapering neck in one arm, catch the bottle with yellow cap with the other arm.",
+    "Hold the medium-sized bottle with one arm, hold the orange bottle with the other.",
+    "Secure both the bottle with orange screw cap and the liquid container with orange body quickly.",
+    "Use each arm to lift the smooth bottle and the cylindrical orange bottle with smooth surface.",
+    "Use one arm for the cylindrical bottle with red writing, another for the orange bottle with bold labeling.",
+    "One arm grabs the handheld white bottle with cap; the other arm grabs the orange bottle with bold labeling.",
+    "Grab the smooth bottle using one arm and the handheld medium-sized liquid bottle using the other.",
+    "Grasp the bottle with orange screw cap first, then take the rounded bottom orange plastic bottle.",
+    "Hold onto the white bottle for liquids and then get the yellow-capped bottle for beverages.",
+    "Use one arm for the cylindrical bottle with red writing and the other for the cylindrical orange bottle with smooth surface.",
+    "Grab the smooth bottle, pick up the orange bottle.",
+    "Pick up both the white cylindrical bottle and the orange bottle with bold labeling together.",
+    "Catch both the white bottle for liquids and the rounded bottom orange plastic bottle quickly.",
+    "Lift both bottles, the cylindrical bottle with red writing with one arm, the yellow-capped bottle for beverages with the other.",
+    "Catch the white bottle with red text in one arm and the rounded bottom orange plastic bottle in the other arm.",
+    "Catch the white bottle with red text, grab the yellow-capped bottle for beverages next.",
+    "Assign one arm to catch the medium-sized bottle, one for the yellow-capped bottle for beverages.",
+    "Pick up the handheld white bottle with cap and then pick up the handheld medium-sized liquid bottle.",
+    "Use both arms to pick up the smooth bottle and the handheld medium-sized liquid bottle.",
+    "With two arms, catch both the handheld white bottle with cap and the small bottle with bright yellow lid.",
+    "Lift the bottle with tapering neck and also take hold of the cylindrical orange bottle with smooth surface.",
+    "Catch the bottle with orange screw cap, then grab the handheld medium-sized liquid bottle too.",
+    "Take hold of the cylindrical bottle with red writing and the cylindrical orange bottle with smooth surface.",
+    "Secure the white cylindrical bottle and the cylindrical orange bottle with smooth surface in succession.",
+    "Catch the white bottle with orange lid, then catch the handheld medium-sized liquid bottle."
+  ],
+  "unseen": [
+    "Grab the bottle with orange cap and grab the medium bottle for liquids at once.",
+    "Pick up the plastic bottle with printed label and the medium bottle for liquids together.",
+    "Grab the plastic bottle with printed label with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up the bottle with glossy surface with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Lift the bottle with orange cap using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up the bottle with glossy surface and take the plastic orange bottle with rounded base together.",
+    "Use each arm to lift a bottle: the bottle with glossy surface, then the medium plastic bottle.",
+    "Pick up both the bottle with orange cap and the medium bottle for liquids together.",
+    "Use each arm to grab the bottle with orange cap and the medium bottle for liquids.",
+    "Grab the plastic bottle with printed label and the plastic orange bottle with rounded base at the same time.",
+    "Grab the bottle with orange cap and grab the medium bottle for liquids at once.",
+    "Pick up the bottle with orange cap and the medium bottle for liquids together.",
+    "Grab the bottle with orange cap with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up the bottle with glossy surface with one arm, grab the medium bottle for liquids with the other.",
+    "Lift the bottle with glossy surface using one arm and lift the medium plastic bottle using the other.",
+    "Pick up the plastic bottle with printed label and take the medium bottle for liquids together.",
+    "Use each arm to lift a bottle: the bottle with glossy surface, then the medium plastic bottle.",
+    "Pick up both the bottle with orange cap and the medium bottle for liquids together.",
+    "Use each arm to grab the bottle with orange cap and the plastic orange bottle with rounded base.",
+    "Grab the plastic bottle with printed label and the medium bottle for liquids at the same time.",
+    "Grab the bottle with orange cap and grab the plastic orange bottle with rounded base at once.",
+    "Pick up the plastic bottle with printed label and the plastic orange bottle with rounded base together.",
+    "Grab the plastic bottle with printed label with one arm, grab the medium plastic bottle with the other.",
+    "Pick up the bottle with orange cap with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Lift the bottle with orange cap using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up the plastic bottle with printed label and take the medium bottle for liquids together.",
+    "Use each arm to lift a bottle: the bottle with glossy surface, then the plastic orange bottle with rounded base.",
+    "Pick up both the bottle with orange cap and the medium plastic bottle together.",
+    "Use each arm to grab the bottle with glossy surface and the medium bottle for liquids.",
+    "Grab the bottle with orange cap and the plastic orange bottle with rounded base at the same time.",
+    "Grab the bottle with glossy surface and grab the medium plastic bottle at once.",
+    "Pick up the plastic bottle with printed label and the plastic orange bottle with rounded base together.",
+    "Grab the bottle with orange cap with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up the plastic bottle with printed label with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Lift the plastic bottle with printed label using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up the plastic bottle with printed label and take the plastic orange bottle with rounded base together.",
+    "Use each arm to lift a bottle: the bottle with orange cap, then the plastic orange bottle with rounded base.",
+    "Pick up both the bottle with orange cap and the medium bottle for liquids together.",
+    "Use each arm to grab the plastic bottle with printed label and the medium plastic bottle.",
+    "Grab the bottle with glossy surface and the medium plastic bottle at the same time.",
+    "Grab the bottle with glossy surface and grab the medium plastic bottle at once.",
+    "Pick up the plastic bottle with printed label and the medium bottle for liquids together.",
+    "Grab the bottle with glossy surface with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up the bottle with glossy surface with one arm, grab the medium plastic bottle with the other.",
+    "Lift the bottle with orange cap using one arm and lift the medium plastic bottle using the other.",
+    "Pick up the bottle with orange cap and take the medium bottle for liquids together.",
+    "Use each arm to lift a bottle: the bottle with orange cap, then the plastic orange bottle with rounded base.",
+    "Pick up both the bottle with orange cap and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab the bottle with orange cap and the medium bottle for liquids.",
+    "Grab the plastic bottle with printed label and the medium bottle for liquids at the same time.",
+    "Grab the bottle with glossy surface and grab the medium plastic bottle at once.",
+    "Pick up the bottle with orange cap and the medium bottle for liquids together.",
+    "Grab the bottle with orange cap with one arm, grab the medium plastic bottle with the other.",
+    "Pick up the bottle with orange cap with one arm, grab the medium plastic bottle with the other.",
+    "Lift the bottle with orange cap using one arm and lift the medium plastic bottle using the other.",
+    "Pick up the bottle with orange cap and take the medium plastic bottle together.",
+    "Use each arm to lift a bottle: the bottle with orange cap, then the plastic orange bottle with rounded base.",
+    "Pick up both the bottle with glossy surface and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab the bottle with orange cap and the medium bottle for liquids.",
+    "Grab the plastic bottle with printed label and the medium plastic bottle at the same time.",
+    "Grab the bottle with glossy surface and grab the medium bottle for liquids at once.",
+    "Pick up the bottle with glossy surface and the medium bottle for liquids together.",
+    "Grab the plastic bottle with printed label with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up the bottle with glossy surface with one arm, grab the medium bottle for liquids with the other.",
+    "Lift the bottle with glossy surface using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up the bottle with glossy surface and take the medium bottle for liquids together.",
+    "Use each arm to lift a bottle: the bottle with orange cap, then the plastic orange bottle with rounded base.",
+    "Pick up both the bottle with orange cap and the medium bottle for liquids together.",
+    "Use each arm to grab the bottle with orange cap and the plastic orange bottle with rounded base.",
+    "Grab the bottle with orange cap and the plastic orange bottle with rounded base at the same time.",
+    "Grab the bottle with orange cap and grab the plastic orange bottle with rounded base at once.",
+    "Pick up the bottle with orange cap and the plastic orange bottle with rounded base together.",
+    "Grab the plastic bottle with printed label with one arm, grab the medium plastic bottle with the other.",
+    "Pick up the bottle with glossy surface with one arm, grab the medium bottle for liquids with the other.",
+    "Lift the plastic bottle with printed label using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up the plastic bottle with printed label and take the medium bottle for liquids together.",
+    "Use each arm to lift a bottle: the bottle with orange cap, then the medium plastic bottle.",
+    "Pick up both the bottle with orange cap and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab the plastic bottle with printed label and the medium bottle for liquids.",
+    "Grab the bottle with orange cap and the medium plastic bottle at the same time.",
+    "Grab the plastic bottle with printed label and grab the medium plastic bottle at once.",
+    "Pick up the plastic bottle with printed label and the medium plastic bottle together.",
+    "Grab the bottle with glossy surface with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up the bottle with glossy surface with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Lift the plastic bottle with printed label using one arm and lift the medium plastic bottle using the other.",
+    "Pick up the plastic bottle with printed label and take the medium plastic bottle together.",
+    "Use each arm to lift a bottle: the plastic bottle with printed label, then the medium plastic bottle.",
+    "Pick up both the bottle with orange cap and the medium plastic bottle together.",
+    "Use each arm to grab the bottle with orange cap and the medium plastic bottle.",
+    "Grab the bottle with orange cap and the plastic orange bottle with rounded base at the same time.",
+    "Grab the bottle with orange cap and grab the medium plastic bottle at once.",
+    "Pick up the bottle with orange cap and the medium bottle for liquids together.",
+    "Grab the bottle with glossy surface with one arm, grab the medium plastic bottle with the other.",
+    "Pick up the bottle with orange cap with one arm, grab the medium plastic bottle with the other.",
+    "Lift the bottle with glossy surface using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up the plastic bottle with printed label and take the plastic orange bottle with rounded base together.",
+    "Use each arm to lift a bottle: the plastic bottle with printed label, then the medium plastic bottle.",
+    "Pick up both the plastic bottle with printed label and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab the plastic bottle with printed label and the medium plastic bottle.",
+    "Grab the bottle with orange cap and the plastic orange bottle with rounded base at the same time."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001119.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the yellow bottle, then grab the bottle with white screw cap too.",
+    "Hold both the bottle for liquid and the small bottle with decorative design.",
+    "Grasp the medium plastic bottle with cap first, then take the smooth brown and white patterned bottle.",
+    "Catch the handheld curvy bottle, then catch the small curved plastic bottle.",
+    "Use each arm to lift the yellow bottle for liquid storage and the small curved plastic bottle.",
+    "Catch the medium plastic bottle with cap with one arm, the small bottle with decorative design with another arm.",
+    "Hold the handheld curvy bottle in one arm, the smooth brown and white patterned bottle in the other.",
+    "Hold onto the yellow bottle with blue label, then pick up the curved bottle with white top.",
+    "Lift the bottle for liquid and also take hold of the bottle with black label.",
+    "Grab and hold the plastic bottle, then grab the white-capped bottle.",
+    "Grab the yellow bottle with blue label using one arm and the bottle with brown and white patterns using the other.",
+    "Pick up the medium plastic bottle with cap and then pick up the white-capped bottle.",
+    "Lift both the yellow bottle for liquid storage and the brown bottle simultaneously.",
+    "Hold onto the plastic bottle and then get the smooth brown and white patterned bottle.",
+    "Collect the plastic bottle, then pick up the bottle with brown and white patterns.",
+    "Grab the yellow bottle with blue label, pick up the small bottle with decorative design.",
+    "Use one arm for the smooth plastic bottle, the other for the hand-sized plastic bottle.",
+    "Lift the smooth plastic bottle, continue and pick up the curved bottle with white top.",
+    "Pick up both the plastic bottle with curved sides and the bottle with white screw cap.",
+    "Use one arm for the yellow bottle and the other for the bottle with black label.",
+    "Pick up both the smooth plastic bottle and the bottle holding liquid together.",
+    "Catch the plastic bottle with curved sides, then take hold of the brown bottle.",
+    "Catch the bottle with screw cap, grab the plastic bottle next.",
+    "With two arms, catch both the medium plastic bottle with cap and the curved bottle with white top.",
+    "Pick up the yellow bottle, then pick up the small curved plastic bottle.",
+    "One arm grabs the yellow bottle; the other arm grabs the small bottle with decorative design.",
+    "Secure the yellow bottle for liquid storage and the plastic bottle in succession.",
+    "Lift the medium plastic bottle with cap and the small bottle with decorative design with separate arms.",
+    "Grab the plastic bottle and pick up the brown bottle.",
+    "Use both arms to pick up the plastic bottle with curved sides and the hand-sized plastic bottle.",
+    "Each arm should pick up one: the smooth plastic bottle, then the bottle with white screw cap.",
+    "Pick both the yellow bottle for liquid storage and the brown bottle one after another.",
+    "Lift both bottles, the medium plastic bottle with cap with one arm, the curved bottle with white top with the other.",
+    "Use both arms to pick up the plastic bottle and the bottle with brown and white patterns.",
+    "Grab the plastic bottle with one arm, the bottle holding liquid with the other.",
+    "Catch the plastic bottle with curved sides in one arm and the plastic bottle in the other arm.",
+    "Take hold of the bottle with screw cap and the curved bottle with white top.",
+    "Assign one arm to catch the bottle with screw cap, one for the white-capped bottle.",
+    "Hold the yellow bottle with blue label in one arm, catch the white-capped bottle with the other arm.",
+    "Grab the medium plastic bottle with cap using an arm and the bottle holding liquid with the other arm.",
+    "Use one arm for the smooth plastic bottle, another for the hand-sized plastic bottle.",
+    "Let each arm grab either the medium-sized bottle or the bottle holding liquid.",
+    "Grab the handheld curvy bottle with one arm, the smooth brown and white patterned bottle with the other.",
+    "Hold the yellow bottle with one arm, hold the curved bottle with white top with the other.",
+    "Catch both the yellow bottle and the small bottle with decorative design quickly.",
+    "Assign one arm to each of the medium-sized bottle and the white-capped bottle.",
+    "Secure the plastic bottle with curved sides, then secure the hand-sized plastic bottle.",
+    "With both arms, pick up the medium plastic bottle with cap, then the small curved plastic bottle.",
+    "Secure both the plastic bottle and the small bottle with decorative design quickly.",
+    "Use both arms to lift the handheld curvy bottle and the plastic bottle.",
+    "Catch the plastic bottle, then grab the bottle with white screw cap too.",
+    "Hold both the yellow bottle with blue label and the hand-sized plastic bottle.",
+    "Grasp the medium-sized bottle first, then take the smooth brown and white patterned bottle.",
+    "Catch the handheld curvy bottle, then catch the plastic bottle.",
+    "Use each arm to lift the medium-sized bottle and the hand-sized plastic bottle.",
+    "Catch the plastic bottle with curved sides with one arm, the bottle with brown and white patterns with another arm.",
+    "Hold the medium-sized bottle in one arm, the bottle with brown and white patterns in the other.",
+    "Hold onto the medium plastic bottle with cap, then pick up the bottle with brown and white patterns.",
+    "Lift the medium plastic bottle with cap and also take hold of the brown bottle.",
+    "Grab and hold the bottle with screw cap, then grab the white-capped bottle.",
+    "Grab the plastic bottle using one arm and the small curved plastic bottle using the other.",
+    "Pick up the medium-sized bottle and then pick up the bottle with black label.",
+    "Lift both the smooth plastic bottle and the small bottle with decorative design simultaneously.",
+    "Hold onto the yellow bottle for liquid storage and then get the smooth brown and white patterned bottle.",
+    "Collect the yellow bottle, then pick up the white-capped bottle.",
+    "Grab the yellow bottle with dark label, pick up the curved bottle with white top.",
+    "Use one arm for the plastic bottle, the other for the bottle with black label.",
+    "Lift the plastic bottle, continue and pick up the smooth brown and white patterned bottle.",
+    "Pick up both the bottle for liquid and the curved bottle with white top.",
+    "Use one arm for the yellow bottle with dark label and the other for the bottle with black label.",
+    "Pick up both the yellow bottle and the brown bottle together.",
+    "Catch the yellow bottle for liquid storage, then take hold of the white-capped bottle.",
+    "Catch the medium plastic bottle with cap, grab the white-capped bottle next.",
+    "With two arms, catch both the yellow bottle with dark label and the white-capped bottle.",
+    "Pick up the bottle for liquid, then pick up the white-capped bottle.",
+    "One arm grabs the yellow bottle with dark label; the other arm grabs the hand-sized plastic bottle.",
+    "Secure the yellow bottle for liquid storage and the curved bottle with white top in succession.",
+    "Lift the plastic bottle with curved sides and the bottle with white screw cap with separate arms.",
+    "Grab the smooth plastic bottle and pick up the brown bottle.",
+    "Use both arms to pick up the medium-sized bottle and the bottle with white screw cap.",
+    "Each arm should pick up one: the yellow bottle with blue label, then the small bottle with decorative design.",
+    "Pick both the smooth plastic bottle and the plastic bottle one after another.",
+    "Lift both bottles, the yellow bottle with blue label with one arm, the brown bottle with the other.",
+    "Use both arms to pick up the yellow bottle for liquid storage and the small curved plastic bottle.",
+    "Grab the bottle with screw cap with one arm, the bottle with black label with the other.",
+    "Catch the smooth plastic bottle in one arm and the curved bottle with white top in the other arm.",
+    "Take hold of the yellow bottle and the small curved plastic bottle.",
+    "Assign one arm to catch the handheld curvy bottle, one for the hand-sized plastic bottle.",
+    "Hold the handheld curvy bottle in one arm, catch the plastic bottle with the other arm.",
+    "Grab the plastic bottle using an arm and the bottle with white screw cap with the other arm.",
+    "Use one arm for the medium plastic bottle with cap, another for the small bottle with decorative design.",
+    "Let each arm grab either the plastic bottle with curved sides or the white-capped bottle.",
+    "Grab the medium plastic bottle with cap with one arm, the small bottle with decorative design with the other.",
+    "Hold the plastic bottle with one arm, hold the curved bottle with white top with the other.",
+    "Catch both the bottle with screw cap and the white-capped bottle quickly.",
+    "Assign one arm to each of the yellow bottle and the hand-sized plastic bottle.",
+    "Secure the bottle with screw cap, then secure the bottle with black label.",
+    "With both arms, pick up the yellow bottle with blue label, then the curved bottle with white top.",
+    "Secure both the plastic bottle with curved sides and the bottle holding liquid quickly.",
+    "Use both arms to lift the yellow bottle for liquid storage and the hand-sized plastic bottle."
+  ],
+  "unseen": [
+    "Grab the yellow bottle with white cap with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Use each arm to lift a bottle: the smooth bottle with blue text, then the cylindrical bottle with curved sides.",
+    "Grab the yellow bottle with white cap and the brown bottle with glossy swirls at the same time.",
+    "Pick up the curvy yellow plastic bottle and the brown bottle with glossy swirls together.",
+    "Lift the smooth bottle with blue text using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Pick up the smooth bottle with blue text and take the glossy brown bottle together.",
+    "Use each arm to grab the curvy yellow plastic bottle and the brown bottle with glossy swirls.",
+    "Pick up both the smooth bottle with blue text and the brown bottle with glossy swirls together.",
+    "Grab the smooth bottle with blue text and grab the brown bottle with glossy swirls at once.",
+    "Grab the yellow bottle with white cap with one arm, grab the glossy brown bottle with the other.",
+    "Pick up the yellow bottle with white cap with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Use each arm to lift a bottle: the curvy yellow plastic bottle, then the cylindrical bottle with curved sides.",
+    "Grab the curvy yellow plastic bottle and the cylindrical bottle with curved sides at the same time.",
+    "Pick up the smooth bottle with blue text and the cylindrical bottle with curved sides together.",
+    "Lift the smooth bottle with blue text using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Pick up the smooth bottle with blue text and take the glossy brown bottle together.",
+    "Use each arm to grab the yellow bottle with white cap and the brown bottle with glossy swirls.",
+    "Pick up both the curvy yellow plastic bottle and the glossy brown bottle together.",
+    "Grab the smooth bottle with blue text and grab the brown bottle with glossy swirls at once.",
+    "Grab the yellow bottle with white cap with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Use each arm to lift a bottle: the yellow bottle with white cap, then the brown bottle with glossy swirls.",
+    "Grab the smooth bottle with blue text and the glossy brown bottle at the same time.",
+    "Pick up the curvy yellow plastic bottle and the brown bottle with glossy swirls together.",
+    "Lift the curvy yellow plastic bottle using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Pick up the smooth bottle with blue text and take the glossy brown bottle together.",
+    "Use each arm to grab the curvy yellow plastic bottle and the brown bottle with glossy swirls.",
+    "Pick up both the smooth bottle with blue text and the glossy brown bottle together.",
+    "Grab the smooth bottle with blue text and grab the cylindrical bottle with curved sides at once.",
+    "Grab the smooth bottle with blue text with one arm, grab the glossy brown bottle with the other.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Use each arm to lift a bottle: the smooth bottle with blue text, then the glossy brown bottle.",
+    "Grab the smooth bottle with blue text and the cylindrical bottle with curved sides at the same time.",
+    "Pick up the yellow bottle with white cap and the brown bottle with glossy swirls together.",
+    "Lift the curvy yellow plastic bottle using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Pick up the yellow bottle with white cap and take the brown bottle with glossy swirls together.",
+    "Use each arm to grab the yellow bottle with white cap and the brown bottle with glossy swirls.",
+    "Pick up both the curvy yellow plastic bottle and the brown bottle with glossy swirls together.",
+    "Grab the smooth bottle with blue text and grab the brown bottle with glossy swirls at once.",
+    "Grab the smooth bottle with blue text with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Pick up the yellow bottle with white cap with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Use each arm to lift a bottle: the yellow bottle with white cap, then the glossy brown bottle.",
+    "Grab the curvy yellow plastic bottle and the cylindrical bottle with curved sides at the same time.",
+    "Pick up the yellow bottle with white cap and the brown bottle with glossy swirls together.",
+    "Lift the curvy yellow plastic bottle using one arm and lift the glossy brown bottle using the other.",
+    "Pick up the yellow bottle with white cap and take the glossy brown bottle together.",
+    "Use each arm to grab the curvy yellow plastic bottle and the brown bottle with glossy swirls.",
+    "Pick up both the smooth bottle with blue text and the cylindrical bottle with curved sides together.",
+    "Grab the yellow bottle with white cap and grab the glossy brown bottle at once.",
+    "Grab the smooth bottle with blue text with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the glossy brown bottle with the other.",
+    "Use each arm to lift a bottle: the curvy yellow plastic bottle, then the glossy brown bottle.",
+    "Grab the smooth bottle with blue text and the cylindrical bottle with curved sides at the same time.",
+    "Pick up the smooth bottle with blue text and the glossy brown bottle together.",
+    "Lift the yellow bottle with white cap using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Pick up the yellow bottle with white cap and take the brown bottle with glossy swirls together.",
+    "Use each arm to grab the yellow bottle with white cap and the brown bottle with glossy swirls.",
+    "Pick up both the curvy yellow plastic bottle and the cylindrical bottle with curved sides together.",
+    "Grab the smooth bottle with blue text and grab the cylindrical bottle with curved sides at once.",
+    "Grab the curvy yellow plastic bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Pick up the smooth bottle with blue text with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Use each arm to lift a bottle: the smooth bottle with blue text, then the glossy brown bottle.",
+    "Grab the curvy yellow plastic bottle and the glossy brown bottle at the same time.",
+    "Pick up the smooth bottle with blue text and the brown bottle with glossy swirls together.",
+    "Lift the curvy yellow plastic bottle using one arm and lift the glossy brown bottle using the other.",
+    "Pick up the curvy yellow plastic bottle and take the glossy brown bottle together.",
+    "Use each arm to grab the smooth bottle with blue text and the cylindrical bottle with curved sides.",
+    "Pick up both the smooth bottle with blue text and the glossy brown bottle together.",
+    "Grab the curvy yellow plastic bottle and grab the cylindrical bottle with curved sides at once.",
+    "Grab the smooth bottle with blue text with one arm, grab the glossy brown bottle with the other.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Use each arm to lift a bottle: the curvy yellow plastic bottle, then the brown bottle with glossy swirls.",
+    "Grab the yellow bottle with white cap and the glossy brown bottle at the same time.",
+    "Pick up the curvy yellow plastic bottle and the glossy brown bottle together.",
+    "Lift the curvy yellow plastic bottle using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Pick up the yellow bottle with white cap and take the glossy brown bottle together.",
+    "Use each arm to grab the smooth bottle with blue text and the brown bottle with glossy swirls.",
+    "Pick up both the yellow bottle with white cap and the cylindrical bottle with curved sides together.",
+    "Grab the smooth bottle with blue text and grab the brown bottle with glossy swirls at once.",
+    "Grab the yellow bottle with white cap with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Use each arm to lift a bottle: the smooth bottle with blue text, then the glossy brown bottle.",
+    "Grab the smooth bottle with blue text and the glossy brown bottle at the same time.",
+    "Pick up the smooth bottle with blue text and the brown bottle with glossy swirls together.",
+    "Lift the curvy yellow plastic bottle using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Pick up the curvy yellow plastic bottle and take the brown bottle with glossy swirls together.",
+    "Use each arm to grab the smooth bottle with blue text and the glossy brown bottle.",
+    "Pick up both the curvy yellow plastic bottle and the glossy brown bottle together.",
+    "Grab the curvy yellow plastic bottle and grab the glossy brown bottle at once.",
+    "Grab the curvy yellow plastic bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Pick up the smooth bottle with blue text with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Use each arm to lift a bottle: the smooth bottle with blue text, then the cylindrical bottle with curved sides.",
+    "Grab the curvy yellow plastic bottle and the brown bottle with glossy swirls at the same time.",
+    "Pick up the curvy yellow plastic bottle and the brown bottle with glossy swirls together.",
+    "Lift the yellow bottle with white cap using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Pick up the yellow bottle with white cap and take the glossy brown bottle together.",
+    "Use each arm to grab the smooth bottle with blue text and the glossy brown bottle.",
+    "Pick up both the yellow bottle with white cap and the cylindrical bottle with curved sides together.",
+    "Grab the yellow bottle with white cap and grab the glossy brown bottle at once."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001128.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure both the smooth bottle with rounded edges and the medium rectangular yellow bottle quickly.",
+    "Pick up both the smooth bottle with rounded edges and the medium rectangular yellow bottle together.",
+    "Catch the bottle with green label, grab the yellow bottle next.",
+    "Catch the bottle with green label, then grab the rectangular bottle with cylindrical neck too.",
+    "Grasp the yellow bottle with a green design first, then take the yellow bottle with a green design.",
+    "Catch both the bottle with green label and the yellow bottle with a green design quickly.",
+    "Grab the yellow bottle with a green design using an arm and the yellow plastic bottle with white top with the other arm.",
+    "Use each arm to lift the smooth bottle with rounded edges and the bottle with white cap.",
+    "Collect the smooth bottle with rounded edges, then pick up the medium rectangular yellow bottle.",
+    "Catch the bottle with green and white labels, then catch the bottle with green label.",
+    "Pick both the bottle with green label and the medium rectangular yellow bottle one after another.",
+    "Grab the plastic bottle and pick up the rectangular bottle with cylindrical neck.",
+    "Lift the medium rectangular yellow bottle, continue and pick up the bottle with a smooth plastic body.",
+    "Catch the yellow container with rounded edges, then take hold of the bottle with white cap.",
+    "Use one arm for the rectangular bottle with cylindrical neck, the other for the smooth bottle with rounded edges.",
+    "Catch the yellow container with rounded edges with one arm, the yellow plastic bottle with white top with another arm.",
+    "Hold the yellow bottle with one arm, hold the yellow bottle with a green design with the other.",
+    "Lift the rectangular bottle with cylindrical neck and the yellow container with rounded edges with separate arms.",
+    "Grab the bottle with green label, pick up the yellow container with rounded edges.",
+    "Hold onto the bottle with green and white labels, then pick up the bottle with a smooth plastic body.",
+    "Lift the yellow bottle and also take hold of the bottle with green and white labels.",
+    "Lift both the yellow bottle and the bottle with a smooth plastic body simultaneously.",
+    "Hold the smooth bottle with rounded edges in one arm, the medium rectangular yellow bottle in the other.",
+    "Hold both the rectangular bottle with cylindrical neck and the yellow container with rounded edges.",
+    "Use one arm for the yellow bottle and the other for the plastic bottle.",
+    "Grab the yellow bottle with one arm, the yellow plastic bottle with white top with the other.",
+    "Use both arms to pick up the bottle with white cap and the yellow container with rounded edges.",
+    "Use one arm for the yellow bottle, another for the bottle with green label.",
+    "Catch the bottle with white cap in one arm and the bottle with white cap in the other arm.",
+    "Pick up the bottle with green and white labels and then pick up the smooth bottle with rounded edges.",
+    "Assign one arm to each of the smooth bottle with rounded edges and the yellow plastic bottle with white top.",
+    "Grab the smooth bottle with rounded edges using one arm and the yellow bottle using the other.",
+    "Use both arms to lift the yellow plastic bottle with white top and the bottle with white cap.",
+    "Hold the bottle with green label in one arm, catch the plastic bottle with the other arm.",
+    "Secure the yellow bottle with a green design, then secure the medium rectangular yellow bottle.",
+    "One arm grabs the plastic bottle; the other arm grabs the yellow bottle with a green design.",
+    "Hold onto the bottle with green and white labels and then get the yellow bottle with a green design.",
+    "Let each arm grab either the plastic bottle or the plastic bottle.",
+    "Secure the bottle with green and white labels and the medium rectangular yellow bottle in succession.",
+    "Each arm should pick up one: the rectangular bottle with cylindrical neck, then the bottle with a smooth plastic body.",
+    "Assign one arm to catch the bottle with white cap, one for the smooth bottle with rounded edges.",
+    "Take hold of the yellow bottle and the medium rectangular yellow bottle.",
+    "With two arms, catch both the bottle with green label and the yellow plastic bottle with white top.",
+    "Use both arms to pick up the bottle with green and white labels and the yellow container with rounded edges.",
+    "Pick up the yellow plastic bottle with white top, then pick up the rectangular bottle with cylindrical neck.",
+    "With both arms, pick up the bottle with white cap, then the yellow plastic bottle with white top.",
+    "Lift both bottles, the smooth bottle with rounded edges with one arm, the bottle with green and white labels with the other.",
+    "Grab the bottle with a smooth plastic body with one arm, the plastic bottle with the other.",
+    "Grab and hold the bottle with white cap, then grab the yellow container with rounded edges.",
+    "Pick up both the yellow bottle and the rectangular bottle with cylindrical neck.",
+    "Secure both the yellow container with rounded edges and the bottle with green label quickly.",
+    "Pick up both the medium rectangular yellow bottle and the bottle with green and white labels together.",
+    "Catch the bottle with green and white labels, grab the bottle with a smooth plastic body next.",
+    "Catch the smooth bottle with rounded edges, then grab the yellow container with rounded edges too.",
+    "Grasp the bottle with green label first, then take the rectangular bottle with cylindrical neck.",
+    "Catch both the bottle with green label and the rectangular bottle with cylindrical neck quickly.",
+    "Grab the yellow plastic bottle with white top using an arm and the yellow bottle with a green design with the other arm.",
+    "Use each arm to lift the yellow container with rounded edges and the yellow bottle with a green design.",
+    "Collect the medium rectangular yellow bottle, then pick up the yellow container with rounded edges.",
+    "Catch the yellow container with rounded edges, then catch the yellow plastic bottle with white top.",
+    "Pick both the medium rectangular yellow bottle and the bottle with a smooth plastic body one after another.",
+    "Grab the bottle with green and white labels and pick up the plastic bottle.",
+    "Lift the bottle with green label, continue and pick up the bottle with green label.",
+    "Catch the rectangular bottle with cylindrical neck, then take hold of the bottle with a smooth plastic body.",
+    "Use one arm for the smooth bottle with rounded edges, the other for the yellow container with rounded edges.",
+    "Catch the bottle with a smooth plastic body with one arm, the yellow container with rounded edges with another arm.",
+    "Hold the bottle with a smooth plastic body with one arm, hold the yellow bottle with the other.",
+    "Lift the bottle with green and white labels and the yellow plastic bottle with white top with separate arms.",
+    "Grab the bottle with green and white labels, pick up the smooth bottle with rounded edges.",
+    "Hold onto the plastic bottle, then pick up the rectangular bottle with cylindrical neck.",
+    "Lift the bottle with white cap and also take hold of the yellow plastic bottle with white top.",
+    "Lift both the yellow bottle and the yellow plastic bottle with white top simultaneously.",
+    "Hold the bottle with green and white labels in one arm, the bottle with green and white labels in the other.",
+    "Hold both the yellow plastic bottle with white top and the yellow bottle.",
+    "Use one arm for the plastic bottle and the other for the plastic bottle.",
+    "Grab the bottle with green and white labels with one arm, the bottle with a smooth plastic body with the other.",
+    "Use both arms to pick up the rectangular bottle with cylindrical neck and the yellow bottle.",
+    "Use one arm for the plastic bottle, another for the bottle with green and white labels.",
+    "Catch the yellow bottle with a green design in one arm and the rectangular bottle with cylindrical neck in the other arm.",
+    "Pick up the yellow plastic bottle with white top and then pick up the yellow container with rounded edges.",
+    "Assign one arm to each of the bottle with white cap and the plastic bottle.",
+    "Grab the smooth bottle with rounded edges using one arm and the bottle with a smooth plastic body using the other.",
+    "Use both arms to lift the yellow container with rounded edges and the bottle with green and white labels.",
+    "Hold the smooth bottle with rounded edges in one arm, catch the plastic bottle with the other arm.",
+    "Secure the rectangular bottle with cylindrical neck, then secure the bottle with green label.",
+    "One arm grabs the medium rectangular yellow bottle; the other arm grabs the yellow container with rounded edges.",
+    "Hold onto the smooth bottle with rounded edges and then get the yellow bottle.",
+    "Let each arm grab either the rectangular bottle with cylindrical neck or the bottle with a smooth plastic body.",
+    "Secure the bottle with green and white labels and the yellow bottle with a green design in succession.",
+    "Each arm should pick up one: the bottle with green label, then the bottle with white cap.",
+    "Assign one arm to catch the yellow plastic bottle with white top, one for the medium rectangular yellow bottle.",
+    "Take hold of the smooth bottle with rounded edges and the rectangular bottle with cylindrical neck.",
+    "With two arms, catch both the bottle with a smooth plastic body and the bottle with green and white labels.",
+    "Use both arms to pick up the yellow bottle and the rectangular bottle with cylindrical neck.",
+    "Pick up the bottle with green label, then pick up the smooth bottle with rounded edges.",
+    "With both arms, pick up the smooth bottle with rounded edges, then the smooth bottle with rounded edges.",
+    "Lift both bottles, the yellow bottle with a green design with one arm, the bottle with green label with the other.",
+    "Grab the yellow bottle with a green design with one arm, the yellow plastic bottle with white top with the other.",
+    "Grab and hold the rectangular bottle with cylindrical neck, then grab the smooth bottle with rounded edges.",
+    "Pick up both the bottle with a smooth plastic body and the plastic bottle."
+  ],
+  "unseen": [
+    "Grab the yellow rectangular bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up both the yellow rectangular bottle and the yellow rectangular bottle together.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the hand-sized yellow plastic bottle.",
+    "Pick up the hand-sized yellow plastic bottle and the yellow bottle for liquid storage together.",
+    "Lift the yellow rectangular bottle using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Grab the yellow rectangular bottle and the yellow rectangular bottle at the same time.",
+    "Grab the yellow bottle for liquid storage and grab the yellow bottle for liquid storage at once.",
+    "Use each arm to grab the yellow rectangular bottle and the yellow rectangular bottle.",
+    "Pick up the yellow rectangular bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the yellow bottle for liquid storage and take the yellow rectangular bottle together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the yellow rectangular bottle and the hand-sized yellow plastic bottle together.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the hand-sized yellow plastic bottle.",
+    "Pick up the yellow bottle for liquid storage and the yellow rectangular bottle together.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Grab the hand-sized yellow plastic bottle and the hand-sized yellow plastic bottle at the same time.",
+    "Grab the yellow bottle for liquid storage and grab the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab the yellow rectangular bottle and the yellow rectangular bottle.",
+    "Pick up the yellow rectangular bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up the yellow bottle for liquid storage and take the yellow rectangular bottle together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the hand-sized yellow plastic bottle and the yellow bottle for liquid storage together.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the yellow rectangular bottle.",
+    "Pick up the hand-sized yellow plastic bottle and the yellow rectangular bottle together.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Grab the yellow rectangular bottle and the yellow rectangular bottle at the same time.",
+    "Grab the hand-sized yellow plastic bottle and grab the yellow rectangular bottle at once.",
+    "Use each arm to grab the yellow rectangular bottle and the yellow rectangular bottle.",
+    "Pick up the yellow rectangular bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the yellow bottle for liquid storage and take the hand-sized yellow plastic bottle together.",
+    "Grab the yellow rectangular bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up both the yellow bottle for liquid storage and the hand-sized yellow plastic bottle together.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the yellow rectangular bottle.",
+    "Pick up the yellow bottle for liquid storage and the hand-sized yellow plastic bottle together.",
+    "Lift the yellow rectangular bottle using one arm and lift the yellow rectangular bottle using the other.",
+    "Grab the hand-sized yellow plastic bottle and the hand-sized yellow plastic bottle at the same time.",
+    "Grab the yellow bottle for liquid storage and grab the yellow rectangular bottle at once.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the hand-sized yellow plastic bottle and take the hand-sized yellow plastic bottle together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the yellow bottle for liquid storage and the yellow rectangular bottle together.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the hand-sized yellow plastic bottle.",
+    "Pick up the yellow rectangular bottle and the hand-sized yellow plastic bottle together.",
+    "Lift the yellow rectangular bottle using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Grab the hand-sized yellow plastic bottle and the yellow bottle for liquid storage at the same time.",
+    "Grab the yellow bottle for liquid storage and grab the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the yellow rectangular bottle.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up the hand-sized yellow plastic bottle and take the yellow bottle for liquid storage together.",
+    "Grab the hand-sized yellow plastic bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up both the yellow rectangular bottle and the yellow rectangular bottle together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the yellow rectangular bottle.",
+    "Pick up the hand-sized yellow plastic bottle and the yellow bottle for liquid storage together.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Grab the yellow rectangular bottle and the yellow bottle for liquid storage at the same time.",
+    "Grab the yellow rectangular bottle and grab the yellow rectangular bottle at once.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up the hand-sized yellow plastic bottle and take the hand-sized yellow plastic bottle together.",
+    "Grab the hand-sized yellow plastic bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the yellow rectangular bottle and the yellow rectangular bottle together.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the yellow bottle for liquid storage.",
+    "Pick up the hand-sized yellow plastic bottle and the yellow bottle for liquid storage together.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the yellow rectangular bottle using the other.",
+    "Grab the hand-sized yellow plastic bottle and the yellow bottle for liquid storage at the same time.",
+    "Grab the hand-sized yellow plastic bottle and grab the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab the yellow bottle for liquid storage and the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the hand-sized yellow plastic bottle and take the yellow bottle for liquid storage together.",
+    "Grab the yellow rectangular bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the yellow rectangular bottle and the hand-sized yellow plastic bottle together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle and the hand-sized yellow plastic bottle together.",
+    "Lift the yellow rectangular bottle using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Grab the hand-sized yellow plastic bottle and the yellow rectangular bottle at the same time.",
+    "Grab the hand-sized yellow plastic bottle and grab the yellow bottle for liquid storage at once.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the hand-sized yellow plastic bottle.",
+    "Pick up the yellow rectangular bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the yellow rectangular bottle and take the hand-sized yellow plastic bottle together.",
+    "Grab the yellow rectangular bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up both the yellow rectangular bottle and the yellow bottle for liquid storage together.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the hand-sized yellow plastic bottle.",
+    "Pick up the hand-sized yellow plastic bottle and the yellow bottle for liquid storage together.",
+    "Lift the yellow rectangular bottle using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Grab the hand-sized yellow plastic bottle and the hand-sized yellow plastic bottle at the same time.",
+    "Grab the yellow bottle for liquid storage and grab the yellow rectangular bottle at once.",
+    "Use each arm to grab the yellow rectangular bottle and the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up the yellow bottle for liquid storage and take the yellow rectangular bottle together.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the yellow bottle for liquid storage and the yellow bottle for liquid storage together.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the hand-sized yellow plastic bottle.",
+    "Pick up the hand-sized yellow plastic bottle and the yellow rectangular bottle together.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Grab the yellow rectangular bottle and the yellow rectangular bottle at the same time.",
+    "Grab the hand-sized yellow plastic bottle and grab the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the yellow rectangular bottle.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up the yellow bottle for liquid storage and take the yellow rectangular bottle together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001134.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold onto the liquid container with orange body, then pick up the bottle with green and white labels.",
+    "Pick up both the bottle with yellow cap and the yellow bottle.",
+    "Pick up both the rounded orange bottle with yellow top and the bottle with green and white labels together.",
+    "One arm grabs the orange bottle with bold labeling; the other arm grabs the bottle with a smooth plastic body.",
+    "Hold the small bottle with bright yellow lid in one arm, catch the plastic bottle with the other arm.",
+    "Grab the rounded bottom orange plastic bottle and pick up the yellow bottle.",
+    "Grab the bottle with yellow cap using one arm and the plastic bottle using the other.",
+    "Lift both bottles, the bottle with yellow cap with one arm, the plastic bottle with the other.",
+    "Catch the yellow-capped orange plastic bottle in one arm and the medium rectangular yellow bottle in the other arm.",
+    "Hold the rounded orange bottle with yellow top with one arm, hold the bottle with white cap with the other.",
+    "Use one arm for the small bottle with bright yellow lid, the other for the yellow plastic bottle with white top.",
+    "Assign one arm to catch the liquid container with orange body, one for the yellow bottle with a green design.",
+    "Catch the orange bottle with bold labeling, then take hold of the yellow bottle with a green design.",
+    "Lift both the yellow-capped bottle for beverages and the yellow plastic bottle with white top simultaneously.",
+    "Grab the handheld medium-sized liquid bottle with one arm, the bottle with a smooth plastic body with the other.",
+    "Each arm should pick up one: the rounded bottom orange plastic bottle, then the rectangular bottle with cylindrical neck.",
+    "Catch the yellow-capped bottle for beverages, grab the rectangular bottle with cylindrical neck next.",
+    "Use both arms to lift the rounded orange bottle with yellow top and the yellow bottle.",
+    "Lift the cylindrical orange bottle with smooth surface, continue and pick up the yellow bottle.",
+    "Hold the rounded orange bottle with yellow top in one arm, the smooth bottle with rounded edges in the other.",
+    "Grasp the liquid container with orange body first, then take the bottle with green and white labels.",
+    "Let each arm grab either the bottle with yellow cap or the plastic bottle.",
+    "Use one arm for the liquid container with orange body, another for the yellow container with rounded edges.",
+    "Secure both the handheld medium-sized liquid bottle and the bottle with white cap quickly.",
+    "Catch the rounded orange bottle with yellow top, then grab the yellow bottle with a green design too.",
+    "Lift the liquid container with orange body and also take hold of the bottle with green and white labels.",
+    "Assign one arm to each of the handheld medium-sized liquid bottle and the yellow bottle.",
+    "With both arms, pick up the handheld medium-sized liquid bottle, then the yellow plastic bottle with white top.",
+    "Lift the bottle with yellow cap and the bottle with green and white labels with separate arms.",
+    "Pick up the cylindrical orange bottle with smooth surface, then pick up the bottle with white cap.",
+    "Secure the orange bottle with bold labeling and the yellow bottle with a green design in succession.",
+    "Hold onto the smooth orange cylindrical bottle and then get the bottle with green and white labels.",
+    "Pick both the small bottle with bright yellow lid and the smooth bottle with rounded edges one after another.",
+    "Use each arm to lift the yellow-capped bottle for beverages and the yellow plastic bottle with white top.",
+    "Catch both the liquid container with orange body and the rectangular bottle with cylindrical neck quickly.",
+    "Collect the liquid container with orange body, then pick up the yellow bottle with a green design.",
+    "Use both arms to pick up the yellow-capped bottle for beverages and the bottle with a smooth plastic body.",
+    "Catch the small bottle with bright yellow lid with one arm, the plastic bottle with another arm.",
+    "Grab the liquid container with orange body with one arm, the plastic bottle with the other.",
+    "Grab the rounded orange bottle with yellow top using an arm and the yellow bottle with the other arm.",
+    "Pick up the yellow-capped orange plastic bottle and then pick up the yellow bottle with a green design.",
+    "With two arms, catch both the rounded orange bottle with yellow top and the smooth bottle with rounded edges.",
+    "Grab the orange bottle with bold labeling, pick up the yellow container with rounded edges.",
+    "Secure the bottle with yellow cap, then secure the yellow bottle.",
+    "Catch the cylindrical orange bottle with smooth surface, then catch the bottle with green label.",
+    "Grab and hold the liquid container with orange body, then grab the smooth bottle with rounded edges.",
+    "Take hold of the cylindrical orange bottle with smooth surface and the yellow plastic bottle with white top.",
+    "Hold both the rounded bottom orange plastic bottle and the plastic bottle.",
+    "Use one arm for the rounded bottom orange plastic bottle and the other for the bottle with green label.",
+    "Use both arms to pick up the cylindrical orange bottle with smooth surface and the yellow bottle with a green design.",
+    "Hold onto the small bottle with bright yellow lid, then pick up the yellow plastic bottle with white top.",
+    "Pick up both the yellow-capped orange plastic bottle and the yellow container with rounded edges.",
+    "Pick up both the yellow-capped orange plastic bottle and the yellow bottle together.",
+    "One arm grabs the yellow-capped orange plastic bottle; the other arm grabs the medium rectangular yellow bottle.",
+    "Hold the handheld medium-sized liquid bottle in one arm, catch the yellow container with rounded edges with the other arm.",
+    "Grab the smooth orange cylindrical bottle and pick up the bottle with a smooth plastic body.",
+    "Grab the rounded orange bottle with yellow top using one arm and the plastic bottle using the other.",
+    "Lift both bottles, the orange bottle with bold labeling with one arm, the bottle with a smooth plastic body with the other.",
+    "Catch the orange bottle in one arm and the yellow bottle in the other arm.",
+    "Hold the orange bottle with one arm, hold the bottle with a smooth plastic body with the other.",
+    "Use one arm for the handheld medium-sized liquid bottle, the other for the smooth bottle with rounded edges.",
+    "Assign one arm to catch the small bottle with bright yellow lid, one for the medium rectangular yellow bottle.",
+    "Catch the handheld medium-sized liquid bottle, then take hold of the smooth bottle with rounded edges.",
+    "Lift both the bottle with yellow cap and the rectangular bottle with cylindrical neck simultaneously.",
+    "Grab the yellow-capped orange plastic bottle with one arm, the bottle with a smooth plastic body with the other.",
+    "Each arm should pick up one: the yellow-capped orange plastic bottle, then the yellow bottle with a green design.",
+    "Catch the cylindrical orange bottle with smooth surface, grab the bottle with a smooth plastic body next.",
+    "Use both arms to lift the liquid container with orange body and the bottle with white cap.",
+    "Lift the rounded orange bottle with yellow top, continue and pick up the medium rectangular yellow bottle.",
+    "Hold the bottle with yellow cap in one arm, the bottle with a smooth plastic body in the other.",
+    "Grasp the rounded bottom orange plastic bottle first, then take the bottle with a smooth plastic body.",
+    "Let each arm grab either the cylindrical orange bottle with smooth surface or the yellow plastic bottle with white top.",
+    "Use one arm for the yellow-capped bottle for beverages, another for the yellow container with rounded edges.",
+    "Secure both the yellow-capped orange plastic bottle and the bottle with green label quickly.",
+    "Catch the liquid container with orange body, then grab the bottle with green label too.",
+    "Lift the orange bottle and also take hold of the plastic bottle.",
+    "Assign one arm to each of the liquid container with orange body and the bottle with white cap.",
+    "With both arms, pick up the smooth orange cylindrical bottle, then the bottle with a smooth plastic body.",
+    "Lift the rounded orange bottle with yellow top and the medium rectangular yellow bottle with separate arms.",
+    "Pick up the rounded orange bottle with yellow top, then pick up the plastic bottle.",
+    "Secure the rounded orange bottle with yellow top and the yellow bottle in succession.",
+    "Hold onto the yellow-capped orange plastic bottle and then get the yellow bottle with a green design.",
+    "Pick both the yellow-capped bottle for beverages and the bottle with green and white labels one after another.",
+    "Use each arm to lift the orange bottle with bold labeling and the bottle with white cap.",
+    "Catch both the smooth orange cylindrical bottle and the smooth bottle with rounded edges quickly.",
+    "Collect the yellow-capped bottle for beverages, then pick up the bottle with green and white labels.",
+    "Use both arms to pick up the orange bottle and the yellow container with rounded edges.",
+    "Catch the handheld medium-sized liquid bottle with one arm, the yellow bottle with another arm.",
+    "Grab the bottle with yellow cap with one arm, the bottle with white cap with the other.",
+    "Grab the yellow-capped orange plastic bottle using an arm and the bottle with a smooth plastic body with the other arm.",
+    "Pick up the small bottle with bright yellow lid and then pick up the rectangular bottle with cylindrical neck.",
+    "With two arms, catch both the orange bottle with bold labeling and the yellow bottle with a green design.",
+    "Grab the rounded bottom orange plastic bottle, pick up the yellow bottle.",
+    "Secure the rounded orange bottle with yellow top, then secure the bottle with white cap.",
+    "Catch the orange bottle, then catch the yellow plastic bottle with white top.",
+    "Grab and hold the smooth orange cylindrical bottle, then grab the yellow bottle with a green design.",
+    "Take hold of the orange bottle with bold labeling and the bottle with a smooth plastic body.",
+    "Hold both the orange bottle and the bottle with white cap.",
+    "Use one arm for the yellow-capped bottle for beverages and the other for the medium rectangular yellow bottle.",
+    "Use both arms to pick up the handheld medium-sized liquid bottle and the medium rectangular yellow bottle."
+  ],
+  "unseen": [
+    "Pick up both the medium bottle for liquids and the hand-sized yellow plastic bottle together.",
+    "Pick up the medium plastic bottle and the yellow rectangular bottle together.",
+    "Lift the medium bottle for liquids using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the plastic orange bottle with rounded base and take the yellow rectangular bottle together.",
+    "Grab the medium plastic bottle and grab the yellow bottle for liquid storage at once.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the yellow rectangular bottle with the other.",
+    "Grab the plastic orange bottle with rounded base and the yellow rectangular bottle at the same time.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the yellow bottle for liquid storage.",
+    "Use each arm to grab the medium bottle for liquids and the hand-sized yellow plastic bottle.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up both the plastic orange bottle with rounded base and the yellow bottle for liquid storage together.",
+    "Pick up the plastic orange bottle with rounded base and the yellow rectangular bottle together.",
+    "Lift the medium bottle for liquids using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Pick up the plastic orange bottle with rounded base and take the yellow rectangular bottle together.",
+    "Grab the medium bottle for liquids and grab the hand-sized yellow plastic bottle at once.",
+    "Grab the medium bottle for liquids with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the medium bottle for liquids and the hand-sized yellow plastic bottle at the same time.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the yellow bottle for liquid storage.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the yellow bottle for liquid storage.",
+    "Pick up the medium plastic bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the medium bottle for liquids and the hand-sized yellow plastic bottle together.",
+    "Pick up the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle together.",
+    "Lift the medium bottle for liquids using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the plastic orange bottle with rounded base and take the yellow bottle for liquid storage together.",
+    "Grab the medium bottle for liquids and grab the hand-sized yellow plastic bottle at once.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the yellow rectangular bottle with the other.",
+    "Grab the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle at the same time.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the yellow bottle for liquid storage.",
+    "Use each arm to grab the medium bottle for liquids and the yellow rectangular bottle.",
+    "Pick up the medium plastic bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the medium plastic bottle and the yellow bottle for liquid storage together.",
+    "Pick up the medium plastic bottle and the yellow bottle for liquid storage together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Pick up the medium plastic bottle and take the yellow rectangular bottle together.",
+    "Grab the plastic orange bottle with rounded base and grab the yellow rectangular bottle at once.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the medium plastic bottle and the yellow rectangular bottle at the same time.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the yellow rectangular bottle.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle.",
+    "Pick up the medium plastic bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up both the medium plastic bottle and the yellow bottle for liquid storage together.",
+    "Pick up the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle together.",
+    "Lift the medium bottle for liquids using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the medium bottle for liquids and take the hand-sized yellow plastic bottle together.",
+    "Grab the medium plastic bottle and grab the yellow bottle for liquid storage at once.",
+    "Grab the medium plastic bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle at the same time.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the yellow bottle for liquid storage.",
+    "Use each arm to grab the medium bottle for liquids and the hand-sized yellow plastic bottle.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up both the medium bottle for liquids and the yellow bottle for liquid storage together.",
+    "Pick up the medium bottle for liquids and the hand-sized yellow plastic bottle together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Pick up the medium bottle for liquids and take the hand-sized yellow plastic bottle together.",
+    "Grab the medium bottle for liquids and grab the yellow bottle for liquid storage at once.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the medium plastic bottle and the yellow bottle for liquid storage at the same time.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the hand-sized yellow plastic bottle.",
+    "Use each arm to grab the medium plastic bottle and the yellow rectangular bottle.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle together.",
+    "Pick up the medium bottle for liquids and the yellow rectangular bottle together.",
+    "Lift the medium plastic bottle using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the medium plastic bottle and take the yellow bottle for liquid storage together.",
+    "Grab the plastic orange bottle with rounded base and grab the yellow bottle for liquid storage at once.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the yellow rectangular bottle with the other.",
+    "Grab the medium bottle for liquids and the yellow rectangular bottle at the same time.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the yellow bottle for liquid storage.",
+    "Use each arm to grab the medium plastic bottle and the yellow rectangular bottle.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up both the plastic orange bottle with rounded base and the yellow rectangular bottle together.",
+    "Pick up the medium bottle for liquids and the yellow rectangular bottle together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the medium plastic bottle and take the yellow bottle for liquid storage together.",
+    "Grab the plastic orange bottle with rounded base and grab the yellow bottle for liquid storage at once.",
+    "Grab the medium bottle for liquids with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the plastic orange bottle with rounded base and the yellow rectangular bottle at the same time.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the hand-sized yellow plastic bottle.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the yellow bottle for liquid storage.",
+    "Pick up the medium bottle for liquids with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up both the medium bottle for liquids and the yellow bottle for liquid storage together.",
+    "Pick up the medium bottle for liquids and the yellow rectangular bottle together.",
+    "Lift the medium bottle for liquids using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Pick up the medium plastic bottle and take the yellow rectangular bottle together.",
+    "Grab the medium bottle for liquids and grab the yellow rectangular bottle at once.",
+    "Grab the medium bottle for liquids with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Grab the medium plastic bottle and the hand-sized yellow plastic bottle at the same time.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the hand-sized yellow plastic bottle.",
+    "Use each arm to grab the medium bottle for liquids and the hand-sized yellow plastic bottle.",
+    "Pick up the medium bottle for liquids with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up both the plastic orange bottle with rounded base and the hand-sized yellow plastic bottle together.",
+    "Pick up the plastic orange bottle with rounded base and the yellow rectangular bottle together.",
+    "Lift the medium bottle for liquids using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Pick up the medium plastic bottle and take the yellow rectangular bottle together.",
+    "Grab the plastic orange bottle with rounded base and grab the yellow rectangular bottle at once.",
+    "Grab the medium plastic bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Grab the medium plastic bottle and the yellow rectangular bottle at the same time.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the hand-sized yellow plastic bottle.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the yellow rectangular bottle.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the hand-sized yellow plastic bottle with the other."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001137.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle for liquid in one arm, catch the cylindrical bottle with white label with the other arm.",
+    "With both arms, pick up the yellow bottle, then the plastic bottle with ribbed pattern.",
+    "Pick up the plastic bottle and then pick up the brown bottle with white printed label.",
+    "Catch the bottle for liquid, then grab the small brown plastic bottle too.",
+    "Grab the smooth plastic bottle with one arm, the small brown plastic bottle with the other.",
+    "Catch the bottle with screw cap, then take hold of the small drink bottle with logo.",
+    "Secure the yellow bottle for liquid storage and the cylindrical bottle with white label in succession.",
+    "Secure the yellow bottle for liquid storage, then secure the small brown plastic bottle.",
+    "Take hold of the bottle with screw cap and the small drink bottle with logo.",
+    "Assign one arm to catch the plastic bottle, one for the brown bottle.",
+    "One arm grabs the yellow bottle with dark label; the other arm grabs the brown bottle with white printed label.",
+    "Use each arm to lift the medium plastic bottle with cap and the brown bottle with white printed label.",
+    "Hold onto the yellow bottle with dark label and then get the hand-sized bottle with grooves.",
+    "Hold the yellow bottle with blue label with one arm, hold the hand-sized bottle with grooves with the other.",
+    "Catch the yellow bottle, then catch the bottle with tapered cylindrical shape.",
+    "Lift the smooth plastic bottle and also take hold of the small drink bottle with logo.",
+    "Catch the bottle with screw cap, grab the green-capped bottle next.",
+    "Each arm should pick up one: the plastic bottle with curved sides, then the brown bottle.",
+    "Grab the bottle with screw cap and pick up the cylindrical bottle with white label.",
+    "Use one arm for the plastic bottle, another for the brown bottle with green screw-on cap.",
+    "Use one arm for the bottle with screw cap and the other for the plastic bottle with ribbed pattern.",
+    "Hold the yellow bottle with dark label in one arm, the bottle with tapered cylindrical shape in the other.",
+    "Use both arms to pick up the bottle for liquid and the plastic bottle with ribbed pattern.",
+    "Grab and hold the plastic bottle with curved sides, then grab the bottle with green cap.",
+    "Lift the medium-sized bottle and the bottle with green cap with separate arms.",
+    "Lift both the plastic bottle and the hand-sized bottle with grooves simultaneously.",
+    "Pick up both the yellow bottle and the green-capped bottle.",
+    "Use both arms to lift the plastic bottle and the smooth plastic bottle for beverages.",
+    "Grab the medium plastic bottle with cap using one arm and the brown bottle using the other.",
+    "Use one arm for the smooth plastic bottle, the other for the brown bottle with white printed label.",
+    "Secure both the plastic bottle with curved sides and the smooth plastic bottle for beverages quickly.",
+    "Use both arms to pick up the medium plastic bottle with cap and the hand-sized bottle with grooves.",
+    "Lift both bottles, the bottle for liquid with one arm, the brown bottle with green screw-on cap with the other.",
+    "Catch the bottle for liquid with one arm, the bottle with green cap with another arm.",
+    "Hold onto the plastic bottle with curved sides, then pick up the brown bottle with white printed label.",
+    "Grab the yellow bottle with one arm, the cylindrical bottle with white label with the other.",
+    "Pick up both the bottle for liquid and the bottle with tapered cylindrical shape together.",
+    "Let each arm grab either the bottle with screw cap or the bottle with green cap.",
+    "Grab the bottle with screw cap, pick up the cylindrical bottle with white label.",
+    "Hold both the bottle with screw cap and the green-capped bottle.",
+    "Pick up the smooth plastic bottle, then pick up the plastic bottle with ribbed pattern.",
+    "Grab the yellow bottle for liquid storage using an arm and the hand-sized bottle with grooves with the other arm.",
+    "Lift the yellow bottle, continue and pick up the bottle with green cap.",
+    "Catch the smooth plastic bottle in one arm and the small drink bottle with logo in the other arm.",
+    "With two arms, catch both the smooth plastic bottle and the brown bottle with white printed label.",
+    "Grasp the medium plastic bottle with cap first, then take the cylindrical bottle with white label.",
+    "Assign one arm to each of the yellow bottle with blue label and the green-capped bottle.",
+    "Collect the yellow bottle for liquid storage, then pick up the small brown plastic bottle.",
+    "Catch both the plastic bottle with curved sides and the hand-sized bottle with grooves quickly.",
+    "Pick both the bottle with screw cap and the brown bottle one after another.",
+    "Hold the plastic bottle with curved sides in one arm, catch the small drink bottle with logo with the other arm.",
+    "With both arms, pick up the bottle with screw cap, then the brown bottle.",
+    "Pick up the plastic bottle and then pick up the small drink bottle with logo.",
+    "Catch the medium-sized bottle, then grab the small brown plastic bottle too.",
+    "Grab the bottle with screw cap with one arm, the bottle with green cap with the other.",
+    "Catch the plastic bottle, then take hold of the small drink bottle with logo.",
+    "Secure the yellow bottle with blue label and the bottle with green cap in succession.",
+    "Secure the medium-sized bottle, then secure the hand-sized bottle with grooves.",
+    "Take hold of the yellow bottle for liquid storage and the bottle with tapered cylindrical shape.",
+    "Assign one arm to catch the medium plastic bottle with cap, one for the green-capped bottle.",
+    "One arm grabs the yellow bottle; the other arm grabs the hand-sized bottle with grooves.",
+    "Use each arm to lift the yellow bottle with blue label and the smooth plastic bottle for beverages.",
+    "Hold onto the plastic bottle and then get the small drink bottle with logo.",
+    "Hold the bottle for liquid with one arm, hold the brown bottle with green screw-on cap with the other.",
+    "Catch the bottle for liquid, then catch the cylindrical bottle with white label.",
+    "Lift the medium-sized bottle and also take hold of the hand-sized bottle with grooves.",
+    "Catch the plastic bottle with curved sides, grab the small brown plastic bottle next.",
+    "Each arm should pick up one: the smooth plastic bottle, then the green-capped bottle.",
+    "Grab the yellow bottle and pick up the bottle with tapered cylindrical shape.",
+    "Use one arm for the yellow bottle with blue label, another for the brown bottle.",
+    "Use one arm for the smooth plastic bottle and the other for the green-capped bottle.",
+    "Hold the medium-sized bottle in one arm, the green-capped bottle in the other.",
+    "Use both arms to pick up the yellow bottle for liquid storage and the smooth plastic bottle for beverages.",
+    "Grab and hold the plastic bottle with curved sides, then grab the brown bottle with white printed label.",
+    "Lift the yellow bottle with dark label and the small brown plastic bottle with separate arms.",
+    "Lift both the plastic bottle and the bottle with tapered cylindrical shape simultaneously.",
+    "Pick up both the yellow bottle for liquid storage and the small brown plastic bottle.",
+    "Use both arms to lift the yellow bottle for liquid storage and the brown bottle with green screw-on cap.",
+    "Grab the medium-sized bottle using one arm and the bottle with green cap using the other.",
+    "Use one arm for the medium-sized bottle, the other for the brown bottle with green screw-on cap.",
+    "Secure both the yellow bottle and the brown bottle quickly.",
+    "Use both arms to pick up the bottle for liquid and the small drink bottle with logo.",
+    "Lift both bottles, the yellow bottle with dark label with one arm, the small drink bottle with logo with the other.",
+    "Catch the yellow bottle for liquid storage with one arm, the small drink bottle with logo with another arm.",
+    "Hold onto the yellow bottle for liquid storage, then pick up the cylindrical bottle with white label.",
+    "Grab the yellow bottle with dark label with one arm, the cylindrical bottle with white label with the other.",
+    "Pick up both the yellow bottle and the bottle with green cap together.",
+    "Let each arm grab either the yellow bottle with dark label or the brown bottle.",
+    "Grab the handheld curvy bottle, pick up the green-capped bottle.",
+    "Hold both the yellow bottle and the plastic bottle with ribbed pattern.",
+    "Pick up the yellow bottle with blue label, then pick up the bottle with tapered cylindrical shape.",
+    "Grab the bottle for liquid using an arm and the bottle with tapered cylindrical shape with the other arm.",
+    "Lift the yellow bottle, continue and pick up the smooth plastic bottle for beverages.",
+    "Catch the smooth plastic bottle in one arm and the cylindrical bottle with white label in the other arm.",
+    "With two arms, catch both the yellow bottle with dark label and the hand-sized bottle with grooves.",
+    "Grasp the yellow bottle with blue label first, then take the bottle with green cap.",
+    "Assign one arm to each of the plastic bottle with curved sides and the brown bottle with white printed label.",
+    "Collect the handheld curvy bottle, then pick up the plastic bottle with ribbed pattern.",
+    "Catch both the plastic bottle and the smooth plastic bottle for beverages quickly.",
+    "Pick both the plastic bottle and the brown bottle with green screw-on cap one after another."
+  ],
+  "unseen": [
+    "Grab the smooth bottle with blue text with one arm, grab the plastic Starbucks bottle with the other.",
+    "Grab the curvy yellow plastic bottle and the bottle with Starbucks logo on label at the same time.",
+    "Grab the yellow bottle with white cap and grab the plastic Starbucks bottle at once.",
+    "Use each arm to lift a bottle: the curvy yellow plastic bottle, then the bottle with Starbucks logo on label.",
+    "Pick up the smooth bottle with blue text and take the bottle with coffee-colored body together.",
+    "Pick up the smooth bottle with blue text with one arm, grab the bottle with Starbucks logo on label with the other.",
+    "Pick up the smooth bottle with blue text and the bottle with coffee-colored body together.",
+    "Pick up both the smooth bottle with blue text and the bottle with Starbucks logo on label together.",
+    "Use each arm to grab the yellow bottle with white cap and the bottle with coffee-colored body.",
+    "Lift the yellow bottle with white cap using one arm and lift the bottle with coffee-colored body using the other.",
+    "Grab the yellow bottle with white cap with one arm, grab the bottle with coffee-colored body with the other.",
+    "Grab the curvy yellow plastic bottle and the plastic Starbucks bottle at the same time.",
+    "Grab the yellow bottle with white cap and grab the plastic Starbucks bottle at once.",
+    "Use each arm to lift a bottle: the curvy yellow plastic bottle, then the plastic Starbucks bottle.",
+    "Pick up the smooth bottle with blue text and take the plastic Starbucks bottle together.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the plastic Starbucks bottle with the other.",
+    "Pick up the curvy yellow plastic bottle and the bottle with coffee-colored body together.",
+    "Pick up both the yellow bottle with white cap and the plastic Starbucks bottle together.",
+    "Use each arm to grab the smooth bottle with blue text and the bottle with coffee-colored body.",
+    "Lift the yellow bottle with white cap using one arm and lift the plastic Starbucks bottle using the other.",
+    "Grab the smooth bottle with blue text with one arm, grab the bottle with coffee-colored body with the other.",
+    "Grab the yellow bottle with white cap and the bottle with coffee-colored body at the same time.",
+    "Grab the yellow bottle with white cap and grab the bottle with Starbucks logo on label at once.",
+    "Use each arm to lift a bottle: the curvy yellow plastic bottle, then the bottle with coffee-colored body.",
+    "Pick up the yellow bottle with white cap and take the bottle with Starbucks logo on label together.",
+    "Pick up the yellow bottle with white cap with one arm, grab the bottle with coffee-colored body with the other.",
+    "Pick up the smooth bottle with blue text and the bottle with coffee-colored body together.",
+    "Pick up both the smooth bottle with blue text and the bottle with coffee-colored body together.",
+    "Use each arm to grab the yellow bottle with white cap and the bottle with coffee-colored body.",
+    "Lift the yellow bottle with white cap using one arm and lift the plastic Starbucks bottle using the other.",
+    "Grab the curvy yellow plastic bottle with one arm, grab the bottle with Starbucks logo on label with the other.",
+    "Grab the smooth bottle with blue text and the plastic Starbucks bottle at the same time.",
+    "Grab the smooth bottle with blue text and grab the bottle with coffee-colored body at once.",
+    "Use each arm to lift a bottle: the curvy yellow plastic bottle, then the bottle with Starbucks logo on label.",
+    "Pick up the yellow bottle with white cap and take the bottle with Starbucks logo on label together.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the plastic Starbucks bottle with the other.",
+    "Pick up the yellow bottle with white cap and the bottle with Starbucks logo on label together.",
+    "Pick up both the curvy yellow plastic bottle and the bottle with Starbucks logo on label together.",
+    "Use each arm to grab the curvy yellow plastic bottle and the bottle with coffee-colored body.",
+    "Lift the smooth bottle with blue text using one arm and lift the bottle with Starbucks logo on label using the other.",
+    "Grab the curvy yellow plastic bottle with one arm, grab the bottle with coffee-colored body with the other.",
+    "Grab the curvy yellow plastic bottle and the plastic Starbucks bottle at the same time.",
+    "Grab the curvy yellow plastic bottle and grab the bottle with coffee-colored body at once.",
+    "Use each arm to lift a bottle: the yellow bottle with white cap, then the plastic Starbucks bottle.",
+    "Pick up the smooth bottle with blue text and take the plastic Starbucks bottle together.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the plastic Starbucks bottle with the other.",
+    "Pick up the curvy yellow plastic bottle and the bottle with Starbucks logo on label together.",
+    "Pick up both the yellow bottle with white cap and the bottle with coffee-colored body together.",
+    "Use each arm to grab the smooth bottle with blue text and the bottle with coffee-colored body.",
+    "Lift the smooth bottle with blue text using one arm and lift the plastic Starbucks bottle using the other.",
+    "Grab the smooth bottle with blue text with one arm, grab the bottle with Starbucks logo on label with the other.",
+    "Grab the curvy yellow plastic bottle and the plastic Starbucks bottle at the same time.",
+    "Grab the yellow bottle with white cap and grab the plastic Starbucks bottle at once.",
+    "Use each arm to lift a bottle: the smooth bottle with blue text, then the bottle with Starbucks logo on label.",
+    "Pick up the curvy yellow plastic bottle and take the bottle with coffee-colored body together.",
+    "Pick up the smooth bottle with blue text with one arm, grab the bottle with Starbucks logo on label with the other.",
+    "Pick up the curvy yellow plastic bottle and the plastic Starbucks bottle together.",
+    "Pick up both the curvy yellow plastic bottle and the bottle with Starbucks logo on label together.",
+    "Use each arm to grab the curvy yellow plastic bottle and the bottle with coffee-colored body.",
+    "Lift the smooth bottle with blue text using one arm and lift the bottle with Starbucks logo on label using the other.",
+    "Grab the yellow bottle with white cap with one arm, grab the plastic Starbucks bottle with the other.",
+    "Grab the curvy yellow plastic bottle and the bottle with coffee-colored body at the same time.",
+    "Grab the smooth bottle with blue text and grab the bottle with coffee-colored body at once.",
+    "Use each arm to lift a bottle: the curvy yellow plastic bottle, then the bottle with Starbucks logo on label.",
+    "Pick up the yellow bottle with white cap and take the plastic Starbucks bottle together.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the plastic Starbucks bottle with the other.",
+    "Pick up the yellow bottle with white cap and the plastic Starbucks bottle together.",
+    "Pick up both the yellow bottle with white cap and the bottle with coffee-colored body together.",
+    "Use each arm to grab the smooth bottle with blue text and the bottle with Starbucks logo on label.",
+    "Lift the curvy yellow plastic bottle using one arm and lift the bottle with coffee-colored body using the other.",
+    "Grab the curvy yellow plastic bottle with one arm, grab the bottle with Starbucks logo on label with the other.",
+    "Grab the smooth bottle with blue text and the bottle with Starbucks logo on label at the same time.",
+    "Grab the curvy yellow plastic bottle and grab the bottle with Starbucks logo on label at once.",
+    "Use each arm to lift a bottle: the smooth bottle with blue text, then the plastic Starbucks bottle.",
+    "Pick up the smooth bottle with blue text and take the bottle with coffee-colored body together.",
+    "Pick up the yellow bottle with white cap with one arm, grab the bottle with coffee-colored body with the other.",
+    "Pick up the smooth bottle with blue text and the plastic Starbucks bottle together.",
+    "Pick up both the curvy yellow plastic bottle and the bottle with Starbucks logo on label together.",
+    "Use each arm to grab the curvy yellow plastic bottle and the plastic Starbucks bottle.",
+    "Lift the smooth bottle with blue text using one arm and lift the bottle with coffee-colored body using the other.",
+    "Grab the yellow bottle with white cap with one arm, grab the bottle with Starbucks logo on label with the other.",
+    "Grab the yellow bottle with white cap and the bottle with Starbucks logo on label at the same time.",
+    "Grab the yellow bottle with white cap and grab the plastic Starbucks bottle at once.",
+    "Use each arm to lift a bottle: the curvy yellow plastic bottle, then the bottle with Starbucks logo on label.",
+    "Pick up the curvy yellow plastic bottle and take the bottle with coffee-colored body together.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the plastic Starbucks bottle with the other.",
+    "Pick up the smooth bottle with blue text and the plastic Starbucks bottle together.",
+    "Pick up both the yellow bottle with white cap and the bottle with coffee-colored body together.",
+    "Use each arm to grab the smooth bottle with blue text and the plastic Starbucks bottle.",
+    "Lift the smooth bottle with blue text using one arm and lift the plastic Starbucks bottle using the other.",
+    "Grab the yellow bottle with white cap with one arm, grab the bottle with coffee-colored body with the other.",
+    "Grab the smooth bottle with blue text and the bottle with coffee-colored body at the same time.",
+    "Grab the curvy yellow plastic bottle and grab the plastic Starbucks bottle at once.",
+    "Use each arm to lift a bottle: the smooth bottle with blue text, then the bottle with Starbucks logo on label.",
+    "Pick up the yellow bottle with white cap and take the bottle with Starbucks logo on label together.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the bottle with Starbucks logo on label with the other.",
+    "Pick up the smooth bottle with blue text and the bottle with Starbucks logo on label together.",
+    "Pick up both the curvy yellow plastic bottle and the bottle with coffee-colored body together.",
+    "Use each arm to grab the yellow bottle with white cap and the plastic Starbucks bottle.",
+    "Lift the yellow bottle with white cap using one arm and lift the bottle with Starbucks logo on label using the other."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001149.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold both the medium bottle for beverages and the medium bottle with colorful label.",
+    "Grab the cylindrical bottle and pick up the orange drink bottle with label.",
+    "One arm grabs the blue bottle; the other arm grabs the cylindrical orange plastic bottle.",
+    "Hold the bottle with blue cap in one arm, the bottle for holding drinks in the other.",
+    "Use both arms to pick up the blue bottle and the plastic bottle.",
+    "Pick up both the bottle with blue cap and the round-bottom bottle with white cap together.",
+    "Catch the bottle with blue cap, grab the orange bottle next.",
+    "Hold the bottle with blue cap with one arm, hold the medium bottle with colorful label with the other.",
+    "Grab the handheld bottle with one arm, the curved orange soda bottle with the other.",
+    "Catch the medium-sized bottle in one arm and the grooved orange drink bottle in the other arm.",
+    "Catch both the plastic bottle and the curved orange soda bottle quickly.",
+    "With both arms, pick up the medium-sized bottle, then the light and medium-sized bottle.",
+    "Hold onto the medium-sized bottle and then get the bottle for holding drinks.",
+    "Catch the plastic bottle, then catch the orange bottle.",
+    "Grasp the blue bottle first, then take the ridged orange bottle with grooves.",
+    "Grab the white and blue bottle using one arm and the grooved orange drink bottle using the other.",
+    "Pick both the medium bottle for beverages and the grooved orange drink bottle one after another.",
+    "Lift the bottle for liquids, continue and pick up the cylindrical orange plastic bottle.",
+    "Secure both the plastic bottle and the ridged orange bottle with grooves quickly.",
+    "Grab the blue bottle with label, pick up the ridged orange bottle with grooves.",
+    "Take hold of the plastic bottle and the curved orange soda bottle.",
+    "Catch the plastic bottle, then grab the ridged orange bottle with grooves too.",
+    "Grab the white bottle with blue accents with one arm, the grooved orange drink bottle with the other.",
+    "Pick up both the plastic bottle and the light and medium-sized bottle.",
+    "Grab the medium bottle for beverages using an arm and the curved orange soda bottle with the other arm.",
+    "Assign one arm to each of the medium-sized bottle and the orange bottle.",
+    "Use both arms to lift the medium bottle for beverages and the cylindrical orange plastic bottle.",
+    "Grab and hold the plastic bottle, then grab the cylindrical orange plastic bottle.",
+    "Use both arms to pick up the handheld bottle and the curved orange soda bottle.",
+    "Each arm should pick up one: the white bottle with blue accents, then the plastic bottle.",
+    "Use each arm to lift the white and blue bottle and the round-bottom bottle with white cap.",
+    "Pick up the bottle with blue cap and then pick up the cylindrical orange plastic bottle.",
+    "Lift the smooth plastic bottle and the cylindrical orange plastic bottle with separate arms.",
+    "Use one arm for the white and blue bottle, another for the grooved orange drink bottle.",
+    "Hold onto the smooth plastic bottle, then pick up the orange drink bottle with label.",
+    "Use one arm for the bottle with blue cap, the other for the round-bottom bottle with white cap.",
+    "Secure the handheld bottle, then secure the bottle for holding drinks.",
+    "Let each arm grab either the cylindrical bottle or the cylindrical orange plastic bottle.",
+    "With two arms, catch both the handheld bottle and the medium bottle with colorful label.",
+    "Assign one arm to catch the handheld bottle, one for the orange bottle.",
+    "Catch the smooth plastic bottle with one arm, the bottle for holding drinks with another arm.",
+    "Secure the cylindrical bottle and the medium bottle with colorful label in succession.",
+    "Pick up the smooth plastic bottle, then pick up the curved orange soda bottle.",
+    "Hold the bottle for liquids in one arm, catch the light and medium-sized bottle with the other arm.",
+    "Use one arm for the blue bottle and the other for the ridged orange bottle with grooves.",
+    "Lift the white bottle with blue accents and also take hold of the round-bottom bottle with white cap.",
+    "Catch the bottle for liquids, then take hold of the bottle for holding drinks.",
+    "Lift both the blue bottle and the round-bottom bottle with white cap simultaneously.",
+    "Lift both bottles, the bottle for liquids with one arm, the orange drink bottle with label with the other.",
+    "Collect the plastic bottle, then pick up the curved orange soda bottle.",
+    "Hold both the white and blue bottle and the orange drink bottle with label.",
+    "Grab the plastic bottle and pick up the grooved orange drink bottle.",
+    "One arm grabs the medium bottle for beverages; the other arm grabs the grooved orange drink bottle.",
+    "Hold the blue bottle with label in one arm, the light and medium-sized bottle in the other.",
+    "Use both arms to pick up the white bottle with blue accents and the plastic bottle.",
+    "Pick up both the medium-sized bottle and the plastic bottle together.",
+    "Catch the white and blue bottle, grab the medium bottle with colorful label next.",
+    "Hold the medium-sized bottle with one arm, hold the smooth orange bottle with the other.",
+    "Grab the blue bottle with one arm, the light and medium-sized bottle with the other.",
+    "Catch the bottle with blue cap in one arm and the orange drink bottle with label in the other arm.",
+    "Catch both the cylindrical bottle and the orange bottle quickly.",
+    "With both arms, pick up the white bottle with blue accents, then the bottle for holding drinks.",
+    "Hold onto the white and blue bottle and then get the round-bottom bottle with white cap.",
+    "Catch the bottle for liquids, then catch the ridged orange bottle with grooves.",
+    "Grasp the white bottle with blue accents first, then take the bottle for holding drinks.",
+    "Grab the medium-sized bottle using one arm and the round-bottom bottle with white cap using the other.",
+    "Pick both the smooth plastic bottle and the bottle for holding drinks one after another.",
+    "Lift the medium-sized bottle, continue and pick up the curved orange soda bottle.",
+    "Secure both the medium bottle for beverages and the plastic bottle quickly.",
+    "Grab the medium-sized bottle, pick up the curved orange soda bottle.",
+    "Take hold of the medium-sized bottle and the grooved orange drink bottle.",
+    "Catch the smooth plastic bottle, then grab the grooved orange drink bottle too.",
+    "Grab the bottle with blue cap with one arm, the orange bottle with the other.",
+    "Pick up both the bottle with blue cap and the orange drink bottle with label.",
+    "Grab the cylindrical bottle using an arm and the round-bottom bottle with white cap with the other arm.",
+    "Assign one arm to each of the bottle for liquids and the smooth orange bottle.",
+    "Use both arms to lift the blue bottle with label and the orange drink bottle with label.",
+    "Grab and hold the bottle for liquids, then grab the cylindrical orange plastic bottle.",
+    "Use both arms to pick up the bottle for liquids and the plastic bottle.",
+    "Each arm should pick up one: the blue bottle, then the medium bottle with colorful label.",
+    "Use each arm to lift the white and blue bottle and the plastic bottle.",
+    "Pick up the medium bottle for beverages and then pick up the grooved orange drink bottle.",
+    "Lift the blue bottle with label and the cylindrical orange plastic bottle with separate arms.",
+    "Use one arm for the white bottle with blue accents, another for the light and medium-sized bottle.",
+    "Hold onto the white and blue bottle, then pick up the orange bottle.",
+    "Use one arm for the white bottle with blue accents, the other for the orange bottle.",
+    "Secure the bottle for liquids, then secure the ridged orange bottle with grooves.",
+    "Let each arm grab either the white and blue bottle or the grooved orange drink bottle.",
+    "With two arms, catch both the medium-sized bottle and the smooth orange bottle.",
+    "Assign one arm to catch the blue bottle, one for the orange drink bottle with label.",
+    "Catch the handheld bottle with one arm, the orange drink bottle with label with another arm.",
+    "Secure the bottle with blue cap and the cylindrical orange plastic bottle in succession.",
+    "Pick up the handheld bottle, then pick up the curved orange soda bottle.",
+    "Hold the medium bottle for beverages in one arm, catch the medium bottle with colorful label with the other arm.",
+    "Use one arm for the blue bottle with label and the other for the grooved orange drink bottle.",
+    "Lift the blue bottle and also take hold of the cylindrical orange plastic bottle.",
+    "Catch the blue bottle with label, then take hold of the cylindrical orange plastic bottle.",
+    "Lift both the white and blue bottle and the grooved orange drink bottle simultaneously.",
+    "Lift both bottles, the white bottle with blue accents with one arm, the round-bottom bottle with white cap with the other.",
+    "Collect the smooth plastic bottle, then pick up the round-bottom bottle with white cap."
+  ],
+  "unseen": [
+    "Use each arm to grab the bottle with curved neck design and the white capped orange plastic bottle.",
+    "Grab the bottle with curved neck design and the bottle with white cap at the same time.",
+    "Pick up both the blue-capped plastic bottle and the bottle with ridged orange grip together.",
+    "Pick up the bottle with ridged neck and the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the bottle with curved neck design, then the bottle with ridged orange grip.",
+    "Lift the bottle with curved neck design using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the bottle with ridged neck and take the bottle with ridged orange grip together.",
+    "Grab the bottle with ridged neck with one arm, grab the bottle with white cap with the other.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the bottle with ridged neck and grab the bottle with ridged orange grip at once.",
+    "Use each arm to grab the blue-capped plastic bottle and the bottle with white cap.",
+    "Grab the bottle with ridged neck and the bottle with ridged orange grip at the same time.",
+    "Pick up both the bottle with ridged neck and the white capped orange plastic bottle together.",
+    "Pick up the bottle with curved neck design and the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the blue-capped plastic bottle, then the white capped orange plastic bottle.",
+    "Lift the bottle with curved neck design using one arm and lift the bottle with white cap using the other.",
+    "Pick up the bottle with ridged neck and take the bottle with white cap together.",
+    "Grab the bottle with ridged neck with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the bottle with ridged neck and grab the white capped orange plastic bottle at once.",
+    "Use each arm to grab the blue-capped plastic bottle and the white capped orange plastic bottle.",
+    "Grab the bottle with curved neck design and the bottle with white cap at the same time.",
+    "Pick up both the bottle with ridged neck and the bottle with white cap together.",
+    "Pick up the bottle with ridged neck and the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the bottle with ridged neck, then the white capped orange plastic bottle.",
+    "Lift the blue-capped plastic bottle using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the blue-capped plastic bottle and take the bottle with white cap together.",
+    "Grab the bottle with curved neck design with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the bottle with ridged neck with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the bottle with curved neck design and grab the white capped orange plastic bottle at once.",
+    "Use each arm to grab the bottle with curved neck design and the bottle with ridged orange grip.",
+    "Grab the bottle with curved neck design and the white capped orange plastic bottle at the same time.",
+    "Pick up both the bottle with curved neck design and the bottle with white cap together.",
+    "Pick up the blue-capped plastic bottle and the bottle with white cap together.",
+    "Use each arm to lift a bottle: the bottle with curved neck design, then the bottle with white cap.",
+    "Lift the blue-capped plastic bottle using one arm and lift the bottle with white cap using the other.",
+    "Pick up the bottle with ridged neck and take the bottle with white cap together.",
+    "Grab the bottle with ridged neck with one arm, grab the bottle with white cap with the other.",
+    "Pick up the bottle with ridged neck with one arm, grab the bottle with white cap with the other.",
+    "Grab the bottle with ridged neck and grab the bottle with white cap at once.",
+    "Use each arm to grab the bottle with curved neck design and the white capped orange plastic bottle.",
+    "Grab the bottle with ridged neck and the white capped orange plastic bottle at the same time.",
+    "Pick up both the bottle with curved neck design and the white capped orange plastic bottle together.",
+    "Pick up the bottle with curved neck design and the bottle with white cap together.",
+    "Use each arm to lift a bottle: the bottle with curved neck design, then the white capped orange plastic bottle.",
+    "Lift the bottle with ridged neck using one arm and lift the bottle with white cap using the other.",
+    "Pick up the blue-capped plastic bottle and take the white capped orange plastic bottle together.",
+    "Grab the bottle with curved neck design with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the bottle with white cap with the other.",
+    "Grab the bottle with ridged neck and grab the white capped orange plastic bottle at once.",
+    "Use each arm to grab the blue-capped plastic bottle and the bottle with ridged orange grip.",
+    "Grab the bottle with curved neck design and the bottle with ridged orange grip at the same time.",
+    "Pick up both the blue-capped plastic bottle and the white capped orange plastic bottle together.",
+    "Pick up the blue-capped plastic bottle and the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the blue-capped plastic bottle, then the bottle with ridged orange grip.",
+    "Lift the bottle with ridged neck using one arm and lift the bottle with white cap using the other.",
+    "Pick up the bottle with curved neck design and take the white capped orange plastic bottle together.",
+    "Grab the bottle with curved neck design with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the bottle with curved neck design and grab the bottle with ridged orange grip at once.",
+    "Use each arm to grab the bottle with curved neck design and the bottle with white cap.",
+    "Grab the blue-capped plastic bottle and the bottle with ridged orange grip at the same time.",
+    "Pick up both the blue-capped plastic bottle and the bottle with ridged orange grip together.",
+    "Pick up the bottle with curved neck design and the bottle with white cap together.",
+    "Use each arm to lift a bottle: the blue-capped plastic bottle, then the white capped orange plastic bottle.",
+    "Lift the bottle with curved neck design using one arm and lift the bottle with white cap using the other.",
+    "Pick up the blue-capped plastic bottle and take the white capped orange plastic bottle together.",
+    "Grab the bottle with curved neck design with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the bottle with ridged neck and grab the bottle with ridged orange grip at once.",
+    "Use each arm to grab the bottle with curved neck design and the bottle with ridged orange grip.",
+    "Grab the bottle with curved neck design and the white capped orange plastic bottle at the same time.",
+    "Pick up both the bottle with ridged neck and the bottle with ridged orange grip together.",
+    "Pick up the bottle with curved neck design and the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the bottle with curved neck design, then the white capped orange plastic bottle.",
+    "Lift the blue-capped plastic bottle using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the blue-capped plastic bottle and take the white capped orange plastic bottle together.",
+    "Grab the blue-capped plastic bottle with one arm, grab the bottle with white cap with the other.",
+    "Pick up the bottle with ridged neck with one arm, grab the bottle with white cap with the other.",
+    "Grab the bottle with curved neck design and grab the bottle with ridged orange grip at once.",
+    "Use each arm to grab the bottle with ridged neck and the bottle with white cap.",
+    "Grab the bottle with ridged neck and the white capped orange plastic bottle at the same time.",
+    "Pick up both the bottle with ridged neck and the white capped orange plastic bottle together.",
+    "Pick up the bottle with curved neck design and the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the blue-capped plastic bottle, then the bottle with ridged orange grip.",
+    "Lift the blue-capped plastic bottle using one arm and lift the bottle with white cap using the other.",
+    "Pick up the bottle with curved neck design and take the bottle with white cap together.",
+    "Grab the blue-capped plastic bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the bottle with ridged neck with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the bottle with curved neck design and grab the bottle with white cap at once.",
+    "Use each arm to grab the bottle with ridged neck and the white capped orange plastic bottle.",
+    "Grab the bottle with ridged neck and the bottle with ridged orange grip at the same time.",
+    "Pick up both the bottle with ridged neck and the white capped orange plastic bottle together.",
+    "Pick up the bottle with ridged neck and the bottle with white cap together.",
+    "Use each arm to lift a bottle: the bottle with ridged neck, then the white capped orange plastic bottle.",
+    "Lift the bottle with curved neck design using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the bottle with curved neck design and take the bottle with white cap together.",
+    "Grab the blue-capped plastic bottle with one arm, grab the bottle with white cap with the other.",
+    "Pick up the bottle with curved neck design with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the bottle with ridged neck and grab the white capped orange plastic bottle at once."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001152.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take hold of the plastic bottle with colored label and the curved orange soda bottle.",
+    "Each arm should pick up one: the plastic bottle with colored label, then the curved orange soda bottle.",
+    "Secure both the plastic bottle with colored label and the plastic bottle quickly.",
+    "Grab the cylindrical bottle with rounded cap and pick up the orange bottle.",
+    "Lift the bottle with glossy plastic finish and the ridged orange bottle with grooves with separate arms.",
+    "Use both arms to pick up the handheld plastic bottle and the curved orange soda bottle.",
+    "Pick up both the plastic bottle and the curved orange soda bottle together.",
+    "Collect the green bottle, then pick up the medium bottle with colorful label.",
+    "Catch the cylindrical liquid bottle with yellow top in one arm and the orange drink bottle with label in the other arm.",
+    "Use one arm for the cylindrical bottle with rounded cap, the other for the curved orange soda bottle.",
+    "Assign one arm to each of the bottle with glossy plastic finish and the bottle for holding drinks.",
+    "Catch the bottle with yellow cap, grab the bottle for holding drinks next.",
+    "Let each arm grab either the cylindrical liquid bottle with yellow top or the orange bottle.",
+    "Pick both the cylindrical liquid bottle with yellow top and the plastic bottle one after another.",
+    "Catch the smooth green and yellow bottle with one arm, the plastic bottle with another arm.",
+    "Catch both the medium bottle with green body and the bottle for holding drinks quickly.",
+    "Catch the medium bottle with green body, then take hold of the curved orange soda bottle.",
+    "Use both arms to pick up the plastic bottle and the curved orange soda bottle.",
+    "With both arms, pick up the plastic bottle, then the grooved orange drink bottle.",
+    "With two arms, catch both the plastic bottle with colored label and the orange drink bottle with label.",
+    "Secure the plastic bottle and the smooth orange bottle in succession.",
+    "Grab the smooth green and yellow bottle with one arm, the orange bottle with the other.",
+    "Lift both bottles, the cylindrical liquid bottle with yellow top with one arm, the medium bottle with colorful label with the other.",
+    "Pick up the bottle with glossy plastic finish and then pick up the orange bottle.",
+    "One arm grabs the cylindrical bottle with rounded cap; the other arm grabs the plastic bottle.",
+    "Use each arm to lift the bottle with yellow cap and the smooth orange bottle.",
+    "Lift both the green bottle with black text label and the ridged orange bottle with grooves simultaneously.",
+    "Hold onto the plastic bottle with colored label and then get the ridged orange bottle with grooves.",
+    "Use both arms to lift the medium bottle with green body and the bottle for holding drinks.",
+    "Hold onto the handheld plastic bottle, then pick up the cylindrical orange plastic bottle.",
+    "Hold both the handheld plastic bottle and the smooth orange bottle.",
+    "Grab the smooth green and yellow bottle using an arm and the curved orange soda bottle with the other arm.",
+    "Lift the green bottle with white label and also take hold of the light and medium-sized bottle.",
+    "Use one arm for the bottle with glossy plastic finish and the other for the smooth orange bottle.",
+    "Pick up both the green bottle with black text label and the medium bottle with colorful label.",
+    "Grasp the smooth green and yellow bottle first, then take the light and medium-sized bottle.",
+    "Grab the plastic bottle with colored label using one arm and the orange drink bottle with label using the other.",
+    "Pick up the green bottle with black text label, then pick up the round-bottom bottle with white cap.",
+    "Catch the bottle with glossy plastic finish, then grab the medium bottle with colorful label too.",
+    "Secure the bottle with glossy plastic finish, then secure the light and medium-sized bottle.",
+    "Catch the medium bottle with green body, then catch the plastic bottle.",
+    "Use one arm for the cylindrical liquid bottle with yellow top, another for the orange drink bottle with label.",
+    "Hold the medium bottle with green body in one arm, catch the curved orange soda bottle with the other arm.",
+    "Grab the cylindrical bottle with rounded cap with one arm, the smooth orange bottle with the other.",
+    "Grab the medium bottle with green body, pick up the ridged orange bottle with grooves.",
+    "Assign one arm to catch the plastic bottle, one for the cylindrical orange plastic bottle.",
+    "Hold the green bottle with white label in one arm, the medium bottle with colorful label in the other.",
+    "Grab and hold the green bottle with black text label, then grab the plastic bottle.",
+    "Lift the plastic bottle, continue and pick up the smooth orange bottle.",
+    "Hold the plastic bottle with one arm, hold the orange drink bottle with label with the other.",
+    "Take hold of the bottle with glossy plastic finish and the plastic bottle.",
+    "Each arm should pick up one: the green bottle with black text label, then the round-bottom bottle with white cap.",
+    "Secure both the green bottle and the smooth orange bottle quickly.",
+    "Grab the cylindrical liquid bottle with yellow top and pick up the round-bottom bottle with white cap.",
+    "Lift the cylindrical liquid bottle with yellow top and the medium bottle with colorful label with separate arms.",
+    "Use both arms to pick up the green bottle with black text label and the ridged orange bottle with grooves.",
+    "Pick up both the medium bottle with green body and the smooth orange bottle together.",
+    "Collect the green bottle, then pick up the smooth orange bottle.",
+    "Catch the plastic bottle with colored label in one arm and the orange bottle in the other arm.",
+    "Use one arm for the green bottle, the other for the plastic bottle.",
+    "Assign one arm to each of the green bottle with black text label and the medium bottle with colorful label.",
+    "Catch the medium bottle with green body, grab the cylindrical orange plastic bottle next.",
+    "Let each arm grab either the bottle with yellow cap or the orange bottle.",
+    "Pick both the green bottle and the orange drink bottle with label one after another.",
+    "Catch the medium bottle with green body with one arm, the plastic bottle with another arm.",
+    "Catch both the green bottle and the ridged orange bottle with grooves quickly.",
+    "Catch the handheld plastic bottle, then take hold of the orange bottle.",
+    "Use both arms to pick up the smooth green and yellow bottle and the medium bottle with colorful label.",
+    "With both arms, pick up the green bottle with white label, then the grooved orange drink bottle.",
+    "With two arms, catch both the green bottle and the plastic bottle.",
+    "Secure the medium bottle with green body and the curved orange soda bottle in succession.",
+    "Grab the medium bottle with green body with one arm, the curved orange soda bottle with the other.",
+    "Lift both bottles, the bottle with glossy plastic finish with one arm, the grooved orange drink bottle with the other.",
+    "Pick up the green bottle with black text label and then pick up the light and medium-sized bottle.",
+    "One arm grabs the smooth green and yellow bottle; the other arm grabs the orange bottle.",
+    "Use each arm to lift the green bottle with black text label and the medium bottle with colorful label.",
+    "Lift both the bottle with glossy plastic finish and the bottle for holding drinks simultaneously.",
+    "Hold onto the plastic bottle and then get the round-bottom bottle with white cap.",
+    "Use both arms to lift the handheld plastic bottle and the grooved orange drink bottle.",
+    "Hold onto the bottle with glossy plastic finish, then pick up the medium bottle with colorful label.",
+    "Hold both the smooth green and yellow bottle and the grooved orange drink bottle.",
+    "Grab the plastic bottle using an arm and the ridged orange bottle with grooves with the other arm.",
+    "Lift the cylindrical bottle with rounded cap and also take hold of the smooth orange bottle.",
+    "Use one arm for the medium bottle with green body and the other for the round-bottom bottle with white cap.",
+    "Pick up both the plastic bottle and the bottle for holding drinks.",
+    "Grasp the smooth green and yellow bottle first, then take the orange bottle.",
+    "Grab the handheld plastic bottle using one arm and the smooth orange bottle using the other.",
+    "Pick up the green bottle, then pick up the bottle for holding drinks.",
+    "Catch the green bottle, then grab the bottle for holding drinks too.",
+    "Secure the bottle with glossy plastic finish, then secure the cylindrical orange plastic bottle.",
+    "Catch the handheld plastic bottle, then catch the curved orange soda bottle.",
+    "Use one arm for the cylindrical liquid bottle with yellow top, another for the light and medium-sized bottle.",
+    "Hold the handheld plastic bottle in one arm, catch the orange drink bottle with label with the other arm.",
+    "Grab the bottle with yellow cap with one arm, the orange bottle with the other.",
+    "Grab the cylindrical liquid bottle with yellow top, pick up the plastic bottle.",
+    "Assign one arm to catch the handheld plastic bottle, one for the ridged orange bottle with grooves.",
+    "Hold the handheld plastic bottle in one arm, the light and medium-sized bottle in the other.",
+    "Grab and hold the green bottle with white label, then grab the plastic bottle.",
+    "Lift the bottle with yellow cap, continue and pick up the cylindrical orange plastic bottle.",
+    "Hold the green bottle with one arm, hold the light and medium-sized bottle with the other."
+  ],
+  "unseen": [
+    "Grab the bottle with green base and black prints and grab the white capped orange plastic bottle at once.",
+    "Grab the yellow-capped bottle with smooth surface and the bottle with white cap at the same time.",
+    "Pick up both the medium-sized drink bottle and the bottle with white cap together.",
+    "Pick up the yellow-capped bottle with smooth surface and take the white capped orange plastic bottle together.",
+    "Grab the medium-sized drink bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Lift the bottle with green base and black prints using one arm and lift the bottle with white cap using the other.",
+    "Pick up the yellow-capped bottle with smooth surface and the white capped orange plastic bottle together.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the white capped orange plastic bottle.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the bottle with ridged orange grip.",
+    "Pick up the medium-sized drink bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the medium-sized drink bottle and grab the bottle with ridged orange grip at once.",
+    "Grab the medium-sized drink bottle and the bottle with ridged orange grip at the same time.",
+    "Pick up both the medium-sized drink bottle and the bottle with white cap together.",
+    "Pick up the yellow-capped bottle with smooth surface and take the white capped orange plastic bottle together.",
+    "Grab the medium-sized drink bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Lift the bottle with green base and black prints using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the bottle with green base and black prints and the white capped orange plastic bottle together.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the bottle with ridged orange grip.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the bottle with ridged orange grip.",
+    "Pick up the medium-sized drink bottle with one arm, grab the bottle with white cap with the other.",
+    "Grab the bottle with green base and black prints and grab the bottle with ridged orange grip at once.",
+    "Grab the yellow-capped bottle with smooth surface and the bottle with white cap at the same time.",
+    "Pick up both the yellow-capped bottle with smooth surface and the bottle with ridged orange grip together.",
+    "Pick up the bottle with green base and black prints and take the bottle with white cap together.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the bottle with white cap with the other.",
+    "Lift the yellow-capped bottle with smooth surface using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the yellow-capped bottle with smooth surface and the bottle with ridged orange grip together.",
+    "Use each arm to grab the medium-sized drink bottle and the white capped orange plastic bottle.",
+    "Use each arm to lift a bottle: the medium-sized drink bottle, then the white capped orange plastic bottle.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the bottle with white cap with the other.",
+    "Grab the yellow-capped bottle with smooth surface and grab the white capped orange plastic bottle at once.",
+    "Grab the yellow-capped bottle with smooth surface and the bottle with white cap at the same time.",
+    "Pick up both the yellow-capped bottle with smooth surface and the white capped orange plastic bottle together.",
+    "Pick up the yellow-capped bottle with smooth surface and take the bottle with white cap together.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the bottle with ridged orange grip with the other.",
+    "Lift the yellow-capped bottle with smooth surface using one arm and lift the bottle with white cap using the other.",
+    "Pick up the medium-sized drink bottle and the bottle with white cap together.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the bottle with white cap.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the bottle with white cap.",
+    "Pick up the medium-sized drink bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the medium-sized drink bottle and grab the bottle with white cap at once.",
+    "Grab the yellow-capped bottle with smooth surface and the bottle with ridged orange grip at the same time.",
+    "Pick up both the medium-sized drink bottle and the bottle with ridged orange grip together.",
+    "Pick up the bottle with green base and black prints and take the bottle with ridged orange grip together.",
+    "Grab the bottle with green base and black prints with one arm, grab the white capped orange plastic bottle with the other.",
+    "Lift the bottle with green base and black prints using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the medium-sized drink bottle and the white capped orange plastic bottle together.",
+    "Use each arm to grab the medium-sized drink bottle and the bottle with ridged orange grip.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the bottle with white cap.",
+    "Pick up the bottle with green base and black prints with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the medium-sized drink bottle and grab the white capped orange plastic bottle at once.",
+    "Grab the medium-sized drink bottle and the white capped orange plastic bottle at the same time.",
+    "Pick up both the medium-sized drink bottle and the bottle with ridged orange grip together.",
+    "Pick up the yellow-capped bottle with smooth surface and take the bottle with ridged orange grip together.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the white capped orange plastic bottle with the other.",
+    "Lift the yellow-capped bottle with smooth surface using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the bottle with green base and black prints and the white capped orange plastic bottle together.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the white capped orange plastic bottle.",
+    "Use each arm to lift a bottle: the medium-sized drink bottle, then the bottle with ridged orange grip.",
+    "Pick up the medium-sized drink bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the medium-sized drink bottle and grab the white capped orange plastic bottle at once.",
+    "Grab the medium-sized drink bottle and the bottle with ridged orange grip at the same time.",
+    "Pick up both the bottle with green base and black prints and the bottle with white cap together.",
+    "Pick up the bottle with green base and black prints and take the bottle with ridged orange grip together.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the bottle with white cap with the other.",
+    "Lift the yellow-capped bottle with smooth surface using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the bottle with green base and black prints and the bottle with white cap together.",
+    "Use each arm to grab the medium-sized drink bottle and the white capped orange plastic bottle.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the bottle with white cap.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the yellow-capped bottle with smooth surface and grab the white capped orange plastic bottle at once.",
+    "Grab the yellow-capped bottle with smooth surface and the bottle with white cap at the same time.",
+    "Pick up both the yellow-capped bottle with smooth surface and the bottle with ridged orange grip together.",
+    "Pick up the medium-sized drink bottle and take the white capped orange plastic bottle together.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the white capped orange plastic bottle with the other.",
+    "Lift the medium-sized drink bottle using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the bottle with green base and black prints and the bottle with white cap together.",
+    "Use each arm to grab the medium-sized drink bottle and the bottle with ridged orange grip.",
+    "Use each arm to lift a bottle: the bottle with green base and black prints, then the bottle with white cap.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the medium-sized drink bottle and grab the bottle with ridged orange grip at once.",
+    "Grab the medium-sized drink bottle and the white capped orange plastic bottle at the same time.",
+    "Pick up both the medium-sized drink bottle and the white capped orange plastic bottle together.",
+    "Pick up the medium-sized drink bottle and take the bottle with ridged orange grip together.",
+    "Grab the medium-sized drink bottle with one arm, grab the bottle with white cap with the other.",
+    "Lift the yellow-capped bottle with smooth surface using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the yellow-capped bottle with smooth surface and the bottle with ridged orange grip together.",
+    "Use each arm to grab the medium-sized drink bottle and the white capped orange plastic bottle.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the bottle with white cap.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the bottle with white cap with the other.",
+    "Grab the yellow-capped bottle with smooth surface and grab the bottle with ridged orange grip at once.",
+    "Grab the yellow-capped bottle with smooth surface and the white capped orange plastic bottle at the same time.",
+    "Pick up both the bottle with green base and black prints and the bottle with white cap together.",
+    "Pick up the bottle with green base and black prints and take the bottle with white cap together.",
+    "Grab the medium-sized drink bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Lift the medium-sized drink bottle using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the yellow-capped bottle with smooth surface and the bottle with white cap together.",
+    "Use each arm to grab the medium-sized drink bottle and the bottle with white cap.",
+    "Use each arm to lift a bottle: the bottle with green base and black prints, then the bottle with ridged orange grip.",
+    "Pick up the medium-sized drink bottle with one arm, grab the bottle with ridged orange grip with the other."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001153.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the red bottle with screw cap and pick up the orange bottle.",
+    "Catch the smooth red cylindrical bottle with one arm, the small bottle with bright yellow lid with another arm.",
+    "Secure both the red bottle with screw cap and the rounded orange bottle with yellow top quickly.",
+    "Grab the yellow text bottle using one arm and the rounded orange bottle with yellow top using the other.",
+    "Pick both the red bottle with white bottom text and the orange bottle one after another.",
+    "Lift the handheld plastic bottle, continue and pick up the yellow-capped bottle for beverages.",
+    "Catch the red bottle with white bottom text, grab the cylindrical orange bottle with smooth surface next.",
+    "Hold onto the red bottle with white bottom text and then get the handheld medium-sized liquid bottle.",
+    "Secure the red bottle, then secure the bottle with yellow cap.",
+    "Pick up both the plastic bottle and the yellow-capped orange plastic bottle together.",
+    "Pick up the red bottle with screw cap and then pick up the rounded bottom orange plastic bottle.",
+    "Catch both the plastic bottle with bright red color and the small bottle with bright yellow lid quickly.",
+    "Use each arm to lift the yellow text bottle and the yellow-capped bottle for beverages.",
+    "Pick up both the plastic bottle and the handheld medium-sized liquid bottle.",
+    "Lift both the red bottle with curved grooves and the handheld medium-sized liquid bottle simultaneously.",
+    "Catch the handheld plastic bottle, then take hold of the orange bottle.",
+    "With two arms, catch both the plastic bottle and the liquid container with orange body.",
+    "Hold the medium-size plastic bottle in one arm, the handheld medium-sized liquid bottle in the other.",
+    "Let each arm grab either the red bottle with curved grooves or the smooth orange cylindrical bottle.",
+    "Grab the smooth red cylindrical bottle with one arm, the handheld medium-sized liquid bottle with the other.",
+    "Lift the bottle with red cap and also take hold of the orange bottle with bold labeling.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the orange bottle with bold labeling with the other.",
+    "One arm grabs the yellow text bottle; the other arm grabs the smooth orange cylindrical bottle.",
+    "Collect the red bottle with narrow neck, then pick up the orange bottle with bold labeling.",
+    "With both arms, pick up the red bottle with narrow neck, then the orange bottle.",
+    "Secure the smooth red cylindrical bottle and the yellow-capped orange plastic bottle in succession.",
+    "Lift the red bottle with screw cap and the yellow-capped orange plastic bottle with separate arms.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the handheld medium-sized liquid bottle.",
+    "Catch the yellow text bottle in one arm and the orange bottle with bold labeling in the other arm.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the small bottle with bright yellow lid with the other arm.",
+    "Catch the yellow text bottle, then grab the smooth orange cylindrical bottle too.",
+    "Catch the medium-size plastic bottle, then catch the bottle with yellow cap.",
+    "Assign one arm to catch the medium-size plastic bottle, one for the yellow-capped orange plastic bottle.",
+    "Grab the yellow text bottle using an arm and the orange bottle with bold labeling with the other arm.",
+    "Hold the medium-size plastic bottle with one arm, hold the rounded orange bottle with yellow top with the other.",
+    "Grab the red bottle with curved grooves with one arm, the yellow-capped bottle for beverages with the other.",
+    "Grab and hold the red bottle with curved grooves, then grab the rounded orange bottle with yellow top.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the rounded bottom orange plastic bottle.",
+    "Grasp the red bottle with screw cap first, then take the cylindrical orange bottle with smooth surface.",
+    "Hold onto the red bottle with screw cap, then pick up the rounded bottom orange plastic bottle.",
+    "Use both arms to pick up the red bottle with white bottom text and the rounded bottom orange plastic bottle.",
+    "Hold both the handheld plastic bottle and the bottle with yellow cap.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the small bottle with bright yellow lid.",
+    "Use one arm for the plastic bottle, another for the yellow-capped orange plastic bottle.",
+    "Pick up the red bottle with narrow neck, then pick up the small bottle with bright yellow lid.",
+    "Grab the red bottle with screw cap, pick up the smooth orange cylindrical bottle.",
+    "Use one arm for the red bottle with white bottom text, the other for the rounded bottom orange plastic bottle.",
+    "Use both arms to pick up the bottle with red cap and the yellow-capped orange plastic bottle.",
+    "Use both arms to lift the yellow text bottle and the yellow-capped orange plastic bottle.",
+    "Take hold of the smooth red cylindrical bottle and the yellow-capped orange plastic bottle.",
+    "Grab the handheld plastic bottle and pick up the yellow-capped orange plastic bottle.",
+    "Catch the yellow text bottle with one arm, the rounded bottom orange plastic bottle with another arm.",
+    "Secure both the bottle with red cap and the handheld medium-sized liquid bottle quickly.",
+    "Grab the plastic bottle with bright red color using one arm and the bottle with yellow cap using the other.",
+    "Pick both the handheld plastic bottle and the liquid container with orange body one after another.",
+    "Lift the red bottle with screw cap, continue and pick up the rounded bottom orange plastic bottle.",
+    "Catch the red bottle with curved grooves, grab the liquid container with orange body next.",
+    "Hold onto the red bottle with screw cap and then get the small bottle with bright yellow lid.",
+    "Secure the smooth red cylindrical bottle, then secure the yellow-capped orange plastic bottle.",
+    "Pick up both the plastic bottle and the cylindrical orange bottle with smooth surface together.",
+    "Pick up the yellow text bottle and then pick up the liquid container with orange body.",
+    "Catch both the red bottle with curved grooves and the yellow-capped orange plastic bottle quickly.",
+    "Use each arm to lift the smooth red cylindrical bottle and the liquid container with orange body.",
+    "Pick up both the bottle with red cap and the smooth orange cylindrical bottle.",
+    "Lift both the red bottle and the bottle with yellow cap simultaneously.",
+    "Catch the handheld plastic bottle, then take hold of the orange bottle.",
+    "With two arms, catch both the red bottle with screw cap and the cylindrical orange bottle with smooth surface.",
+    "Hold the red bottle in one arm, the liquid container with orange body in the other.",
+    "Let each arm grab either the yellow text bottle or the yellow-capped bottle for beverages.",
+    "Grab the bottle with red cap with one arm, the orange bottle with the other.",
+    "Lift the red bottle with narrow neck and also take hold of the orange bottle.",
+    "Lift both bottles, the red bottle with screw cap with one arm, the rounded bottom orange plastic bottle with the other.",
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the orange bottle.",
+    "Collect the medium-size plastic bottle, then pick up the yellow-capped orange plastic bottle.",
+    "With both arms, pick up the yellow text bottle, then the orange bottle with bold labeling.",
+    "Secure the plastic bottle and the cylindrical orange bottle with smooth surface in succession.",
+    "Lift the plastic bottle with bright red color and the rounded bottom orange plastic bottle with separate arms.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the orange bottle with bold labeling.",
+    "Catch the plastic bottle with bright red color in one arm and the cylindrical orange bottle with smooth surface in the other arm.",
+    "Hold the medium-size plastic bottle in one arm, catch the handheld medium-sized liquid bottle with the other arm.",
+    "Catch the plastic bottle with bright red color, then grab the smooth orange cylindrical bottle too.",
+    "Catch the smooth red cylindrical bottle, then catch the small bottle with bright yellow lid.",
+    "Assign one arm to catch the plastic bottle, one for the orange bottle with bold labeling.",
+    "Grab the handheld plastic bottle using an arm and the rounded bottom orange plastic bottle with the other arm.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the yellow-capped orange plastic bottle with the other.",
+    "Grab the plastic bottle with one arm, the bottle with yellow cap with the other.",
+    "Grab and hold the red bottle with white bottom text, then grab the orange bottle.",
+    "Assign one arm to each of the yellow text bottle and the handheld medium-sized liquid bottle.",
+    "Grasp the red bottle with narrow neck first, then take the liquid container with orange body.",
+    "Hold onto the red bottle, then pick up the orange bottle with bold labeling.",
+    "Use both arms to pick up the plastic bottle with bright red color and the yellow-capped orange plastic bottle.",
+    "Hold both the handheld plastic bottle and the orange bottle.",
+    "Use one arm for the red bottle with narrow neck and the other for the orange bottle with bold labeling.",
+    "Use one arm for the bottle with red cap, another for the yellow-capped orange plastic bottle.",
+    "Pick up the handheld plastic bottle, then pick up the orange bottle with bold labeling.",
+    "Grab the handheld plastic bottle, pick up the liquid container with orange body.",
+    "Use one arm for the smooth red cylindrical bottle, the other for the liquid container with orange body.",
+    "Use both arms to pick up the red bottle with white bottom text and the orange bottle.",
+    "Use both arms to lift the red bottle with narrow neck and the orange bottle.",
+    "Take hold of the red bottle and the liquid container with orange body."
+  ],
+  "unseen": [
+    "Lift the shiny red bottle using one arm and lift the medium plastic bottle using the other.",
+    "Grab the bottle with white and yellow label and grab the medium bottle for liquids at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the medium bottle for liquids together.",
+    "Use each arm to grab the shiny red bottle and the plastic orange bottle with rounded base.",
+    "Pick up the bottle with yellow Chinese characters and the medium bottle for liquids together.",
+    "Pick up the shiny red bottle and take the medium bottle for liquids together.",
+    "Pick up the shiny red bottle with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the plastic orange bottle with rounded base.",
+    "Grab the shiny red bottle and the medium bottle for liquids at the same time.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Grab the bottle with white and yellow label and grab the medium bottle for liquids at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the medium plastic bottle with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the medium bottle for liquids together.",
+    "Use each arm to grab the shiny red bottle and the plastic orange bottle with rounded base.",
+    "Pick up the shiny red bottle and the plastic orange bottle with rounded base together.",
+    "Pick up the shiny red bottle and take the medium plastic bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the medium bottle for liquids.",
+    "Grab the shiny red bottle and the plastic orange bottle with rounded base at the same time.",
+    "Lift the bottle with white and yellow label using one arm and lift the medium plastic bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and grab the plastic orange bottle with rounded base at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab the shiny red bottle and the medium bottle for liquids.",
+    "Pick up the bottle with white and yellow label and the medium bottle for liquids together.",
+    "Pick up the shiny red bottle and take the medium plastic bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the plastic orange bottle with rounded base.",
+    "Grab the bottle with white and yellow label and the medium plastic bottle at the same time.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the medium bottle for liquids using the other.",
+    "Grab the shiny red bottle and grab the medium plastic bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up both the bottle with white and yellow label and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab the shiny red bottle and the plastic orange bottle with rounded base.",
+    "Pick up the shiny red bottle and the medium bottle for liquids together.",
+    "Pick up the bottle with yellow Chinese characters and take the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the plastic orange bottle with rounded base.",
+    "Grab the bottle with white and yellow label and the plastic orange bottle with rounded base at the same time.",
+    "Lift the bottle with white and yellow label using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Grab the shiny red bottle and grab the plastic orange bottle with rounded base at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up both the bottle with white and yellow label and the medium plastic bottle together.",
+    "Use each arm to grab the shiny red bottle and the medium bottle for liquids.",
+    "Pick up the bottle with yellow Chinese characters and the medium plastic bottle together.",
+    "Pick up the shiny red bottle and take the medium bottle for liquids together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the plastic orange bottle with rounded base.",
+    "Grab the bottle with yellow Chinese characters and the medium plastic bottle at the same time.",
+    "Lift the shiny red bottle using one arm and lift the medium plastic bottle using the other.",
+    "Grab the shiny red bottle and grab the plastic orange bottle with rounded base at once.",
+    "Grab the shiny red bottle with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the medium plastic bottle together.",
+    "Use each arm to grab the shiny red bottle and the medium bottle for liquids.",
+    "Pick up the bottle with yellow Chinese characters and the plastic orange bottle with rounded base together.",
+    "Pick up the shiny red bottle and take the medium bottle for liquids together.",
+    "Pick up the shiny red bottle with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the medium plastic bottle.",
+    "Grab the bottle with white and yellow label and the plastic orange bottle with rounded base at the same time.",
+    "Lift the bottle with white and yellow label using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Grab the bottle with yellow Chinese characters and grab the plastic orange bottle with rounded base at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the medium plastic bottle together.",
+    "Use each arm to grab the shiny red bottle and the medium plastic bottle.",
+    "Pick up the bottle with white and yellow label and the medium plastic bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the plastic orange bottle with rounded base together.",
+    "Pick up the shiny red bottle with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the plastic orange bottle with rounded base.",
+    "Grab the shiny red bottle and the medium bottle for liquids at the same time.",
+    "Lift the bottle with white and yellow label using one arm and lift the medium bottle for liquids using the other.",
+    "Grab the shiny red bottle and grab the medium bottle for liquids at once.",
+    "Grab the shiny red bottle with one arm, grab the medium plastic bottle with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the medium bottle for liquids together.",
+    "Use each arm to grab the bottle with white and yellow label and the plastic orange bottle with rounded base.",
+    "Pick up the bottle with yellow Chinese characters and the medium bottle for liquids together.",
+    "Pick up the shiny red bottle and take the medium bottle for liquids together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the medium bottle for liquids.",
+    "Grab the bottle with yellow Chinese characters and the plastic orange bottle with rounded base at the same time.",
+    "Lift the shiny red bottle using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Grab the shiny red bottle and grab the medium bottle for liquids at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab the shiny red bottle and the medium bottle for liquids.",
+    "Pick up the shiny red bottle and the medium plastic bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the medium bottle for liquids.",
+    "Grab the bottle with yellow Chinese characters and the plastic orange bottle with rounded base at the same time.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the medium plastic bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and grab the medium plastic bottle at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up both the shiny red bottle and the medium bottle for liquids together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the plastic orange bottle with rounded base.",
+    "Pick up the bottle with white and yellow label and the medium plastic bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the medium bottle for liquids together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the medium plastic bottle.",
+    "Grab the bottle with yellow Chinese characters and the medium plastic bottle at the same time."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001156.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick both the smooth plastic bottle and the bottle for liquids one after another.",
+    "Pick up the medium orange bottle and then pick up the handheld bottle.",
+    "Catch the orange bottle, then grab the cylindrical bottle too.",
+    "Lift both the plastic bottle and the plastic bottle simultaneously.",
+    "Collect the orange bottle, then pick up the medium bottle for beverages.",
+    "Hold the drinking bottle with yellow label with one arm, hold the cylindrical bottle with the other.",
+    "Use each arm to lift the medium orange bottle and the handheld bottle.",
+    "One arm grabs the orange and white bottle with cap; the other arm grabs the blue bottle with label.",
+    "Pick up both the cylindrical orange and white bottle and the smooth plastic bottle.",
+    "Hold onto the medium bottle with orange lid, then pick up the white and blue bottle.",
+    "Grab the medium bottle with orange lid using an arm and the medium bottle for beverages with the other arm.",
+    "Catch the white and orange plastic bottle, then catch the plastic bottle.",
+    "Hold the medium orange bottle in one arm, catch the blue bottle with the other arm.",
+    "Use one arm for the plastic bottle, another for the smooth plastic bottle.",
+    "Use one arm for the medium bottle with orange lid, the other for the smooth plastic bottle.",
+    "Hold onto the yellow label bottle and then get the blue bottle.",
+    "Secure both the medium orange bottle and the medium bottle for beverages quickly.",
+    "Pick up both the bottle with orange cap and the handheld bottle together.",
+    "Let each arm grab either the medium bottle with orange lid or the medium-sized bottle.",
+    "Use one arm for the cylindrical orange and white bottle and the other for the medium-sized bottle.",
+    "With both arms, pick up the orange and white bottle with cap, then the smooth plastic bottle.",
+    "Grab the yellow label bottle, pick up the plastic bottle.",
+    "Catch both the medium orange bottle and the white bottle with blue accents quickly.",
+    "Use both arms to lift the cylindrical orange and white bottle and the cylindrical bottle.",
+    "Take hold of the yellow label bottle and the blue bottle with label.",
+    "Catch the orange and white bottle with cap, grab the cylindrical bottle next.",
+    "Catch the cylindrical orange and white bottle, then take hold of the blue bottle with label.",
+    "Use both arms to pick up the bottle with ribbed orange bottom and the white and blue bottle.",
+    "Use both arms to pick up the orange and white bottle with cap and the bottle with blue cap.",
+    "Grab the orange bottle using one arm and the medium bottle for beverages using the other.",
+    "Grasp the medium orange bottle first, then take the bottle with blue cap.",
+    "Grab the orange and white bottle with cap with one arm, the medium-sized bottle with the other.",
+    "Lift the medium orange bottle, continue and pick up the plastic bottle.",
+    "With two arms, catch both the medium orange bottle and the medium-sized bottle.",
+    "Each arm should pick up one: the plastic bottle, then the medium bottle for beverages.",
+    "Secure the bottle with ribbed orange bottom and the bottle with blue cap in succession.",
+    "Hold the plastic bottle in one arm, the handheld bottle in the other.",
+    "Catch the plastic bottle with one arm, the white bottle with blue accents with another arm.",
+    "Grab the medium orange bottle with one arm, the smooth plastic bottle with the other.",
+    "Lift the drinking bottle with yellow label and the white bottle with blue accents with separate arms.",
+    "Hold both the drinking bottle with yellow label and the bottle for liquids.",
+    "Secure the medium orange bottle, then secure the bottle for liquids.",
+    "Assign one arm to catch the yellow label bottle, one for the medium bottle for beverages.",
+    "Grab and hold the orange and white bottle with cap, then grab the smooth plastic bottle.",
+    "Lift the yellow label bottle and also take hold of the bottle for liquids.",
+    "Catch the orange and white bottle with cap in one arm and the medium bottle for beverages in the other arm.",
+    "Lift both bottles, the plastic bottle with one arm, the cylindrical bottle with the other.",
+    "Assign one arm to each of the medium bottle with orange lid and the white bottle with blue accents.",
+    "Grab the orange and white bottle with cap and pick up the white and blue bottle.",
+    "Pick up the medium orange bottle, then pick up the plastic bottle.",
+    "Pick both the drinking bottle with yellow label and the white bottle with blue accents one after another.",
+    "Pick up the orange and white bottle with cap and then pick up the blue bottle with label.",
+    "Catch the orange bottle, then grab the handheld bottle too.",
+    "Lift both the medium orange bottle and the plastic bottle simultaneously.",
+    "Collect the medium bottle with orange lid, then pick up the cylindrical bottle.",
+    "Hold the plastic bottle with one arm, hold the plastic bottle with the other.",
+    "Use each arm to lift the yellow label bottle and the white bottle with blue accents.",
+    "One arm grabs the smooth plastic bottle; the other arm grabs the medium-sized bottle.",
+    "Pick up both the drinking bottle with yellow label and the white bottle with blue accents.",
+    "Hold onto the medium orange bottle, then pick up the medium-sized bottle.",
+    "Grab the orange bottle using an arm and the bottle with blue cap with the other arm.",
+    "Catch the orange and white bottle with cap, then catch the smooth plastic bottle.",
+    "Hold the drinking bottle with yellow label in one arm, catch the blue bottle with the other arm.",
+    "Use one arm for the yellow label bottle, another for the plastic bottle.",
+    "Use one arm for the yellow label bottle, the other for the blue bottle with label.",
+    "Hold onto the yellow label bottle and then get the handheld bottle.",
+    "Secure both the bottle with orange cap and the bottle with blue cap quickly.",
+    "Pick up both the orange and white bottle with cap and the white and blue bottle together.",
+    "Let each arm grab either the smooth plastic bottle or the smooth plastic bottle.",
+    "Use one arm for the bottle with ribbed orange bottom and the other for the handheld bottle.",
+    "With both arms, pick up the drinking bottle with yellow label, then the blue bottle.",
+    "Grab the plastic bottle, pick up the cylindrical bottle.",
+    "Catch both the medium bottle with orange lid and the blue bottle with label quickly.",
+    "Use both arms to lift the orange and white bottle with cap and the plastic bottle.",
+    "Take hold of the bottle with orange cap and the bottle with blue cap.",
+    "Catch the smooth plastic bottle, grab the cylindrical bottle next.",
+    "Catch the medium orange bottle, then take hold of the bottle for liquids.",
+    "Use both arms to pick up the drinking bottle with yellow label and the medium-sized bottle.",
+    "Use both arms to pick up the cylindrical orange and white bottle and the cylindrical bottle.",
+    "Grab the bottle with orange cap using one arm and the blue bottle using the other.",
+    "Grasp the orange and white bottle with cap first, then take the white and blue bottle.",
+    "Grab the bottle with ribbed orange bottom with one arm, the bottle for liquids with the other.",
+    "Lift the orange and white bottle with cap, continue and pick up the cylindrical bottle.",
+    "With two arms, catch both the smooth plastic bottle and the white bottle with blue accents.",
+    "Each arm should pick up one: the yellow label bottle, then the bottle with blue cap.",
+    "Secure the medium orange bottle and the plastic bottle in succession.",
+    "Hold the medium bottle with orange lid in one arm, the cylindrical bottle in the other.",
+    "Catch the plastic bottle with one arm, the blue bottle with label with another arm.",
+    "Grab the smooth plastic bottle with one arm, the bottle for liquids with the other.",
+    "Lift the bottle with ribbed orange bottom and the bottle for liquids with separate arms.",
+    "Hold both the smooth plastic bottle and the blue bottle with label.",
+    "Secure the orange and white bottle with cap, then secure the blue bottle.",
+    "Assign one arm to catch the medium bottle with orange lid, one for the medium-sized bottle.",
+    "Grab and hold the cylindrical orange and white bottle, then grab the medium bottle for beverages.",
+    "Lift the bottle with orange cap and also take hold of the smooth plastic bottle.",
+    "Catch the drinking bottle with yellow label in one arm and the cylindrical bottle in the other arm.",
+    "Lift both bottles, the medium orange bottle with one arm, the white and blue bottle with the other.",
+    "Assign one arm to each of the orange bottle and the smooth plastic bottle.",
+    "Grab the bottle with orange cap and pick up the medium bottle for beverages.",
+    "Pick up the orange and white bottle with cap, then pick up the blue bottle."
+  ],
+  "unseen": [
+    "Use each arm to lift a bottle: the bottle with curved body, then the blue-capped plastic bottle.",
+    "Grab the bottle with curved body with one arm, grab the blue-capped plastic bottle with the other.",
+    "Pick up the curvy orange bottle with white section with one arm, grab the bottle with curved neck design with the other.",
+    "Pick up both the curvy orange bottle with white section and the blue-capped plastic bottle together.",
+    "Use each arm to grab the bottle with curved body and the blue-capped plastic bottle.",
+    "Lift the bottle with curved body using one arm and lift the bottle with curved neck design using the other.",
+    "Pick up the bottle with curved body and take the blue-capped plastic bottle together.",
+    "Grab the bottle with curved body and grab the blue-capped plastic bottle at once.",
+    "Pick up the curvy orange bottle with white section and the bottle with ridged neck together.",
+    "Grab the bottle with yellow sticker label and the blue-capped plastic bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the bottle with curved neck design.",
+    "Grab the bottle with yellow sticker label with one arm, grab the blue-capped plastic bottle with the other.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the blue-capped plastic bottle with the other.",
+    "Pick up both the bottle with curved body and the blue-capped plastic bottle together.",
+    "Use each arm to grab the bottle with curved body and the bottle with curved neck design.",
+    "Lift the bottle with curved body using one arm and lift the bottle with ridged neck using the other.",
+    "Pick up the bottle with curved body and take the bottle with curved neck design together.",
+    "Grab the bottle with curved body and grab the bottle with curved neck design at once.",
+    "Pick up the bottle with curved body and the bottle with curved neck design together.",
+    "Grab the bottle with yellow sticker label and the blue-capped plastic bottle at the same time.",
+    "Use each arm to lift a bottle: the curvy orange bottle with white section, then the bottle with ridged neck.",
+    "Grab the bottle with curved body with one arm, grab the bottle with curved neck design with the other.",
+    "Pick up the bottle with curved body with one arm, grab the blue-capped plastic bottle with the other.",
+    "Pick up both the bottle with yellow sticker label and the bottle with curved neck design together.",
+    "Use each arm to grab the bottle with curved body and the bottle with ridged neck.",
+    "Lift the bottle with curved body using one arm and lift the blue-capped plastic bottle using the other.",
+    "Pick up the curvy orange bottle with white section and take the bottle with ridged neck together.",
+    "Grab the bottle with yellow sticker label and grab the blue-capped plastic bottle at once.",
+    "Pick up the bottle with curved body and the blue-capped plastic bottle together.",
+    "Grab the curvy orange bottle with white section and the bottle with ridged neck at the same time.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the bottle with curved neck design.",
+    "Grab the bottle with curved body with one arm, grab the bottle with ridged neck with the other.",
+    "Pick up the curvy orange bottle with white section with one arm, grab the bottle with curved neck design with the other.",
+    "Pick up both the bottle with curved body and the blue-capped plastic bottle together.",
+    "Use each arm to grab the bottle with yellow sticker label and the bottle with curved neck design.",
+    "Lift the curvy orange bottle with white section using one arm and lift the bottle with curved neck design using the other.",
+    "Pick up the bottle with yellow sticker label and take the bottle with curved neck design together.",
+    "Grab the curvy orange bottle with white section and grab the bottle with ridged neck at once.",
+    "Pick up the curvy orange bottle with white section and the blue-capped plastic bottle together.",
+    "Grab the bottle with curved body and the blue-capped plastic bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the bottle with curved neck design.",
+    "Grab the bottle with yellow sticker label with one arm, grab the bottle with ridged neck with the other.",
+    "Pick up the bottle with curved body with one arm, grab the bottle with curved neck design with the other.",
+    "Pick up both the curvy orange bottle with white section and the bottle with ridged neck together.",
+    "Use each arm to grab the curvy orange bottle with white section and the bottle with ridged neck.",
+    "Lift the curvy orange bottle with white section using one arm and lift the bottle with ridged neck using the other.",
+    "Pick up the curvy orange bottle with white section and take the blue-capped plastic bottle together.",
+    "Grab the curvy orange bottle with white section and grab the blue-capped plastic bottle at once.",
+    "Pick up the curvy orange bottle with white section and the blue-capped plastic bottle together.",
+    "Grab the curvy orange bottle with white section and the bottle with curved neck design at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the bottle with ridged neck.",
+    "Grab the bottle with yellow sticker label with one arm, grab the bottle with curved neck design with the other.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the bottle with ridged neck with the other.",
+    "Pick up both the bottle with curved body and the bottle with curved neck design together.",
+    "Use each arm to grab the bottle with yellow sticker label and the bottle with curved neck design.",
+    "Lift the bottle with yellow sticker label using one arm and lift the bottle with ridged neck using the other.",
+    "Pick up the curvy orange bottle with white section and take the blue-capped plastic bottle together.",
+    "Grab the bottle with yellow sticker label and grab the bottle with curved neck design at once.",
+    "Pick up the curvy orange bottle with white section and the blue-capped plastic bottle together.",
+    "Grab the bottle with curved body and the bottle with ridged neck at the same time.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the bottle with ridged neck.",
+    "Grab the bottle with yellow sticker label with one arm, grab the bottle with curved neck design with the other.",
+    "Pick up the bottle with curved body with one arm, grab the bottle with curved neck design with the other.",
+    "Pick up both the curvy orange bottle with white section and the blue-capped plastic bottle together.",
+    "Use each arm to grab the bottle with yellow sticker label and the blue-capped plastic bottle.",
+    "Lift the bottle with curved body using one arm and lift the blue-capped plastic bottle using the other.",
+    "Pick up the bottle with yellow sticker label and take the bottle with curved neck design together.",
+    "Grab the bottle with yellow sticker label and grab the bottle with ridged neck at once.",
+    "Pick up the curvy orange bottle with white section and the blue-capped plastic bottle together.",
+    "Grab the bottle with yellow sticker label and the blue-capped plastic bottle at the same time.",
+    "Use each arm to lift a bottle: the curvy orange bottle with white section, then the blue-capped plastic bottle.",
+    "Grab the curvy orange bottle with white section with one arm, grab the bottle with ridged neck with the other.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the blue-capped plastic bottle with the other.",
+    "Pick up both the curvy orange bottle with white section and the blue-capped plastic bottle together.",
+    "Use each arm to grab the bottle with curved body and the bottle with curved neck design.",
+    "Lift the bottle with yellow sticker label using one arm and lift the blue-capped plastic bottle using the other.",
+    "Pick up the bottle with curved body and take the bottle with ridged neck together.",
+    "Grab the curvy orange bottle with white section and grab the bottle with ridged neck at once.",
+    "Pick up the bottle with yellow sticker label and the bottle with ridged neck together.",
+    "Grab the curvy orange bottle with white section and the blue-capped plastic bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the bottle with curved neck design.",
+    "Grab the bottle with curved body with one arm, grab the bottle with ridged neck with the other.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the bottle with ridged neck with the other.",
+    "Pick up both the curvy orange bottle with white section and the bottle with ridged neck together.",
+    "Use each arm to grab the bottle with curved body and the bottle with ridged neck.",
+    "Lift the bottle with yellow sticker label using one arm and lift the blue-capped plastic bottle using the other.",
+    "Pick up the bottle with yellow sticker label and take the bottle with curved neck design together.",
+    "Grab the bottle with curved body and grab the bottle with curved neck design at once.",
+    "Pick up the bottle with curved body and the bottle with curved neck design together.",
+    "Grab the curvy orange bottle with white section and the blue-capped plastic bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the bottle with ridged neck.",
+    "Grab the bottle with curved body with one arm, grab the bottle with curved neck design with the other.",
+    "Pick up the bottle with curved body with one arm, grab the blue-capped plastic bottle with the other.",
+    "Pick up both the bottle with yellow sticker label and the bottle with ridged neck together.",
+    "Use each arm to grab the curvy orange bottle with white section and the bottle with ridged neck.",
+    "Lift the bottle with yellow sticker label using one arm and lift the blue-capped plastic bottle using the other.",
+    "Pick up the bottle with yellow sticker label and take the bottle with curved neck design together.",
+    "Grab the bottle with yellow sticker label and grab the blue-capped plastic bottle at once.",
+    "Pick up the bottle with yellow sticker label and the blue-capped plastic bottle together.",
+    "Grab the bottle with yellow sticker label and the bottle with ridged neck at the same time."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001172.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use each arm to lift the beverage bottle with black body and the bottle with blue and yellow print.",
+    "Hold the black cylindrical bottle with ridges in one arm, the black cylindrical bottle with ridges in the other.",
+    "Pick up both the medium bottle with yellow cap and the bottle with blue and yellow print.",
+    "Use both arms to pick up the black cylindrical bottle with ridges and the yellow capped drink bottle.",
+    "Each arm should pick up one: the beverage bottle with black body, then the medium black bottle with printed label.",
+    "Assign one arm to each of the medium bottle with yellow cap and the medium black bottle with printed label.",
+    "Let each arm grab either the smooth black bottle with ridges or the black plastic bottle with Pepsi logo.",
+    "Grab the yellow capped drink bottle and pick up the yellow-capped cylindrical bottle.",
+    "Catch the beverage bottle with black body with one arm, the yellow-capped cylindrical bottle with another arm.",
+    "Lift both the bottle with blue and yellow print and the black cylindrical bottle with ridges simultaneously.",
+    "Use one arm for the bottle with blue and yellow print and the other for the beverage bottle with black body.",
+    "Lift the bottle with blue and yellow print and also take hold of the black bottle.",
+    "Collect the yellow capped drink bottle, then pick up the beverage bottle with black body.",
+    "Catch the black bottle in one arm and the black bottle in the other arm.",
+    "Grasp the beverage bottle with black body first, then take the black bottle.",
+    "Catch the yellow-capped cylindrical bottle, then catch the black bottle.",
+    "With two arms, catch both the drink bottle with rounded yellow lid and the black bottle.",
+    "One arm grabs the black cylindrical bottle with ridges; the other arm grabs the black plastic bottle with Pepsi logo.",
+    "Hold onto the beverage bottle with black body and then get the black bottle.",
+    "Secure the black cylindrical bottle with ridges and the drink bottle with rounded yellow lid in succession.",
+    "Secure the yellow capped drink bottle, then secure the bottle with blue and yellow print.",
+    "Hold the yellow-capped cylindrical bottle with one arm, hold the medium bottle with yellow cap with the other.",
+    "Assign one arm to catch the black bottle, one for the black cylindrical bottle with ridges.",
+    "Pick up the drink bottle with rounded yellow lid, then pick up the black plastic bottle with Pepsi logo.",
+    "Pick up both the beverage bottle with black body and the black bottle together.",
+    "Catch both the plastic bottle with colorful label and the drink bottle with rounded yellow lid quickly.",
+    "Grab the black plastic bottle with Pepsi logo using an arm and the black plastic bottle with Pepsi logo with the other arm.",
+    "Catch the bottle with blue and yellow print, then grab the black cylindrical bottle with ridges too.",
+    "Use one arm for the medium bottle with yellow cap, the other for the black bottle.",
+    "Use both arms to lift the medium bottle with yellow cap and the smooth black bottle with ridges.",
+    "Use one arm for the medium bottle with yellow cap, another for the black bottle.",
+    "Catch the black cylindrical bottle with ridges, grab the medium bottle with yellow cap next.",
+    "Grab the medium bottle with yellow cap with one arm, the beverage bottle with black body with the other.",
+    "Lift the black cylindrical bottle with ridges and the plastic bottle with colorful label with separate arms.",
+    "Catch the yellow-capped cylindrical bottle, then take hold of the medium bottle with yellow cap.",
+    "Grab and hold the smooth black bottle with ridges, then grab the black cylindrical bottle with ridges.",
+    "Secure both the yellow capped drink bottle and the medium bottle with yellow cap quickly.",
+    "Grab the smooth black bottle with ridges with one arm, the yellow capped drink bottle with the other.",
+    "Hold onto the medium bottle with yellow cap, then pick up the plastic bottle with colorful label.",
+    "Lift the smooth black bottle with ridges, continue and pick up the black bottle.",
+    "Take hold of the medium bottle with yellow cap and the bottle with blue and yellow print.",
+    "Lift both bottles, the yellow-capped cylindrical bottle with one arm, the medium black bottle with printed label with the other.",
+    "Hold the beverage bottle with black body in one arm, catch the plastic bottle with colorful label with the other arm.",
+    "With both arms, pick up the plastic bottle with colorful label, then the plastic bottle with colorful label.",
+    "Grab the beverage bottle with black body, pick up the drink bottle with rounded yellow lid.",
+    "Pick both the yellow-capped cylindrical bottle and the medium bottle with yellow cap one after another.",
+    "Use both arms to pick up the medium black bottle with printed label and the drink bottle with rounded yellow lid.",
+    "Pick up the medium bottle with yellow cap and then pick up the black plastic bottle with Pepsi logo.",
+    "Hold both the medium bottle with yellow cap and the black plastic bottle with Pepsi logo.",
+    "Grab the medium bottle with yellow cap using one arm and the bottle with blue and yellow print using the other.",
+    "Use each arm to lift the drink bottle with rounded yellow lid and the yellow-capped cylindrical bottle.",
+    "Hold the black bottle in one arm, the beverage bottle with black body in the other.",
+    "Pick up both the yellow-capped cylindrical bottle and the black plastic bottle with Pepsi logo.",
+    "Use both arms to pick up the medium black bottle with printed label and the bottle with blue and yellow print.",
+    "Each arm should pick up one: the yellow-capped cylindrical bottle, then the smooth black bottle with ridges.",
+    "Assign one arm to each of the black cylindrical bottle with ridges and the beverage bottle with black body.",
+    "Let each arm grab either the black plastic bottle with Pepsi logo or the medium bottle with yellow cap.",
+    "Grab the beverage bottle with black body and pick up the black plastic bottle with Pepsi logo.",
+    "Catch the black bottle with one arm, the yellow-capped cylindrical bottle with another arm.",
+    "Lift both the bottle with blue and yellow print and the yellow capped drink bottle simultaneously.",
+    "Use one arm for the black cylindrical bottle with ridges and the other for the medium black bottle with printed label.",
+    "Lift the medium bottle with yellow cap and also take hold of the plastic bottle with colorful label.",
+    "Collect the black cylindrical bottle with ridges, then pick up the black cylindrical bottle with ridges.",
+    "Catch the drink bottle with rounded yellow lid in one arm and the black plastic bottle with Pepsi logo in the other arm.",
+    "Grasp the drink bottle with rounded yellow lid first, then take the yellow-capped cylindrical bottle.",
+    "Catch the beverage bottle with black body, then catch the yellow capped drink bottle.",
+    "With two arms, catch both the drink bottle with rounded yellow lid and the plastic bottle with colorful label.",
+    "One arm grabs the bottle with blue and yellow print; the other arm grabs the beverage bottle with black body.",
+    "Hold onto the black plastic bottle with Pepsi logo and then get the black cylindrical bottle with ridges.",
+    "Secure the black cylindrical bottle with ridges and the yellow capped drink bottle in succession.",
+    "Secure the smooth black bottle with ridges, then secure the plastic bottle with colorful label.",
+    "Hold the smooth black bottle with ridges with one arm, hold the black plastic bottle with Pepsi logo with the other.",
+    "Assign one arm to catch the plastic bottle with colorful label, one for the beverage bottle with black body.",
+    "Pick up the black cylindrical bottle with ridges, then pick up the plastic bottle with colorful label.",
+    "Pick up both the yellow capped drink bottle and the yellow capped drink bottle together.",
+    "Catch both the medium bottle with yellow cap and the yellow-capped cylindrical bottle quickly.",
+    "Grab the medium black bottle with printed label using an arm and the smooth black bottle with ridges with the other arm.",
+    "Catch the medium black bottle with printed label, then grab the plastic bottle with colorful label too.",
+    "Use one arm for the black plastic bottle with Pepsi logo, the other for the bottle with blue and yellow print.",
+    "Use both arms to lift the medium black bottle with printed label and the drink bottle with rounded yellow lid.",
+    "Use one arm for the yellow-capped cylindrical bottle, another for the yellow-capped cylindrical bottle.",
+    "Catch the drink bottle with rounded yellow lid, grab the smooth black bottle with ridges next.",
+    "Grab the medium bottle with yellow cap with one arm, the black bottle with the other.",
+    "Lift the medium black bottle with printed label and the beverage bottle with black body with separate arms.",
+    "Catch the black cylindrical bottle with ridges, then take hold of the medium black bottle with printed label.",
+    "Grab and hold the plastic bottle with colorful label, then grab the medium bottle with yellow cap.",
+    "Secure both the black bottle and the black bottle quickly.",
+    "Grab the drink bottle with rounded yellow lid with one arm, the plastic bottle with colorful label with the other.",
+    "Hold onto the yellow-capped cylindrical bottle, then pick up the bottle with blue and yellow print.",
+    "Lift the beverage bottle with black body, continue and pick up the black plastic bottle with Pepsi logo.",
+    "Take hold of the yellow capped drink bottle and the black bottle.",
+    "Lift both bottles, the black cylindrical bottle with ridges with one arm, the yellow-capped cylindrical bottle with the other.",
+    "Hold the bottle with blue and yellow print in one arm, catch the beverage bottle with black body with the other arm.",
+    "With both arms, pick up the plastic bottle with colorful label, then the black bottle.",
+    "Grab the beverage bottle with black body, pick up the bottle with blue and yellow print.",
+    "Pick both the medium black bottle with printed label and the beverage bottle with black body one after another.",
+    "Use both arms to pick up the black cylindrical bottle with ridges and the black bottle.",
+    "Pick up the black bottle and then pick up the medium black bottle with printed label.",
+    "Hold both the bottle with blue and yellow print and the bottle with blue and yellow print.",
+    "Grab the black plastic bottle with Pepsi logo using one arm and the smooth black bottle with ridges using the other."
+  ],
+  "unseen": [
+    "Grab the plastic bottle with blue label and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the hand-sized bottle with ridged bottom and take the hand-sized bottle with ridged bottom together.",
+    "Lift the hand-sized bottle with ridged bottom using one arm and lift the bottle with ridges near base using the other.",
+    "Grab the bottle with ridges near base with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Pick up both the plastic bottle with blue label and the bottle with ridges near base together.",
+    "Grab the bottle with ridges near base and grab the plastic bottle with blue label at once.",
+    "Use each arm to grab the plastic bottle with blue label and the bottle with ridges near base.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the bottle with ridges near base with the other.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the bottle with ridges near base.",
+    "Pick up the bottle with ridges near base and the plastic bottle with blue label together.",
+    "Grab the hand-sized bottle with ridged bottom and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the hand-sized bottle with ridged bottom and take the bottle with ridges near base together.",
+    "Lift the hand-sized bottle with ridged bottom using one arm and lift the bottle with ridges near base using the other.",
+    "Grab the bottle with ridges near base with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Pick up both the bottle with ridges near base and the hand-sized bottle with ridged bottom together.",
+    "Grab the hand-sized bottle with ridged bottom and grab the hand-sized bottle with ridged bottom at once.",
+    "Use each arm to grab the plastic bottle with blue label and the hand-sized bottle with ridged bottom.",
+    "Pick up the plastic bottle with blue label with one arm, grab the plastic bottle with blue label with the other.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the hand-sized bottle with ridged bottom.",
+    "Pick up the hand-sized bottle with ridged bottom and the bottle with ridges near base together.",
+    "Grab the bottle with ridges near base and the plastic bottle with blue label at the same time.",
+    "Pick up the bottle with ridges near base and take the plastic bottle with blue label together.",
+    "Lift the hand-sized bottle with ridged bottom using one arm and lift the bottle with ridges near base using the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with ridges near base with the other.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with ridges near base together.",
+    "Grab the plastic bottle with blue label and grab the bottle with ridges near base at once.",
+    "Use each arm to grab the bottle with ridges near base and the bottle with ridges near base.",
+    "Pick up the plastic bottle with blue label with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Use each arm to lift a bottle: the bottle with ridges near base, then the hand-sized bottle with ridged bottom.",
+    "Pick up the hand-sized bottle with ridged bottom and the bottle with ridges near base together.",
+    "Grab the hand-sized bottle with ridged bottom and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the plastic bottle with blue label and take the plastic bottle with blue label together.",
+    "Lift the hand-sized bottle with ridged bottom using one arm and lift the hand-sized bottle with ridged bottom using the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with ridges near base with the other.",
+    "Pick up both the bottle with ridges near base and the plastic bottle with blue label together.",
+    "Grab the bottle with ridges near base and grab the plastic bottle with blue label at once.",
+    "Use each arm to grab the hand-sized bottle with ridged bottom and the plastic bottle with blue label.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the plastic bottle with blue label with the other.",
+    "Use each arm to lift a bottle: the bottle with ridges near base, then the bottle with ridges near base.",
+    "Pick up the hand-sized bottle with ridged bottom and the bottle with ridges near base together.",
+    "Grab the hand-sized bottle with ridged bottom and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the plastic bottle with blue label and take the bottle with ridges near base together.",
+    "Lift the bottle with ridges near base using one arm and lift the plastic bottle with blue label using the other.",
+    "Grab the bottle with ridges near base with one arm, grab the plastic bottle with blue label with the other.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with ridges near base together.",
+    "Grab the bottle with ridges near base and grab the hand-sized bottle with ridged bottom at once.",
+    "Use each arm to grab the bottle with ridges near base and the plastic bottle with blue label.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the bottle with ridges near base with the other.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the hand-sized bottle with ridged bottom.",
+    "Pick up the plastic bottle with blue label and the bottle with ridges near base together.",
+    "Grab the plastic bottle with blue label and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the hand-sized bottle with ridged bottom and take the hand-sized bottle with ridged bottom together.",
+    "Lift the bottle with ridges near base using one arm and lift the plastic bottle with blue label using the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with ridges near base with the other.",
+    "Pick up both the hand-sized bottle with ridged bottom and the hand-sized bottle with ridged bottom together.",
+    "Grab the hand-sized bottle with ridged bottom and grab the plastic bottle with blue label at once.",
+    "Use each arm to grab the bottle with ridges near base and the plastic bottle with blue label.",
+    "Pick up the plastic bottle with blue label with one arm, grab the plastic bottle with blue label with the other.",
+    "Use each arm to lift a bottle: the hand-sized bottle with ridged bottom, then the plastic bottle with blue label.",
+    "Pick up the plastic bottle with blue label and the hand-sized bottle with ridged bottom together.",
+    "Grab the bottle with ridges near base and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the hand-sized bottle with ridged bottom and take the bottle with ridges near base together.",
+    "Lift the plastic bottle with blue label using one arm and lift the bottle with ridges near base using the other.",
+    "Grab the hand-sized bottle with ridged bottom with one arm, grab the bottle with ridges near base with the other.",
+    "Pick up both the plastic bottle with blue label and the plastic bottle with blue label together.",
+    "Grab the hand-sized bottle with ridged bottom and grab the plastic bottle with blue label at once.",
+    "Use each arm to grab the bottle with ridges near base and the bottle with ridges near base.",
+    "Pick up the bottle with ridges near base with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Use each arm to lift a bottle: the bottle with ridges near base, then the plastic bottle with blue label.",
+    "Pick up the plastic bottle with blue label and the hand-sized bottle with ridged bottom together.",
+    "Grab the plastic bottle with blue label and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the bottle with ridges near base and take the hand-sized bottle with ridged bottom together.",
+    "Lift the bottle with ridges near base using one arm and lift the plastic bottle with blue label using the other.",
+    "Grab the bottle with ridges near base with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Pick up both the hand-sized bottle with ridged bottom and the plastic bottle with blue label together.",
+    "Grab the hand-sized bottle with ridged bottom and grab the bottle with ridges near base at once.",
+    "Use each arm to grab the hand-sized bottle with ridged bottom and the plastic bottle with blue label.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the bottle with ridges near base with the other.",
+    "Use each arm to lift a bottle: the bottle with ridges near base, then the bottle with ridges near base.",
+    "Pick up the bottle with ridges near base and the plastic bottle with blue label together.",
+    "Grab the hand-sized bottle with ridged bottom and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the bottle with ridges near base and take the bottle with ridges near base together.",
+    "Lift the bottle with ridges near base using one arm and lift the bottle with ridges near base using the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with ridges near base with the other.",
+    "Pick up both the plastic bottle with blue label and the bottle with ridges near base together.",
+    "Grab the bottle with ridges near base and grab the plastic bottle with blue label at once.",
+    "Use each arm to grab the plastic bottle with blue label and the bottle with ridges near base.",
+    "Pick up the plastic bottle with blue label with one arm, grab the bottle with ridges near base with the other.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the plastic bottle with blue label.",
+    "Pick up the bottle with ridges near base and the hand-sized bottle with ridged bottom together.",
+    "Grab the hand-sized bottle with ridged bottom and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the hand-sized bottle with ridged bottom and take the hand-sized bottle with ridged bottom together.",
+    "Lift the plastic bottle with blue label using one arm and lift the plastic bottle with blue label using the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with ridges near base with the other.",
+    "Pick up both the bottle with ridges near base and the hand-sized bottle with ridged bottom together.",
+    "Grab the plastic bottle with blue label and grab the hand-sized bottle with ridged bottom at once.",
+    "Use each arm to grab the bottle with ridges near base and the hand-sized bottle with ridged bottom.",
+    "Pick up the plastic bottle with blue label with one arm, grab the plastic bottle with blue label with the other.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the plastic bottle with blue label.",
+    "Pick up the plastic bottle with blue label and the hand-sized bottle with ridged bottom together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001195.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the bottle with ridges near base with one arm, the orange bottle with bold labeling with another arm.",
+    "Hold the bottle with ridges near base with one arm, hold the bottle with yellow cap with the other.",
+    "Grab the green bottle with indented base using an arm and the yellow-capped orange plastic bottle with the other arm.",
+    "Secure the bottle with narrow top and the orange bottle in succession.",
+    "Assign one arm to catch the smooth green bottle, one for the yellow-capped orange plastic bottle.",
+    "Hold onto the green bottle with indented base, then pick up the handheld medium-sized liquid bottle.",
+    "Use each arm to lift the bottle with narrow top and the bottle with yellow cap.",
+    "Lift both bottles, the bottle with rounded neck with one arm, the cylindrical orange bottle with smooth surface with the other.",
+    "Catch the plastic bottle in one arm and the yellow-capped bottle for beverages in the other arm.",
+    "Pick up both the medium green bottle with capped neck and the orange bottle.",
+    "Each arm should pick up one: the bottle with narrow top, then the orange bottle with bold labeling.",
+    "Secure both the smooth green plastic bottle and the smooth orange cylindrical bottle quickly.",
+    "Collect the smooth green plastic bottle, then pick up the cylindrical orange bottle with smooth surface.",
+    "Use both arms to lift the smooth green plastic bottle and the liquid container with orange body.",
+    "Hold the medium-sized green bottle in one arm, the orange bottle in the other.",
+    "Pick up the bottle with rounded neck, then pick up the liquid container with orange body.",
+    "Catch the medium-sized green bottle, then catch the smooth orange cylindrical bottle.",
+    "Hold onto the bottle with ridges near base and then get the rounded bottom orange plastic bottle.",
+    "With both arms, pick up the medium green bottle, then the cylindrical orange bottle with smooth surface.",
+    "Pick up both the bottle with white printed label and the cylindrical orange bottle with smooth surface together.",
+    "Hold the bottle with ridges near base in one arm, catch the smooth orange cylindrical bottle with the other arm.",
+    "Catch the bottle with narrow top, then grab the orange bottle with bold labeling too.",
+    "One arm grabs the medium green bottle with capped neck; the other arm grabs the liquid container with orange body.",
+    "Lift both the bottle with ridges near base and the liquid container with orange body simultaneously.",
+    "Use both arms to pick up the bottle with white printed label and the cylindrical orange bottle with smooth surface.",
+    "Grab the green bottle with indented base with one arm, the bottle with yellow cap with the other.",
+    "Let each arm grab either the medium-sized green bottle or the rounded orange bottle with yellow top.",
+    "Grab the smooth green bottle with one arm, the yellow-capped orange plastic bottle with the other.",
+    "Grab the bottle with narrow top, pick up the small bottle with bright yellow lid.",
+    "Assign one arm to each of the medium green bottle and the liquid container with orange body.",
+    "With two arms, catch both the handheld green bottle and the cylindrical orange bottle with smooth surface.",
+    "Use one arm for the plastic bottle, the other for the rounded bottom orange plastic bottle.",
+    "Pick up the green bottle with indented base and then pick up the orange bottle.",
+    "Grab and hold the medium green bottle, then grab the rounded orange bottle with yellow top.",
+    "Pick both the bottle with white printed label and the liquid container with orange body one after another.",
+    "Lift the bottle with ridges near base and also take hold of the orange bottle with bold labeling.",
+    "Grab the smooth green bottle using one arm and the cylindrical orange bottle with smooth surface using the other.",
+    "Use one arm for the green bottle with indented base and the other for the handheld medium-sized liquid bottle.",
+    "Use one arm for the medium green bottle, another for the orange bottle with bold labeling.",
+    "Hold both the medium-sized green bottle and the handheld medium-sized liquid bottle.",
+    "Catch the medium green bottle, then take hold of the cylindrical orange bottle with smooth surface.",
+    "Grab the bottle with rounded neck and pick up the yellow-capped orange plastic bottle.",
+    "Catch both the bottle with white printed label and the yellow-capped bottle for beverages quickly.",
+    "Grasp the smooth green bottle first, then take the rounded bottom orange plastic bottle.",
+    "Secure the bottle with narrow top, then secure the yellow-capped bottle for beverages.",
+    "Use both arms to pick up the bottle with narrow top and the rounded bottom orange plastic bottle.",
+    "Lift the smooth green bottle and the rounded bottom orange plastic bottle with separate arms.",
+    "Take hold of the smooth green bottle and the small bottle with bright yellow lid.",
+    "Lift the bottle with rounded neck, continue and pick up the cylindrical orange bottle with smooth surface.",
+    "Catch the plastic bottle, grab the liquid container with orange body next.",
+    "Catch the medium green bottle with one arm, the orange bottle with another arm.",
+    "Hold the medium green bottle with one arm, hold the rounded orange bottle with yellow top with the other.",
+    "Grab the bottle with white printed label using an arm and the bottle with yellow cap with the other arm.",
+    "Secure the bottle with ridges near base and the small bottle with bright yellow lid in succession.",
+    "Assign one arm to catch the bottle with white printed label, one for the yellow-capped orange plastic bottle.",
+    "Hold onto the bottle with ridges near base, then pick up the smooth orange cylindrical bottle.",
+    "Use each arm to lift the smooth green plastic bottle and the yellow-capped bottle for beverages.",
+    "Lift both bottles, the bottle with ridges near base with one arm, the orange bottle with the other.",
+    "Catch the green bottle with indented base in one arm and the rounded bottom orange plastic bottle in the other arm.",
+    "Pick up both the plastic bottle and the cylindrical orange bottle with smooth surface.",
+    "Each arm should pick up one: the bottle with white printed label, then the orange bottle.",
+    "Secure both the medium green bottle and the yellow-capped orange plastic bottle quickly.",
+    "Collect the medium green bottle, then pick up the rounded orange bottle with yellow top.",
+    "Use both arms to lift the medium green bottle with capped neck and the rounded bottom orange plastic bottle.",
+    "Hold the smooth green plastic bottle in one arm, the handheld medium-sized liquid bottle in the other.",
+    "Pick up the smooth green plastic bottle, then pick up the bottle with yellow cap.",
+    "Catch the plastic bottle, then catch the yellow-capped orange plastic bottle.",
+    "Hold onto the medium-sized green bottle and then get the rounded bottom orange plastic bottle.",
+    "With both arms, pick up the medium green bottle with capped neck, then the orange bottle.",
+    "Pick up both the medium green bottle and the liquid container with orange body together.",
+    "Hold the smooth green plastic bottle in one arm, catch the rounded bottom orange plastic bottle with the other arm.",
+    "Catch the green bottle with indented base, then grab the bottle with yellow cap too.",
+    "One arm grabs the bottle with ridges near base; the other arm grabs the liquid container with orange body.",
+    "Lift both the smooth green plastic bottle and the rounded bottom orange plastic bottle simultaneously.",
+    "Use both arms to pick up the handheld green bottle and the liquid container with orange body.",
+    "Grab the medium green bottle with one arm, the rounded orange bottle with yellow top with the other.",
+    "Let each arm grab either the smooth green plastic bottle or the yellow-capped bottle for beverages.",
+    "Grab the bottle with white printed label with one arm, the bottle with yellow cap with the other.",
+    "Grab the bottle with narrow top, pick up the orange bottle.",
+    "Assign one arm to each of the bottle with rounded neck and the yellow-capped bottle for beverages.",
+    "With two arms, catch both the smooth green plastic bottle and the small bottle with bright yellow lid.",
+    "Use one arm for the bottle with rounded neck, the other for the yellow-capped bottle for beverages.",
+    "Pick up the handheld green bottle and then pick up the yellow-capped bottle for beverages.",
+    "Grab and hold the smooth green bottle, then grab the rounded orange bottle with yellow top.",
+    "Pick both the smooth green plastic bottle and the cylindrical orange bottle with smooth surface one after another.",
+    "Lift the handheld green bottle and also take hold of the bottle with yellow cap.",
+    "Grab the smooth green plastic bottle using one arm and the handheld medium-sized liquid bottle using the other.",
+    "Use one arm for the bottle with rounded neck and the other for the handheld medium-sized liquid bottle.",
+    "Use one arm for the handheld green bottle, another for the rounded bottom orange plastic bottle.",
+    "Hold both the smooth green bottle and the yellow-capped orange plastic bottle.",
+    "Catch the smooth green bottle, then take hold of the bottle with yellow cap.",
+    "Grab the green bottle with indented base and pick up the orange bottle with bold labeling.",
+    "Catch both the medium green bottle and the orange bottle quickly.",
+    "Grasp the medium-sized green bottle first, then take the yellow-capped orange plastic bottle.",
+    "Secure the smooth green bottle, then secure the liquid container with orange body.",
+    "Use both arms to pick up the medium green bottle with capped neck and the orange bottle.",
+    "Lift the bottle with rounded neck and the liquid container with orange body with separate arms.",
+    "Take hold of the medium green bottle with capped neck and the smooth orange cylindrical bottle.",
+    "Lift the medium-sized green bottle, continue and pick up the cylindrical orange bottle with smooth surface.",
+    "Catch the bottle with white printed label, grab the orange bottle next."
+  ],
+  "unseen": [
+    "Grab the green bottle with white label with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the green plastic bottle with ridged bottom, then the plastic orange bottle with rounded base.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the medium plastic bottle.",
+    "Pick up the green bottle and the medium plastic bottle together.",
+    "Grab the green plastic bottle with ridged bottom and the medium bottle for liquids at the same time.",
+    "Pick up the green plastic bottle with ridged bottom with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up the green plastic bottle with ridged bottom and take the medium plastic bottle together.",
+    "Lift the green plastic bottle with ridged bottom using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up both the green bottle and the plastic orange bottle with rounded base together.",
+    "Grab the green plastic bottle with ridged bottom and grab the medium plastic bottle at once.",
+    "Grab the green plastic bottle with ridged bottom with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the green bottle, then the medium plastic bottle.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the medium plastic bottle.",
+    "Pick up the green plastic bottle with ridged bottom and the medium bottle for liquids together.",
+    "Grab the green bottle with white label and the medium plastic bottle at the same time.",
+    "Pick up the green bottle with white label with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up the green bottle with white label and take the medium plastic bottle together.",
+    "Lift the green plastic bottle with ridged bottom using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up both the green bottle with white label and the medium plastic bottle together.",
+    "Grab the green bottle and grab the plastic orange bottle with rounded base at once.",
+    "Grab the green bottle with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the green plastic bottle with ridged bottom, then the medium plastic bottle.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base.",
+    "Pick up the green plastic bottle with ridged bottom and the medium bottle for liquids together.",
+    "Grab the green plastic bottle with ridged bottom and the medium bottle for liquids at the same time.",
+    "Pick up the green plastic bottle with ridged bottom with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up the green bottle and take the plastic orange bottle with rounded base together.",
+    "Lift the green bottle using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up both the green plastic bottle with ridged bottom and the medium plastic bottle together.",
+    "Grab the green bottle and grab the medium plastic bottle at once.",
+    "Grab the green bottle with white label with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the green bottle, then the plastic orange bottle with rounded base.",
+    "Use each arm to grab the green bottle and the medium bottle for liquids.",
+    "Pick up the green bottle with white label and the medium bottle for liquids together.",
+    "Grab the green bottle with white label and the plastic orange bottle with rounded base at the same time.",
+    "Pick up the green plastic bottle with ridged bottom with one arm, grab the medium plastic bottle with the other.",
+    "Pick up the green bottle and take the medium bottle for liquids together.",
+    "Lift the green bottle with white label using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up both the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base together.",
+    "Grab the green bottle with white label and grab the medium bottle for liquids at once.",
+    "Grab the green plastic bottle with ridged bottom with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the green bottle, then the medium bottle for liquids.",
+    "Use each arm to grab the green bottle and the plastic orange bottle with rounded base.",
+    "Pick up the green plastic bottle with ridged bottom and the medium plastic bottle together.",
+    "Grab the green bottle and the plastic orange bottle with rounded base at the same time.",
+    "Pick up the green bottle with white label with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up the green plastic bottle with ridged bottom and take the plastic orange bottle with rounded base together.",
+    "Lift the green bottle with white label using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up both the green bottle and the medium bottle for liquids together.",
+    "Grab the green bottle and grab the medium plastic bottle at once.",
+    "Grab the green bottle with white label with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the green bottle with white label, then the plastic orange bottle with rounded base.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the medium plastic bottle.",
+    "Pick up the green bottle and the plastic orange bottle with rounded base together.",
+    "Grab the green bottle with white label and the plastic orange bottle with rounded base at the same time.",
+    "Pick up the green plastic bottle with ridged bottom with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up the green plastic bottle with ridged bottom and take the medium plastic bottle together.",
+    "Lift the green bottle using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up both the green bottle and the plastic orange bottle with rounded base together.",
+    "Grab the green bottle with white label and grab the medium plastic bottle at once.",
+    "Grab the green bottle with white label with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the green bottle, then the medium bottle for liquids.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the medium bottle for liquids.",
+    "Pick up the green bottle with white label and the medium plastic bottle together.",
+    "Grab the green bottle with white label and the plastic orange bottle with rounded base at the same time.",
+    "Pick up the green plastic bottle with ridged bottom with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up the green bottle and take the medium bottle for liquids together.",
+    "Lift the green bottle with white label using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up both the green bottle and the plastic orange bottle with rounded base together.",
+    "Grab the green bottle with white label and grab the plastic orange bottle with rounded base at once.",
+    "Grab the green plastic bottle with ridged bottom with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the green plastic bottle with ridged bottom, then the plastic orange bottle with rounded base.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base.",
+    "Pick up the green bottle with white label and the medium bottle for liquids together.",
+    "Grab the green bottle and the medium plastic bottle at the same time.",
+    "Pick up the green plastic bottle with ridged bottom with one arm, grab the medium plastic bottle with the other.",
+    "Pick up the green plastic bottle with ridged bottom and take the medium bottle for liquids together.",
+    "Lift the green plastic bottle with ridged bottom using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up both the green plastic bottle with ridged bottom and the medium plastic bottle together.",
+    "Grab the green bottle with white label and grab the plastic orange bottle with rounded base at once.",
+    "Grab the green plastic bottle with ridged bottom with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the green bottle, then the medium bottle for liquids.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the medium plastic bottle.",
+    "Pick up the green bottle with white label and the plastic orange bottle with rounded base together.",
+    "Grab the green bottle with white label and the plastic orange bottle with rounded base at the same time.",
+    "Pick up the green bottle with white label with one arm, grab the medium plastic bottle with the other.",
+    "Pick up the green bottle with white label and take the medium bottle for liquids together.",
+    "Lift the green bottle with white label using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up both the green bottle and the plastic orange bottle with rounded base together.",
+    "Grab the green bottle and grab the medium bottle for liquids at once.",
+    "Grab the green bottle with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the green bottle with white label, then the medium bottle for liquids.",
+    "Use each arm to grab the green bottle with white label and the medium plastic bottle.",
+    "Pick up the green bottle with white label and the medium plastic bottle together.",
+    "Grab the green bottle with white label and the medium bottle for liquids at the same time.",
+    "Pick up the green bottle with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up the green plastic bottle with ridged bottom and take the plastic orange bottle with rounded base together.",
+    "Lift the green bottle with white label using one arm and lift the medium plastic bottle using the other.",
+    "Pick up both the green bottle with white label and the plastic orange bottle with rounded base together.",
+    "Grab the green bottle with white label and grab the plastic orange bottle with rounded base at once."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001200.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the green bottle with white label and pick up the bottle with white cap.",
+    "Assign one arm to each of the green bottle and the medium rectangular yellow bottle.",
+    "One arm grabs the cylindrical bottle with rounded cap; the other arm grabs the yellow bottle with a green design.",
+    "Use one arm for the smooth green and yellow bottle and the other for the medium rectangular yellow bottle.",
+    "Grab the handheld plastic bottle, pick up the bottle with green and white labels.",
+    "Lift the plastic bottle with colored label, continue and pick up the yellow container with rounded edges.",
+    "Grab and hold the plastic bottle with colored label, then grab the bottle with green and white labels.",
+    "Grab the medium bottle with green body using an arm and the yellow bottle with the other arm.",
+    "Hold the bottle with yellow cap in one arm, catch the yellow container with rounded edges with the other arm.",
+    "Catch the plastic bottle, then catch the bottle with green label.",
+    "Lift the green bottle and the bottle with a smooth plastic body with separate arms.",
+    "Catch both the bottle with glossy plastic finish and the bottle with a smooth plastic body quickly.",
+    "Let each arm grab either the cylindrical bottle with rounded cap or the plastic bottle.",
+    "Pick up the green bottle with white label and then pick up the bottle with a smooth plastic body.",
+    "Hold onto the smooth green and yellow bottle, then pick up the yellow plastic bottle with white top.",
+    "Pick up both the smooth green and yellow bottle and the plastic bottle.",
+    "Pick both the plastic bottle with colored label and the bottle with green and white labels one after another.",
+    "Take hold of the smooth green and yellow bottle and the medium rectangular yellow bottle.",
+    "Use both arms to lift the medium bottle with green body and the bottle with green label.",
+    "Secure the bottle with glossy plastic finish and the smooth bottle with rounded edges in succession.",
+    "Use one arm for the plastic bottle, the other for the yellow bottle.",
+    "Assign one arm to catch the plastic bottle with colored label, one for the yellow container with rounded edges.",
+    "Catch the smooth green and yellow bottle, grab the medium rectangular yellow bottle next.",
+    "Grab the plastic bottle with one arm, the bottle with white cap with the other.",
+    "Each arm should pick up one: the smooth green and yellow bottle, then the bottle with green and white labels.",
+    "With both arms, pick up the plastic bottle with colored label, then the bottle with green label.",
+    "Lift the medium bottle with green body and also take hold of the smooth bottle with rounded edges.",
+    "Lift both bottles, the medium bottle with green body with one arm, the smooth bottle with rounded edges with the other.",
+    "Catch the green bottle with white label in one arm and the bottle with green label in the other arm.",
+    "Secure both the green bottle with black text label and the bottle with a smooth plastic body quickly.",
+    "Catch the green bottle with white label, then take hold of the bottle with a smooth plastic body.",
+    "Grab the green bottle with black text label with one arm, the yellow plastic bottle with white top with the other.",
+    "Collect the bottle with yellow cap, then pick up the bottle with green label.",
+    "Use both arms to pick up the plastic bottle with colored label and the rectangular bottle with cylindrical neck.",
+    "Grasp the green bottle with black text label first, then take the yellow plastic bottle with white top.",
+    "Hold the medium bottle with green body in one arm, the yellow container with rounded edges in the other.",
+    "Grab the smooth green and yellow bottle using one arm and the bottle with green and white labels using the other.",
+    "Catch the plastic bottle with colored label with one arm, the yellow bottle with a green design with another arm.",
+    "Hold both the plastic bottle with colored label and the bottle with green label.",
+    "Pick up both the green bottle and the rectangular bottle with cylindrical neck together.",
+    "Catch the cylindrical bottle with rounded cap, then grab the rectangular bottle with cylindrical neck too.",
+    "Use each arm to lift the medium bottle with green body and the bottle with white cap.",
+    "Secure the plastic bottle, then secure the medium rectangular yellow bottle.",
+    "Use one arm for the medium bottle with green body, another for the smooth bottle with rounded edges.",
+    "With two arms, catch both the cylindrical liquid bottle with yellow top and the bottle with a smooth plastic body.",
+    "Use both arms to pick up the smooth green and yellow bottle and the bottle with a smooth plastic body.",
+    "Hold the smooth green and yellow bottle with one arm, hold the medium rectangular yellow bottle with the other.",
+    "Pick up the plastic bottle, then pick up the bottle with green label.",
+    "Hold onto the green bottle and then get the bottle with green and white labels.",
+    "Lift both the bottle with glossy plastic finish and the bottle with a smooth plastic body simultaneously.",
+    "Grab the medium bottle with green body and pick up the bottle with green label.",
+    "Assign one arm to each of the cylindrical liquid bottle with yellow top and the yellow bottle with a green design.",
+    "One arm grabs the green bottle; the other arm grabs the yellow plastic bottle with white top.",
+    "Use one arm for the green bottle with white label and the other for the bottle with a smooth plastic body.",
+    "Grab the green bottle, pick up the yellow bottle.",
+    "Lift the plastic bottle, continue and pick up the medium rectangular yellow bottle.",
+    "Grab and hold the plastic bottle, then grab the rectangular bottle with cylindrical neck.",
+    "Grab the medium bottle with green body using an arm and the smooth bottle with rounded edges with the other arm.",
+    "Hold the green bottle with white label in one arm, catch the yellow plastic bottle with white top with the other arm.",
+    "Catch the bottle with yellow cap, then catch the bottle with a smooth plastic body.",
+    "Lift the bottle with glossy plastic finish and the plastic bottle with separate arms.",
+    "Catch both the plastic bottle and the bottle with white cap quickly.",
+    "Let each arm grab either the green bottle or the yellow container with rounded edges.",
+    "Pick up the cylindrical liquid bottle with yellow top and then pick up the bottle with green label.",
+    "Hold onto the cylindrical bottle with rounded cap, then pick up the yellow plastic bottle with white top.",
+    "Pick up both the cylindrical liquid bottle with yellow top and the yellow plastic bottle with white top.",
+    "Pick both the green bottle with white label and the yellow plastic bottle with white top one after another.",
+    "Take hold of the handheld plastic bottle and the rectangular bottle with cylindrical neck.",
+    "Use both arms to lift the plastic bottle with colored label and the smooth bottle with rounded edges.",
+    "Secure the green bottle with white label and the plastic bottle in succession.",
+    "Use one arm for the cylindrical liquid bottle with yellow top, the other for the yellow bottle.",
+    "Assign one arm to catch the medium bottle with green body, one for the bottle with green label.",
+    "Catch the bottle with glossy plastic finish, grab the smooth bottle with rounded edges next.",
+    "Grab the green bottle with black text label with one arm, the yellow bottle with a green design with the other.",
+    "Each arm should pick up one: the green bottle with white label, then the yellow bottle with a green design.",
+    "With both arms, pick up the smooth green and yellow bottle, then the bottle with white cap.",
+    "Lift the smooth green and yellow bottle and also take hold of the yellow bottle with a green design.",
+    "Lift both bottles, the medium bottle with green body with one arm, the bottle with green and white labels with the other.",
+    "Catch the plastic bottle with colored label in one arm and the bottle with green and white labels in the other arm.",
+    "Secure both the bottle with yellow cap and the plastic bottle quickly.",
+    "Catch the green bottle, then take hold of the bottle with green label.",
+    "Grab the green bottle with black text label with one arm, the bottle with green label with the other.",
+    "Collect the green bottle with black text label, then pick up the bottle with green and white labels.",
+    "Use both arms to pick up the plastic bottle and the yellow bottle.",
+    "Grasp the bottle with glossy plastic finish first, then take the rectangular bottle with cylindrical neck.",
+    "Hold the bottle with glossy plastic finish in one arm, the bottle with a smooth plastic body in the other.",
+    "Grab the smooth green and yellow bottle using one arm and the yellow container with rounded edges using the other.",
+    "Catch the cylindrical liquid bottle with yellow top with one arm, the yellow plastic bottle with white top with another arm.",
+    "Hold both the handheld plastic bottle and the bottle with white cap.",
+    "Pick up both the plastic bottle and the plastic bottle together.",
+    "Catch the plastic bottle with colored label, then grab the smooth bottle with rounded edges too.",
+    "Use each arm to lift the bottle with yellow cap and the bottle with green and white labels.",
+    "Secure the medium bottle with green body, then secure the medium rectangular yellow bottle.",
+    "Use one arm for the cylindrical bottle with rounded cap, another for the yellow bottle with a green design.",
+    "With two arms, catch both the cylindrical liquid bottle with yellow top and the bottle with green label.",
+    "Use both arms to pick up the plastic bottle and the medium rectangular yellow bottle.",
+    "Hold the cylindrical bottle with rounded cap with one arm, hold the bottle with a smooth plastic body with the other.",
+    "Pick up the cylindrical bottle with rounded cap, then pick up the bottle with green label.",
+    "Hold onto the handheld plastic bottle and then get the yellow bottle.",
+    "Lift both the cylindrical liquid bottle with yellow top and the yellow bottle with a green design simultaneously."
+  ],
+  "unseen": [
+    "Pick up the bottle with green base and black prints and take the yellow rectangular bottle together.",
+    "Pick up the yellow-capped bottle with smooth surface and the yellow bottle for liquid storage together.",
+    "Pick up the bottle with green base and black prints with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Lift the bottle with green base and black prints using one arm and lift the yellow rectangular bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with green base and black prints, then the hand-sized yellow plastic bottle.",
+    "Pick up both the yellow-capped bottle with smooth surface and the yellow bottle for liquid storage together.",
+    "Grab the yellow-capped bottle with smooth surface and grab the yellow bottle for liquid storage at once.",
+    "Grab the medium-sized drink bottle and the yellow rectangular bottle at the same time.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Use each arm to grab the bottle with green base and black prints and the yellow rectangular bottle.",
+    "Pick up the yellow-capped bottle with smooth surface and take the yellow rectangular bottle together.",
+    "Pick up the yellow-capped bottle with smooth surface and the hand-sized yellow plastic bottle together.",
+    "Pick up the medium-sized drink bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Lift the bottle with green base and black prints using one arm and lift the yellow rectangular bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with green base and black prints, then the yellow rectangular bottle.",
+    "Pick up both the medium-sized drink bottle and the yellow rectangular bottle together.",
+    "Grab the yellow-capped bottle with smooth surface and grab the yellow rectangular bottle at once.",
+    "Grab the medium-sized drink bottle and the hand-sized yellow plastic bottle at the same time.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the yellow rectangular bottle with the other.",
+    "Use each arm to grab the bottle with green base and black prints and the yellow rectangular bottle.",
+    "Pick up the medium-sized drink bottle and take the yellow rectangular bottle together.",
+    "Pick up the yellow-capped bottle with smooth surface and the yellow bottle for liquid storage together.",
+    "Pick up the medium-sized drink bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Lift the medium-sized drink bottle using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Use each arm to lift a bottle: the medium-sized drink bottle, then the yellow rectangular bottle.",
+    "Pick up both the yellow-capped bottle with smooth surface and the yellow rectangular bottle together.",
+    "Grab the yellow-capped bottle with smooth surface and grab the yellow bottle for liquid storage at once.",
+    "Grab the bottle with green base and black prints and the yellow bottle for liquid storage at the same time.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the yellow rectangular bottle with the other.",
+    "Use each arm to grab the bottle with green base and black prints and the hand-sized yellow plastic bottle.",
+    "Pick up the bottle with green base and black prints and take the yellow rectangular bottle together.",
+    "Pick up the bottle with green base and black prints and the yellow rectangular bottle together.",
+    "Pick up the medium-sized drink bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Lift the medium-sized drink bottle using one arm and lift the yellow rectangular bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with green base and black prints, then the yellow rectangular bottle.",
+    "Pick up both the medium-sized drink bottle and the yellow bottle for liquid storage together.",
+    "Grab the medium-sized drink bottle and grab the yellow bottle for liquid storage at once.",
+    "Grab the bottle with green base and black prints and the yellow bottle for liquid storage at the same time.",
+    "Grab the bottle with green base and black prints with one arm, grab the yellow rectangular bottle with the other.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the yellow rectangular bottle.",
+    "Pick up the medium-sized drink bottle and take the hand-sized yellow plastic bottle together.",
+    "Pick up the medium-sized drink bottle and the hand-sized yellow plastic bottle together.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Lift the bottle with green base and black prints using one arm and lift the yellow rectangular bottle using the other.",
+    "Use each arm to lift a bottle: the medium-sized drink bottle, then the yellow bottle for liquid storage.",
+    "Pick up both the yellow-capped bottle with smooth surface and the yellow bottle for liquid storage together.",
+    "Grab the yellow-capped bottle with smooth surface and grab the yellow rectangular bottle at once.",
+    "Grab the medium-sized drink bottle and the yellow rectangular bottle at the same time.",
+    "Grab the medium-sized drink bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Use each arm to grab the bottle with green base and black prints and the yellow bottle for liquid storage.",
+    "Pick up the yellow-capped bottle with smooth surface and take the hand-sized yellow plastic bottle together.",
+    "Pick up the yellow-capped bottle with smooth surface and the yellow rectangular bottle together.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Lift the medium-sized drink bottle using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Use each arm to lift a bottle: the medium-sized drink bottle, then the hand-sized yellow plastic bottle.",
+    "Pick up both the medium-sized drink bottle and the yellow bottle for liquid storage together.",
+    "Grab the yellow-capped bottle with smooth surface and grab the hand-sized yellow plastic bottle at once.",
+    "Grab the yellow-capped bottle with smooth surface and the hand-sized yellow plastic bottle at the same time.",
+    "Grab the bottle with green base and black prints with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the yellow rectangular bottle.",
+    "Pick up the yellow-capped bottle with smooth surface and take the hand-sized yellow plastic bottle together.",
+    "Pick up the yellow-capped bottle with smooth surface and the yellow rectangular bottle together.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Lift the bottle with green base and black prints using one arm and lift the yellow rectangular bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with green base and black prints, then the hand-sized yellow plastic bottle.",
+    "Pick up both the medium-sized drink bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the yellow-capped bottle with smooth surface and grab the hand-sized yellow plastic bottle at once.",
+    "Grab the medium-sized drink bottle and the yellow rectangular bottle at the same time.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Use each arm to grab the bottle with green base and black prints and the yellow bottle for liquid storage.",
+    "Pick up the bottle with green base and black prints and take the hand-sized yellow plastic bottle together.",
+    "Pick up the medium-sized drink bottle and the hand-sized yellow plastic bottle together.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the yellow rectangular bottle with the other.",
+    "Lift the medium-sized drink bottle using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the yellow rectangular bottle.",
+    "Pick up both the yellow-capped bottle with smooth surface and the yellow bottle for liquid storage together.",
+    "Grab the medium-sized drink bottle and grab the hand-sized yellow plastic bottle at once.",
+    "Grab the medium-sized drink bottle and the yellow bottle for liquid storage at the same time.",
+    "Grab the bottle with green base and black prints with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Use each arm to grab the bottle with green base and black prints and the hand-sized yellow plastic bottle.",
+    "Pick up the medium-sized drink bottle and take the yellow rectangular bottle together.",
+    "Pick up the bottle with green base and black prints and the yellow bottle for liquid storage together.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Lift the medium-sized drink bottle using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the yellow bottle for liquid storage.",
+    "Pick up both the medium-sized drink bottle and the yellow bottle for liquid storage together.",
+    "Grab the yellow-capped bottle with smooth surface and grab the yellow bottle for liquid storage at once.",
+    "Grab the medium-sized drink bottle and the yellow rectangular bottle at the same time.",
+    "Grab the medium-sized drink bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Use each arm to grab the medium-sized drink bottle and the yellow rectangular bottle.",
+    "Pick up the bottle with green base and black prints and take the hand-sized yellow plastic bottle together.",
+    "Pick up the medium-sized drink bottle and the yellow bottle for liquid storage together.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Lift the medium-sized drink bottle using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the yellow bottle for liquid storage.",
+    "Pick up both the medium-sized drink bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the yellow-capped bottle with smooth surface and grab the yellow rectangular bottle at once.",
+    "Grab the yellow-capped bottle with smooth surface and the yellow bottle for liquid storage at the same time.",
+    "Grab the medium-sized drink bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Use each arm to grab the medium-sized drink bottle and the hand-sized yellow plastic bottle."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001205.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure both the brown bottle and the bottle with rounded neck quickly.",
+    "Hold onto the curved bottle with white top, then pick up the medium green bottle with capped neck.",
+    "Hold onto the smooth brown and white patterned bottle and then get the bottle with white printed label.",
+    "Take hold of the bottle with white screw cap and the bottle with ridges near base.",
+    "Use both arms to lift the bottle with black label and the green bottle with indented base.",
+    "One arm grabs the plastic bottle; the other arm grabs the bottle with narrow top.",
+    "Secure the bottle with brown and white patterns and the bottle with rounded neck in succession.",
+    "Grab the bottle with brown and white patterns with one arm, the handheld green bottle with the other.",
+    "Pick up both the small curved plastic bottle and the green bottle with indented base together.",
+    "Catch the plastic bottle in one arm and the medium green bottle with capped neck in the other arm.",
+    "Each arm should pick up one: the white-capped bottle, then the bottle with rounded neck.",
+    "Hold the bottle with white screw cap in one arm, the medium green bottle with capped neck in the other.",
+    "Pick up the bottle with white screw cap and then pick up the medium green bottle.",
+    "Grab the white-capped bottle with one arm, the bottle with ridges near base with the other.",
+    "Use one arm for the bottle with brown and white patterns and the other for the smooth green bottle.",
+    "Secure the hand-sized plastic bottle, then secure the smooth green plastic bottle.",
+    "With both arms, pick up the white-capped bottle, then the plastic bottle.",
+    "Catch the bottle with brown and white patterns, then take hold of the handheld green bottle.",
+    "Grab and hold the brown bottle, then grab the bottle with narrow top.",
+    "Let each arm grab either the small curved plastic bottle or the green bottle with indented base.",
+    "Grab the bottle holding liquid using an arm and the handheld green bottle with the other arm.",
+    "Catch the plastic bottle, grab the medium green bottle next.",
+    "Hold both the small bottle with decorative design and the bottle with white printed label.",
+    "Lift the small bottle with decorative design, continue and pick up the plastic bottle.",
+    "Hold the brown bottle in one arm, catch the medium-sized green bottle with the other arm.",
+    "Pick up both the small bottle with decorative design and the medium green bottle with capped neck.",
+    "Lift the bottle with black label and the plastic bottle with separate arms.",
+    "Use both arms to pick up the smooth brown and white patterned bottle and the green bottle with indented base.",
+    "Catch both the bottle with white screw cap and the handheld green bottle quickly.",
+    "Assign one arm to each of the bottle with white screw cap and the bottle with ridges near base.",
+    "Use one arm for the brown bottle, the other for the bottle with narrow top.",
+    "Lift both bottles, the hand-sized plastic bottle with one arm, the green bottle with indented base with the other.",
+    "Use one arm for the smooth brown and white patterned bottle, another for the smooth green bottle.",
+    "Grab the bottle with black label and pick up the medium green bottle.",
+    "Use each arm to lift the small bottle with decorative design and the bottle with narrow top.",
+    "Grab the bottle with brown and white patterns using one arm and the medium green bottle using the other.",
+    "With two arms, catch both the bottle with black label and the green bottle with indented base.",
+    "Lift the plastic bottle and also take hold of the bottle with white printed label.",
+    "Assign one arm to catch the bottle holding liquid, one for the bottle with ridges near base.",
+    "Collect the bottle with brown and white patterns, then pick up the medium green bottle.",
+    "Lift both the plastic bottle and the green bottle with indented base simultaneously.",
+    "Catch the white-capped bottle with one arm, the medium-sized green bottle with another arm.",
+    "Pick both the brown bottle and the smooth green bottle one after another.",
+    "Grab the curved bottle with white top, pick up the bottle with ridges near base.",
+    "Pick up the bottle with black label, then pick up the medium green bottle.",
+    "Catch the plastic bottle, then grab the bottle with white printed label too.",
+    "Use both arms to pick up the plastic bottle and the smooth green plastic bottle.",
+    "Hold the bottle with black label with one arm, hold the bottle with narrow top with the other.",
+    "Grasp the bottle holding liquid first, then take the medium-sized green bottle.",
+    "Catch the curved bottle with white top, then catch the bottle with narrow top.",
+    "Secure both the small curved plastic bottle and the plastic bottle quickly.",
+    "Hold onto the hand-sized plastic bottle, then pick up the bottle with ridges near base.",
+    "Hold onto the brown bottle and then get the medium green bottle with capped neck.",
+    "Take hold of the plastic bottle and the bottle with white printed label.",
+    "Use both arms to lift the bottle with white screw cap and the bottle with rounded neck.",
+    "One arm grabs the bottle with brown and white patterns; the other arm grabs the green bottle with indented base.",
+    "Secure the brown bottle and the medium-sized green bottle in succession.",
+    "Grab the bottle with black label with one arm, the bottle with white printed label with the other.",
+    "Pick up both the small bottle with decorative design and the smooth green bottle together.",
+    "Catch the small curved plastic bottle in one arm and the medium green bottle with capped neck in the other arm.",
+    "Each arm should pick up one: the bottle with black label, then the medium-sized green bottle.",
+    "Hold the plastic bottle in one arm, the plastic bottle in the other.",
+    "Pick up the bottle with brown and white patterns and then pick up the medium-sized green bottle.",
+    "Grab the bottle with brown and white patterns with one arm, the green bottle with indented base with the other.",
+    "Use one arm for the bottle with white screw cap and the other for the plastic bottle.",
+    "Secure the plastic bottle, then secure the smooth green bottle.",
+    "With both arms, pick up the small curved plastic bottle, then the bottle with rounded neck.",
+    "Catch the brown bottle, then take hold of the smooth green plastic bottle.",
+    "Grab and hold the smooth brown and white patterned bottle, then grab the green bottle with indented base.",
+    "Let each arm grab either the bottle with white screw cap or the bottle with rounded neck.",
+    "Grab the bottle with brown and white patterns using an arm and the smooth green plastic bottle with the other arm.",
+    "Catch the smooth brown and white patterned bottle, grab the bottle with narrow top next.",
+    "Hold both the bottle with black label and the handheld green bottle.",
+    "Lift the brown bottle, continue and pick up the handheld green bottle.",
+    "Hold the small curved plastic bottle in one arm, catch the medium-sized green bottle with the other arm.",
+    "Pick up both the hand-sized plastic bottle and the bottle with rounded neck.",
+    "Lift the small curved plastic bottle and the smooth green plastic bottle with separate arms.",
+    "Use both arms to pick up the small bottle with decorative design and the bottle with narrow top.",
+    "Catch both the white-capped bottle and the medium green bottle quickly.",
+    "Assign one arm to each of the white-capped bottle and the medium green bottle.",
+    "Use one arm for the bottle with white screw cap, the other for the green bottle with indented base.",
+    "Lift both bottles, the smooth brown and white patterned bottle with one arm, the medium green bottle with capped neck with the other.",
+    "Use one arm for the white-capped bottle, another for the medium green bottle.",
+    "Grab the bottle holding liquid and pick up the smooth green plastic bottle.",
+    "Use each arm to lift the bottle with black label and the green bottle with indented base.",
+    "Grab the bottle with black label using one arm and the medium green bottle using the other.",
+    "With two arms, catch both the small bottle with decorative design and the bottle with narrow top.",
+    "Lift the small curved plastic bottle and also take hold of the smooth green plastic bottle.",
+    "Assign one arm to catch the brown bottle, one for the bottle with rounded neck.",
+    "Collect the plastic bottle, then pick up the medium-sized green bottle.",
+    "Lift both the plastic bottle and the bottle with rounded neck simultaneously.",
+    "Catch the bottle with white screw cap with one arm, the medium green bottle with another arm.",
+    "Pick both the brown bottle and the bottle with white printed label one after another.",
+    "Grab the bottle holding liquid, pick up the smooth green plastic bottle.",
+    "Pick up the bottle holding liquid, then pick up the bottle with ridges near base.",
+    "Catch the small curved plastic bottle, then grab the bottle with ridges near base too.",
+    "Use both arms to pick up the bottle with brown and white patterns and the medium green bottle with capped neck.",
+    "Hold the hand-sized plastic bottle with one arm, hold the plastic bottle with the other.",
+    "Grasp the smooth brown and white patterned bottle first, then take the bottle with ridges near base.",
+    "Catch the small bottle with decorative design, then catch the handheld green bottle."
+  ],
+  "unseen": [
+    "Pick up the cylindrical bottle with curved sides and take the green bottle together.",
+    "Lift the brown bottle with glossy swirls using one arm and lift the green bottle with white label using the other.",
+    "Grab the brown bottle with glossy swirls with one arm, grab the green bottle with white label with the other.",
+    "Grab the cylindrical bottle with curved sides and the green bottle with white label at the same time.",
+    "Grab the glossy brown bottle and grab the green bottle with white label at once.",
+    "Pick up the brown bottle with glossy swirls and the green bottle together.",
+    "Use each arm to lift a bottle: the cylindrical bottle with curved sides, then the green bottle with white label.",
+    "Pick up the glossy brown bottle with one arm, grab the green bottle with the other.",
+    "Use each arm to grab the brown bottle with glossy swirls and the green plastic bottle with ridged bottom.",
+    "Pick up both the cylindrical bottle with curved sides and the green plastic bottle with ridged bottom together.",
+    "Pick up the brown bottle with glossy swirls and take the green plastic bottle with ridged bottom together.",
+    "Lift the brown bottle with glossy swirls using one arm and lift the green bottle using the other.",
+    "Grab the glossy brown bottle with one arm, grab the green bottle with the other.",
+    "Grab the cylindrical bottle with curved sides and the green plastic bottle with ridged bottom at the same time.",
+    "Grab the glossy brown bottle and grab the green bottle at once.",
+    "Pick up the brown bottle with glossy swirls and the green plastic bottle with ridged bottom together.",
+    "Use each arm to lift a bottle: the brown bottle with glossy swirls, then the green plastic bottle with ridged bottom.",
+    "Pick up the cylindrical bottle with curved sides with one arm, grab the green bottle with the other.",
+    "Use each arm to grab the brown bottle with glossy swirls and the green plastic bottle with ridged bottom.",
+    "Pick up both the cylindrical bottle with curved sides and the green plastic bottle with ridged bottom together.",
+    "Pick up the brown bottle with glossy swirls and take the green plastic bottle with ridged bottom together.",
+    "Lift the cylindrical bottle with curved sides using one arm and lift the green plastic bottle with ridged bottom using the other.",
+    "Grab the cylindrical bottle with curved sides with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the glossy brown bottle and the green plastic bottle with ridged bottom at the same time.",
+    "Grab the glossy brown bottle and grab the green bottle with white label at once.",
+    "Pick up the glossy brown bottle and the green bottle with white label together.",
+    "Use each arm to lift a bottle: the cylindrical bottle with curved sides, then the green bottle.",
+    "Pick up the cylindrical bottle with curved sides with one arm, grab the green bottle with white label with the other.",
+    "Use each arm to grab the glossy brown bottle and the green bottle.",
+    "Pick up both the brown bottle with glossy swirls and the green plastic bottle with ridged bottom together.",
+    "Pick up the brown bottle with glossy swirls and take the green bottle with white label together.",
+    "Lift the brown bottle with glossy swirls using one arm and lift the green bottle with white label using the other.",
+    "Grab the glossy brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the glossy brown bottle and the green plastic bottle with ridged bottom at the same time.",
+    "Grab the brown bottle with glossy swirls and grab the green bottle with white label at once.",
+    "Pick up the brown bottle with glossy swirls and the green bottle with white label together.",
+    "Use each arm to lift a bottle: the brown bottle with glossy swirls, then the green bottle.",
+    "Pick up the cylindrical bottle with curved sides with one arm, grab the green bottle with white label with the other.",
+    "Use each arm to grab the cylindrical bottle with curved sides and the green bottle.",
+    "Pick up both the cylindrical bottle with curved sides and the green bottle together.",
+    "Pick up the brown bottle with glossy swirls and take the green plastic bottle with ridged bottom together.",
+    "Lift the brown bottle with glossy swirls using one arm and lift the green bottle with white label using the other.",
+    "Grab the brown bottle with glossy swirls with one arm, grab the green bottle with white label with the other.",
+    "Grab the brown bottle with glossy swirls and the green bottle with white label at the same time.",
+    "Grab the brown bottle with glossy swirls and grab the green bottle with white label at once.",
+    "Pick up the glossy brown bottle and the green bottle with white label together.",
+    "Use each arm to lift a bottle: the glossy brown bottle, then the green plastic bottle with ridged bottom.",
+    "Pick up the cylindrical bottle with curved sides with one arm, grab the green bottle with the other.",
+    "Use each arm to grab the glossy brown bottle and the green bottle with white label.",
+    "Pick up both the glossy brown bottle and the green bottle with white label together.",
+    "Pick up the glossy brown bottle and take the green bottle together.",
+    "Lift the brown bottle with glossy swirls using one arm and lift the green bottle with white label using the other.",
+    "Grab the brown bottle with glossy swirls with one arm, grab the green bottle with white label with the other.",
+    "Grab the glossy brown bottle and the green bottle at the same time.",
+    "Grab the brown bottle with glossy swirls and grab the green bottle with white label at once.",
+    "Pick up the brown bottle with glossy swirls and the green bottle together.",
+    "Use each arm to lift a bottle: the cylindrical bottle with curved sides, then the green bottle with white label.",
+    "Pick up the glossy brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Use each arm to grab the cylindrical bottle with curved sides and the green plastic bottle with ridged bottom.",
+    "Pick up both the cylindrical bottle with curved sides and the green bottle together.",
+    "Pick up the glossy brown bottle and take the green bottle together.",
+    "Lift the brown bottle with glossy swirls using one arm and lift the green plastic bottle with ridged bottom using the other.",
+    "Grab the cylindrical bottle with curved sides with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the brown bottle with glossy swirls and the green bottle at the same time.",
+    "Grab the brown bottle with glossy swirls and grab the green bottle with white label at once.",
+    "Pick up the cylindrical bottle with curved sides and the green plastic bottle with ridged bottom together.",
+    "Use each arm to lift a bottle: the brown bottle with glossy swirls, then the green plastic bottle with ridged bottom.",
+    "Pick up the cylindrical bottle with curved sides with one arm, grab the green bottle with white label with the other.",
+    "Use each arm to grab the cylindrical bottle with curved sides and the green bottle.",
+    "Pick up both the brown bottle with glossy swirls and the green plastic bottle with ridged bottom together.",
+    "Pick up the glossy brown bottle and take the green bottle with white label together.",
+    "Lift the cylindrical bottle with curved sides using one arm and lift the green plastic bottle with ridged bottom using the other.",
+    "Grab the cylindrical bottle with curved sides with one arm, grab the green bottle with white label with the other.",
+    "Grab the brown bottle with glossy swirls and the green plastic bottle with ridged bottom at the same time.",
+    "Grab the glossy brown bottle and grab the green plastic bottle with ridged bottom at once.",
+    "Pick up the cylindrical bottle with curved sides and the green bottle with white label together.",
+    "Use each arm to lift a bottle: the brown bottle with glossy swirls, then the green bottle with white label.",
+    "Pick up the cylindrical bottle with curved sides with one arm, grab the green bottle with white label with the other.",
+    "Use each arm to grab the brown bottle with glossy swirls and the green bottle.",
+    "Pick up both the brown bottle with glossy swirls and the green bottle together.",
+    "Pick up the brown bottle with glossy swirls and take the green plastic bottle with ridged bottom together.",
+    "Lift the brown bottle with glossy swirls using one arm and lift the green bottle with white label using the other.",
+    "Grab the glossy brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Grab the cylindrical bottle with curved sides and the green bottle with white label at the same time.",
+    "Grab the cylindrical bottle with curved sides and grab the green bottle at once.",
+    "Pick up the brown bottle with glossy swirls and the green bottle together.",
+    "Use each arm to lift a bottle: the cylindrical bottle with curved sides, then the green bottle with white label.",
+    "Pick up the brown bottle with glossy swirls with one arm, grab the green bottle with the other.",
+    "Use each arm to grab the brown bottle with glossy swirls and the green bottle.",
+    "Pick up both the cylindrical bottle with curved sides and the green bottle with white label together.",
+    "Pick up the cylindrical bottle with curved sides and take the green plastic bottle with ridged bottom together.",
+    "Lift the cylindrical bottle with curved sides using one arm and lift the green bottle using the other.",
+    "Grab the brown bottle with glossy swirls with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the brown bottle with glossy swirls and the green bottle with white label at the same time.",
+    "Grab the glossy brown bottle and grab the green plastic bottle with ridged bottom at once.",
+    "Pick up the glossy brown bottle and the green plastic bottle with ridged bottom together.",
+    "Use each arm to lift a bottle: the cylindrical bottle with curved sides, then the green plastic bottle with ridged bottom.",
+    "Pick up the glossy brown bottle with one arm, grab the green bottle with the other.",
+    "Use each arm to grab the cylindrical bottle with curved sides and the green plastic bottle with ridged bottom.",
+    "Pick up both the glossy brown bottle and the green bottle with white label together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001217.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the orange bottle, then catch the plastic bottle.",
+    "Hold the plastic bottle in one arm, the red bottle with white bottom text in the other.",
+    "Lift the orange bottle and the plastic bottle with bright red color with separate arms.",
+    "Hold onto the medium bottle with orange lid, then pick up the red bottle with narrow neck.",
+    "Catch the medium bottle with orange lid with one arm, the red bottle with narrow neck with another arm.",
+    "Pick up both the plastic bottle and the bottle with red cap together.",
+    "Grab the cylindrical orange and white bottle using an arm and the plastic bottle with the other arm.",
+    "Catch the medium orange bottle in one arm and the plastic bottle with bright red color in the other arm.",
+    "Catch both the drinking bottle with yellow label and the red bottle with screw cap quickly.",
+    "With two arms, catch both the smooth plastic bottle and the handheld plastic bottle.",
+    "Grab the bottle with ribbed orange bottom and pick up the red bottle with narrow neck.",
+    "Grab the smooth plastic bottle with one arm, the plastic bottle with the other.",
+    "Pick both the medium bottle with orange lid and the yellow text bottle one after another.",
+    "Lift both the yellow label bottle and the plastic bottle with bright red color simultaneously.",
+    "Pick up the drinking bottle with yellow label, then pick up the smooth red cylindrical bottle.",
+    "Pick up both the drinking bottle with yellow label and the smooth red cylindrical bottle.",
+    "Use one arm for the plastic bottle, the other for the smooth red cylindrical bottle.",
+    "Each arm should pick up one: the medium orange bottle, then the medium-size plastic bottle.",
+    "Assign one arm to catch the white and orange plastic bottle, one for the red bottle with curved grooves.",
+    "Grasp the medium bottle with orange lid first, then take the red bottle with screw cap.",
+    "Hold the cylindrical orange and white bottle with one arm, hold the smooth red cylindrical bottle with the other.",
+    "Grab the drinking bottle with yellow label with one arm, the red bottle with screw cap with the other.",
+    "Secure both the bottle with ribbed orange bottom and the red bottle with narrow neck quickly.",
+    "One arm grabs the drinking bottle with yellow label; the other arm grabs the medium-size plastic bottle.",
+    "Grab and hold the medium orange bottle, then grab the red bottle with screw cap.",
+    "Use each arm to lift the yellow label bottle and the red bottle.",
+    "Assign one arm to each of the bottle with ribbed orange bottom and the red bottle with screw cap.",
+    "Secure the medium orange bottle, then secure the plastic bottle.",
+    "Hold onto the smooth plastic bottle and then get the red bottle with curved grooves.",
+    "Use both arms to pick up the medium bottle with orange lid and the red bottle with screw cap.",
+    "Use one arm for the drinking bottle with yellow label, another for the red bottle with narrow neck.",
+    "Collect the bottle with ribbed orange bottom, then pick up the red bottle with curved grooves.",
+    "Hold both the smooth plastic bottle and the red bottle with narrow neck.",
+    "Lift the cylindrical orange and white bottle, continue and pick up the handheld plastic bottle.",
+    "Take hold of the orange and white bottle with cap and the plastic bottle with bright red color.",
+    "Lift the bottle with ribbed orange bottom and also take hold of the red bottle with narrow neck.",
+    "Use both arms to pick up the orange bottle and the bottle with red cap.",
+    "Let each arm grab either the plastic bottle or the red bottle with screw cap.",
+    "Use both arms to lift the medium orange bottle and the medium-size plastic bottle.",
+    "Catch the orange bottle, grab the plastic bottle next.",
+    "Catch the medium bottle with orange lid, then take hold of the red bottle with white bottom text.",
+    "Grab the orange and white bottle with cap, pick up the yellow text bottle.",
+    "Use one arm for the medium bottle with orange lid and the other for the plastic bottle with bright red color.",
+    "Hold the smooth plastic bottle in one arm, catch the smooth red cylindrical bottle with the other arm.",
+    "Catch the smooth plastic bottle, then grab the plastic bottle too.",
+    "Pick up the medium bottle with orange lid and then pick up the handheld plastic bottle.",
+    "Grab the plastic bottle using one arm and the medium-size plastic bottle using the other.",
+    "Lift both bottles, the bottle with orange cap with one arm, the red bottle with white bottom text with the other.",
+    "Secure the drinking bottle with yellow label and the bottle with red cap in succession.",
+    "With both arms, pick up the medium bottle with orange lid, then the red bottle with curved grooves.",
+    "Catch the orange bottle, then catch the plastic bottle.",
+    "Hold the smooth plastic bottle in one arm, the red bottle with white bottom text in the other.",
+    "Lift the bottle with orange cap and the handheld plastic bottle with separate arms.",
+    "Hold onto the bottle with orange cap, then pick up the red bottle with white bottom text.",
+    "Catch the medium orange bottle with one arm, the bottle with red cap with another arm.",
+    "Pick up both the bottle with ribbed orange bottom and the handheld plastic bottle together.",
+    "Grab the yellow label bottle using an arm and the red bottle with curved grooves with the other arm.",
+    "Catch the orange and white bottle with cap in one arm and the bottle with red cap in the other arm.",
+    "Catch both the drinking bottle with yellow label and the red bottle with narrow neck quickly.",
+    "With two arms, catch both the plastic bottle and the red bottle with curved grooves.",
+    "Grab the bottle with orange cap and pick up the red bottle with white bottom text.",
+    "Grab the orange bottle with one arm, the red bottle with narrow neck with the other.",
+    "Pick both the orange bottle and the smooth red cylindrical bottle one after another.",
+    "Lift both the plastic bottle and the bottle with red cap simultaneously.",
+    "Pick up the orange bottle, then pick up the red bottle with white bottom text.",
+    "Pick up both the white and orange plastic bottle and the medium-size plastic bottle.",
+    "Use one arm for the orange and white bottle with cap, the other for the red bottle with narrow neck.",
+    "Each arm should pick up one: the drinking bottle with yellow label, then the bottle with red cap.",
+    "Assign one arm to catch the medium orange bottle, one for the plastic bottle.",
+    "Grasp the orange bottle first, then take the bottle with red cap.",
+    "Hold the orange and white bottle with cap with one arm, hold the handheld plastic bottle with the other.",
+    "Grab the cylindrical orange and white bottle with one arm, the plastic bottle with bright red color with the other.",
+    "Secure both the smooth plastic bottle and the red bottle with narrow neck quickly.",
+    "One arm grabs the bottle with orange cap; the other arm grabs the red bottle.",
+    "Grab and hold the medium bottle with orange lid, then grab the bottle with red cap.",
+    "Use each arm to lift the cylindrical orange and white bottle and the red bottle with screw cap.",
+    "Assign one arm to each of the plastic bottle and the yellow text bottle.",
+    "Secure the orange and white bottle with cap, then secure the bottle with red cap.",
+    "Hold onto the medium bottle with orange lid and then get the plastic bottle.",
+    "Use both arms to pick up the yellow label bottle and the red bottle with narrow neck.",
+    "Use one arm for the medium bottle with orange lid, another for the red bottle with narrow neck.",
+    "Collect the drinking bottle with yellow label, then pick up the red bottle.",
+    "Hold both the medium orange bottle and the red bottle.",
+    "Lift the bottle with orange cap, continue and pick up the yellow text bottle.",
+    "Take hold of the white and orange plastic bottle and the red bottle with curved grooves.",
+    "Lift the cylindrical orange and white bottle and also take hold of the red bottle with curved grooves.",
+    "Use both arms to pick up the medium bottle with orange lid and the bottle with red cap.",
+    "Let each arm grab either the bottle with ribbed orange bottom or the handheld plastic bottle.",
+    "Use both arms to lift the plastic bottle and the yellow text bottle.",
+    "Catch the smooth plastic bottle, grab the medium-size plastic bottle next.",
+    "Catch the bottle with ribbed orange bottom, then take hold of the plastic bottle with bright red color.",
+    "Grab the drinking bottle with yellow label, pick up the plastic bottle.",
+    "Use one arm for the medium bottle with orange lid and the other for the red bottle with curved grooves.",
+    "Hold the bottle with orange cap in one arm, catch the plastic bottle with the other arm.",
+    "Catch the smooth plastic bottle, then grab the plastic bottle with bright red color too.",
+    "Pick up the orange bottle and then pick up the bottle with red cap.",
+    "Grab the medium orange bottle using one arm and the red bottle using the other.",
+    "Lift both bottles, the bottle with orange cap with one arm, the red bottle with curved grooves with the other.",
+    "Secure the smooth plastic bottle and the bottle with red cap in succession.",
+    "With both arms, pick up the yellow label bottle, then the plastic bottle."
+  ],
+  "unseen": [
+    "Pick up the bottle with yellow sticker label and the bottle with white and yellow label together.",
+    "Lift the curvy orange bottle with white section using one arm and lift the shiny red bottle using the other.",
+    "Use each arm to grab the bottle with curved body and the bottle with yellow Chinese characters.",
+    "Pick up the bottle with curved body with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Pick up the bottle with yellow sticker label and take the shiny red bottle together.",
+    "Grab the bottle with yellow sticker label and grab the bottle with white and yellow label at once.",
+    "Grab the curvy orange bottle with white section and the bottle with white and yellow label at the same time.",
+    "Pick up both the bottle with curved body and the bottle with white and yellow label together.",
+    "Grab the bottle with yellow sticker label with one arm, grab the bottle with white and yellow label with the other.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the shiny red bottle.",
+    "Pick up the bottle with curved body and the bottle with white and yellow label together.",
+    "Lift the bottle with yellow sticker label using one arm and lift the bottle with yellow Chinese characters using the other.",
+    "Use each arm to grab the curvy orange bottle with white section and the shiny red bottle.",
+    "Pick up the bottle with curved body with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Pick up the bottle with curved body and take the bottle with white and yellow label together.",
+    "Grab the bottle with curved body and grab the shiny red bottle at once.",
+    "Grab the curvy orange bottle with white section and the shiny red bottle at the same time.",
+    "Pick up both the bottle with yellow sticker label and the shiny red bottle together.",
+    "Grab the curvy orange bottle with white section with one arm, grab the bottle with white and yellow label with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the shiny red bottle.",
+    "Pick up the curvy orange bottle with white section and the shiny red bottle together.",
+    "Lift the curvy orange bottle with white section using one arm and lift the bottle with white and yellow label using the other.",
+    "Use each arm to grab the bottle with yellow sticker label and the bottle with yellow Chinese characters.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Pick up the bottle with yellow sticker label and take the bottle with white and yellow label together.",
+    "Grab the bottle with yellow sticker label and grab the bottle with white and yellow label at once.",
+    "Grab the curvy orange bottle with white section and the shiny red bottle at the same time.",
+    "Pick up both the bottle with yellow sticker label and the bottle with white and yellow label together.",
+    "Grab the curvy orange bottle with white section with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the bottle with yellow Chinese characters.",
+    "Pick up the bottle with curved body and the bottle with yellow Chinese characters together.",
+    "Lift the bottle with yellow sticker label using one arm and lift the bottle with yellow Chinese characters using the other.",
+    "Use each arm to grab the curvy orange bottle with white section and the bottle with yellow Chinese characters.",
+    "Pick up the bottle with curved body with one arm, grab the bottle with white and yellow label with the other.",
+    "Pick up the curvy orange bottle with white section and take the bottle with white and yellow label together.",
+    "Grab the curvy orange bottle with white section and grab the bottle with white and yellow label at once.",
+    "Grab the bottle with yellow sticker label and the bottle with yellow Chinese characters at the same time.",
+    "Pick up both the bottle with yellow sticker label and the shiny red bottle together.",
+    "Grab the bottle with curved body with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Use each arm to lift a bottle: the curvy orange bottle with white section, then the bottle with white and yellow label.",
+    "Pick up the curvy orange bottle with white section and the shiny red bottle together.",
+    "Lift the bottle with yellow sticker label using one arm and lift the shiny red bottle using the other.",
+    "Use each arm to grab the bottle with yellow sticker label and the bottle with white and yellow label.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the bottle with white and yellow label with the other.",
+    "Pick up the curvy orange bottle with white section and take the shiny red bottle together.",
+    "Grab the curvy orange bottle with white section and grab the shiny red bottle at once.",
+    "Grab the curvy orange bottle with white section and the shiny red bottle at the same time.",
+    "Pick up both the bottle with curved body and the shiny red bottle together.",
+    "Grab the bottle with yellow sticker label with one arm, grab the shiny red bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the shiny red bottle.",
+    "Pick up the bottle with yellow sticker label and the shiny red bottle together.",
+    "Lift the bottle with curved body using one arm and lift the bottle with yellow Chinese characters using the other.",
+    "Use each arm to grab the bottle with yellow sticker label and the shiny red bottle.",
+    "Pick up the curvy orange bottle with white section with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Pick up the bottle with curved body and take the shiny red bottle together.",
+    "Grab the curvy orange bottle with white section and grab the bottle with white and yellow label at once.",
+    "Grab the curvy orange bottle with white section and the shiny red bottle at the same time.",
+    "Pick up both the bottle with yellow sticker label and the bottle with white and yellow label together.",
+    "Grab the bottle with yellow sticker label with one arm, grab the bottle with white and yellow label with the other.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the shiny red bottle.",
+    "Pick up the bottle with curved body and the shiny red bottle together.",
+    "Lift the curvy orange bottle with white section using one arm and lift the shiny red bottle using the other.",
+    "Use each arm to grab the bottle with curved body and the shiny red bottle.",
+    "Pick up the curvy orange bottle with white section with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Pick up the curvy orange bottle with white section and take the bottle with yellow Chinese characters together.",
+    "Grab the bottle with yellow sticker label and grab the bottle with white and yellow label at once.",
+    "Grab the curvy orange bottle with white section and the bottle with yellow Chinese characters at the same time.",
+    "Pick up both the bottle with curved body and the bottle with white and yellow label together.",
+    "Grab the curvy orange bottle with white section with one arm, grab the bottle with white and yellow label with the other.",
+    "Use each arm to lift a bottle: the curvy orange bottle with white section, then the bottle with yellow Chinese characters.",
+    "Pick up the curvy orange bottle with white section and the shiny red bottle together.",
+    "Lift the bottle with yellow sticker label using one arm and lift the shiny red bottle using the other.",
+    "Use each arm to grab the bottle with yellow sticker label and the bottle with white and yellow label.",
+    "Pick up the bottle with curved body with one arm, grab the bottle with white and yellow label with the other.",
+    "Pick up the curvy orange bottle with white section and take the bottle with yellow Chinese characters together.",
+    "Grab the bottle with yellow sticker label and grab the shiny red bottle at once.",
+    "Grab the bottle with curved body and the bottle with yellow Chinese characters at the same time.",
+    "Pick up both the bottle with curved body and the shiny red bottle together.",
+    "Grab the bottle with yellow sticker label with one arm, grab the bottle with white and yellow label with the other.",
+    "Use each arm to lift a bottle: the curvy orange bottle with white section, then the shiny red bottle.",
+    "Pick up the bottle with yellow sticker label and the bottle with white and yellow label together.",
+    "Lift the bottle with yellow sticker label using one arm and lift the shiny red bottle using the other.",
+    "Use each arm to grab the bottle with yellow sticker label and the bottle with white and yellow label.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the shiny red bottle with the other.",
+    "Pick up the curvy orange bottle with white section and take the bottle with white and yellow label together.",
+    "Grab the bottle with curved body and grab the shiny red bottle at once.",
+    "Grab the bottle with curved body and the bottle with white and yellow label at the same time.",
+    "Pick up both the bottle with yellow sticker label and the bottle with white and yellow label together.",
+    "Grab the curvy orange bottle with white section with one arm, grab the shiny red bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the bottle with yellow Chinese characters.",
+    "Pick up the bottle with curved body and the shiny red bottle together.",
+    "Lift the bottle with curved body using one arm and lift the shiny red bottle using the other.",
+    "Use each arm to grab the bottle with yellow sticker label and the bottle with white and yellow label.",
+    "Pick up the bottle with curved body with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Pick up the curvy orange bottle with white section and take the shiny red bottle together.",
+    "Grab the bottle with yellow sticker label and grab the bottle with yellow Chinese characters at once.",
+    "Grab the curvy orange bottle with white section and the bottle with yellow Chinese characters at the same time.",
+    "Pick up both the bottle with curved body and the bottle with yellow Chinese characters together.",
+    "Grab the curvy orange bottle with white section with one arm, grab the shiny red bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the bottle with yellow Chinese characters."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001224.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Assign one arm to each of the curved orange soda bottle and the round-bottom bottle with white cap.",
+    "Secure the cylindrical orange plastic bottle and the medium bottle with colorful label in succession.",
+    "With two arms, catch both the grooved orange drink bottle and the orange bottle.",
+    "Take hold of the plastic bottle and the orange drink bottle with label.",
+    "Hold onto the grooved orange drink bottle and then get the round-bottom bottle with white cap.",
+    "Use one arm for the curved orange soda bottle, the other for the plastic bottle.",
+    "Grab the orange drink bottle with label using one arm and the orange drink bottle with label using the other.",
+    "Catch the ridged orange bottle with grooves in one arm and the light and medium-sized bottle in the other arm.",
+    "Hold the smooth orange bottle in one arm, catch the plastic bottle with the other arm.",
+    "Lift both the orange drink bottle with label and the ridged orange bottle with grooves simultaneously.",
+    "Use one arm for the light and medium-sized bottle, another for the bottle for holding drinks.",
+    "Use both arms to lift the orange bottle and the round-bottom bottle with white cap.",
+    "Hold the curved orange soda bottle in one arm, the smooth orange bottle in the other.",
+    "Catch the orange drink bottle with label, grab the curved orange soda bottle next.",
+    "Catch the smooth orange bottle, then catch the round-bottom bottle with white cap.",
+    "Catch the medium bottle with colorful label, then take hold of the round-bottom bottle with white cap.",
+    "With both arms, pick up the ridged orange bottle with grooves, then the cylindrical orange plastic bottle.",
+    "Grab the curved orange soda bottle, pick up the orange drink bottle with label.",
+    "Pick both the round-bottom bottle with white cap and the ridged orange bottle with grooves one after another.",
+    "Pick up the curved orange soda bottle, then pick up the light and medium-sized bottle.",
+    "Pick up the medium bottle with colorful label and then pick up the bottle for holding drinks.",
+    "Catch the cylindrical orange plastic bottle, then grab the medium bottle with colorful label too.",
+    "Grab the light and medium-sized bottle with one arm, the curved orange soda bottle with the other.",
+    "Lift the round-bottom bottle with white cap and the orange drink bottle with label with separate arms.",
+    "Use one arm for the light and medium-sized bottle and the other for the smooth orange bottle.",
+    "Pick up both the round-bottom bottle with white cap and the plastic bottle.",
+    "Collect the orange bottle, then pick up the light and medium-sized bottle.",
+    "Hold onto the round-bottom bottle with white cap, then pick up the plastic bottle.",
+    "Grab and hold the ridged orange bottle with grooves, then grab the orange bottle.",
+    "Hold the grooved orange drink bottle with one arm, hold the smooth orange bottle with the other.",
+    "Catch the round-bottom bottle with white cap with one arm, the smooth orange bottle with another arm.",
+    "Assign one arm to catch the orange drink bottle with label, one for the smooth orange bottle.",
+    "Use both arms to pick up the smooth orange bottle and the curved orange soda bottle.",
+    "Secure both the medium bottle with colorful label and the medium bottle with colorful label quickly.",
+    "Secure the plastic bottle, then secure the medium bottle with colorful label.",
+    "Pick up both the grooved orange drink bottle and the medium bottle with colorful label together.",
+    "Lift the smooth orange bottle and also take hold of the orange bottle.",
+    "Catch both the orange bottle and the bottle for holding drinks quickly.",
+    "Use both arms to pick up the round-bottom bottle with white cap and the curved orange soda bottle.",
+    "Grasp the ridged orange bottle with grooves first, then take the round-bottom bottle with white cap.",
+    "Lift the ridged orange bottle with grooves, continue and pick up the orange drink bottle with label.",
+    "One arm grabs the round-bottom bottle with white cap; the other arm grabs the curved orange soda bottle.",
+    "Hold both the cylindrical orange plastic bottle and the light and medium-sized bottle.",
+    "Use each arm to lift the plastic bottle and the medium bottle with colorful label.",
+    "Grab the orange bottle with one arm, the orange bottle with the other.",
+    "Each arm should pick up one: the orange bottle, then the curved orange soda bottle.",
+    "Lift both bottles, the curved orange soda bottle with one arm, the ridged orange bottle with grooves with the other.",
+    "Let each arm grab either the curved orange soda bottle or the ridged orange bottle with grooves.",
+    "Grab the bottle for holding drinks using an arm and the plastic bottle with the other arm.",
+    "Grab the light and medium-sized bottle and pick up the light and medium-sized bottle.",
+    "Assign one arm to each of the medium bottle with colorful label and the medium bottle with colorful label.",
+    "Secure the bottle for holding drinks and the grooved orange drink bottle in succession.",
+    "With two arms, catch both the curved orange soda bottle and the medium bottle with colorful label.",
+    "Take hold of the light and medium-sized bottle and the curved orange soda bottle.",
+    "Hold onto the light and medium-sized bottle and then get the round-bottom bottle with white cap.",
+    "Use one arm for the grooved orange drink bottle, the other for the medium bottle with colorful label.",
+    "Grab the medium bottle with colorful label using one arm and the orange drink bottle with label using the other.",
+    "Catch the medium bottle with colorful label in one arm and the grooved orange drink bottle in the other arm.",
+    "Hold the ridged orange bottle with grooves in one arm, catch the bottle for holding drinks with the other arm.",
+    "Lift both the ridged orange bottle with grooves and the orange drink bottle with label simultaneously.",
+    "Use one arm for the round-bottom bottle with white cap, another for the orange drink bottle with label.",
+    "Use both arms to lift the smooth orange bottle and the curved orange soda bottle.",
+    "Hold the round-bottom bottle with white cap in one arm, the orange bottle in the other.",
+    "Catch the smooth orange bottle, grab the curved orange soda bottle next.",
+    "Catch the smooth orange bottle, then catch the light and medium-sized bottle.",
+    "Catch the round-bottom bottle with white cap, then take hold of the smooth orange bottle.",
+    "With both arms, pick up the smooth orange bottle, then the round-bottom bottle with white cap.",
+    "Grab the bottle for holding drinks, pick up the orange drink bottle with label.",
+    "Pick both the cylindrical orange plastic bottle and the bottle for holding drinks one after another.",
+    "Pick up the grooved orange drink bottle, then pick up the light and medium-sized bottle.",
+    "Pick up the plastic bottle and then pick up the plastic bottle.",
+    "Catch the bottle for holding drinks, then grab the cylindrical orange plastic bottle too.",
+    "Grab the curved orange soda bottle with one arm, the light and medium-sized bottle with the other.",
+    "Lift the round-bottom bottle with white cap and the round-bottom bottle with white cap with separate arms.",
+    "Use one arm for the orange bottle and the other for the round-bottom bottle with white cap.",
+    "Pick up both the medium bottle with colorful label and the bottle for holding drinks.",
+    "Collect the cylindrical orange plastic bottle, then pick up the orange drink bottle with label.",
+    "Hold onto the round-bottom bottle with white cap, then pick up the smooth orange bottle.",
+    "Grab and hold the grooved orange drink bottle, then grab the light and medium-sized bottle.",
+    "Hold the smooth orange bottle with one arm, hold the bottle for holding drinks with the other.",
+    "Catch the plastic bottle with one arm, the smooth orange bottle with another arm.",
+    "Assign one arm to catch the plastic bottle, one for the light and medium-sized bottle.",
+    "Use both arms to pick up the smooth orange bottle and the round-bottom bottle with white cap.",
+    "Secure both the bottle for holding drinks and the curved orange soda bottle quickly.",
+    "Secure the curved orange soda bottle, then secure the grooved orange drink bottle.",
+    "Pick up both the light and medium-sized bottle and the light and medium-sized bottle together.",
+    "Lift the medium bottle with colorful label and also take hold of the medium bottle with colorful label.",
+    "Catch both the light and medium-sized bottle and the orange bottle quickly.",
+    "Use both arms to pick up the light and medium-sized bottle and the light and medium-sized bottle.",
+    "Grasp the orange drink bottle with label first, then take the grooved orange drink bottle.",
+    "Lift the smooth orange bottle, continue and pick up the round-bottom bottle with white cap.",
+    "One arm grabs the orange bottle; the other arm grabs the smooth orange bottle.",
+    "Hold both the orange drink bottle with label and the smooth orange bottle.",
+    "Use each arm to lift the smooth orange bottle and the cylindrical orange plastic bottle.",
+    "Grab the plastic bottle with one arm, the curved orange soda bottle with the other.",
+    "Each arm should pick up one: the round-bottom bottle with white cap, then the medium bottle with colorful label.",
+    "Lift both bottles, the medium bottle with colorful label with one arm, the orange drink bottle with label with the other.",
+    "Let each arm grab either the orange bottle or the grooved orange drink bottle.",
+    "Grab the bottle for holding drinks using an arm and the light and medium-sized bottle with the other arm.",
+    "Grab the ridged orange bottle with grooves and pick up the smooth orange bottle."
+  ],
+  "unseen": [
+    "Pick up the bottle with ridged orange grip with one arm, grab the bottle with white cap with the other.",
+    "Pick up the bottle with ridged orange grip and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the bottle with ridged orange grip, then the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap and the white capped orange plastic bottle together.",
+    "Grab the bottle with ridged orange grip with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the white capped orange plastic bottle and grab the bottle with white cap at once.",
+    "Lift the bottle with white cap using one arm and lift the white capped orange plastic bottle using the other.",
+    "Use each arm to grab the bottle with ridged orange grip and the bottle with ridged orange grip.",
+    "Grab the bottle with white cap and the bottle with ridged orange grip at the same time.",
+    "Pick up both the bottle with ridged orange grip and the white capped orange plastic bottle together.",
+    "Pick up the white capped orange plastic bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the bottle with white cap and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the bottle with ridged orange grip, then the bottle with white cap.",
+    "Pick up the white capped orange plastic bottle and the bottle with ridged orange grip together.",
+    "Grab the bottle with white cap with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the bottle with ridged orange grip and grab the white capped orange plastic bottle at once.",
+    "Lift the bottle with ridged orange grip using one arm and lift the bottle with white cap using the other.",
+    "Use each arm to grab the bottle with white cap and the bottle with ridged orange grip.",
+    "Grab the white capped orange plastic bottle and the bottle with ridged orange grip at the same time.",
+    "Pick up both the bottle with ridged orange grip and the bottle with white cap together.",
+    "Pick up the bottle with ridged orange grip with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the white capped orange plastic bottle and take the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the white capped orange plastic bottle, then the bottle with white cap.",
+    "Pick up the bottle with white cap and the white capped orange plastic bottle together.",
+    "Grab the white capped orange plastic bottle with one arm, grab the bottle with white cap with the other.",
+    "Grab the bottle with white cap and grab the white capped orange plastic bottle at once.",
+    "Lift the white capped orange plastic bottle using one arm and lift the bottle with ridged orange grip using the other.",
+    "Use each arm to grab the bottle with white cap and the bottle with white cap.",
+    "Grab the white capped orange plastic bottle and the bottle with ridged orange grip at the same time.",
+    "Pick up both the bottle with ridged orange grip and the white capped orange plastic bottle together.",
+    "Pick up the white capped orange plastic bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the bottle with white cap and take the white capped orange plastic bottle together.",
+    "Use each arm to lift a bottle: the bottle with white cap, then the bottle with ridged orange grip.",
+    "Pick up the bottle with ridged orange grip and the bottle with white cap together.",
+    "Grab the white capped orange plastic bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the white capped orange plastic bottle and grab the white capped orange plastic bottle at once.",
+    "Lift the white capped orange plastic bottle using one arm and lift the bottle with ridged orange grip using the other.",
+    "Use each arm to grab the white capped orange plastic bottle and the bottle with white cap.",
+    "Grab the white capped orange plastic bottle and the bottle with white cap at the same time.",
+    "Pick up both the bottle with ridged orange grip and the bottle with white cap together.",
+    "Pick up the bottle with ridged orange grip with one arm, grab the bottle with white cap with the other.",
+    "Pick up the bottle with ridged orange grip and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the bottle with ridged orange grip, then the white capped orange plastic bottle.",
+    "Pick up the bottle with ridged orange grip and the bottle with white cap together.",
+    "Grab the white capped orange plastic bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the bottle with white cap and grab the bottle with ridged orange grip at once.",
+    "Lift the bottle with ridged orange grip using one arm and lift the white capped orange plastic bottle using the other.",
+    "Use each arm to grab the bottle with white cap and the white capped orange plastic bottle.",
+    "Grab the white capped orange plastic bottle and the bottle with ridged orange grip at the same time.",
+    "Pick up both the bottle with white cap and the bottle with white cap together.",
+    "Pick up the bottle with ridged orange grip with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the bottle with ridged orange grip and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the white capped orange plastic bottle, then the bottle with white cap.",
+    "Pick up the bottle with white cap and the bottle with ridged orange grip together.",
+    "Grab the bottle with ridged orange grip with one arm, grab the bottle with white cap with the other.",
+    "Grab the white capped orange plastic bottle and grab the white capped orange plastic bottle at once.",
+    "Lift the white capped orange plastic bottle using one arm and lift the bottle with ridged orange grip using the other.",
+    "Use each arm to grab the bottle with white cap and the bottle with white cap.",
+    "Grab the white capped orange plastic bottle and the bottle with white cap at the same time.",
+    "Pick up both the white capped orange plastic bottle and the bottle with white cap together.",
+    "Pick up the bottle with ridged orange grip with one arm, grab the bottle with white cap with the other.",
+    "Pick up the white capped orange plastic bottle and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the white capped orange plastic bottle, then the white capped orange plastic bottle.",
+    "Pick up the bottle with ridged orange grip and the white capped orange plastic bottle together.",
+    "Grab the bottle with white cap with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the white capped orange plastic bottle and grab the bottle with white cap at once.",
+    "Lift the white capped orange plastic bottle using one arm and lift the bottle with white cap using the other.",
+    "Use each arm to grab the bottle with white cap and the bottle with ridged orange grip.",
+    "Grab the bottle with white cap and the white capped orange plastic bottle at the same time.",
+    "Pick up both the bottle with ridged orange grip and the bottle with ridged orange grip together.",
+    "Pick up the white capped orange plastic bottle with one arm, grab the bottle with white cap with the other.",
+    "Pick up the white capped orange plastic bottle and take the bottle with ridged orange grip together.",
+    "Use each arm to lift a bottle: the bottle with white cap, then the bottle with white cap.",
+    "Pick up the bottle with white cap and the bottle with ridged orange grip together.",
+    "Grab the bottle with ridged orange grip with one arm, grab the bottle with white cap with the other.",
+    "Grab the white capped orange plastic bottle and grab the white capped orange plastic bottle at once.",
+    "Lift the bottle with white cap using one arm and lift the bottle with ridged orange grip using the other.",
+    "Use each arm to grab the bottle with ridged orange grip and the white capped orange plastic bottle.",
+    "Grab the bottle with ridged orange grip and the white capped orange plastic bottle at the same time.",
+    "Pick up both the bottle with ridged orange grip and the bottle with white cap together.",
+    "Pick up the white capped orange plastic bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the bottle with ridged orange grip and take the bottle with white cap together.",
+    "Use each arm to lift a bottle: the white capped orange plastic bottle, then the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap and the bottle with ridged orange grip together.",
+    "Grab the bottle with white cap with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the bottle with white cap and grab the white capped orange plastic bottle at once.",
+    "Lift the bottle with white cap using one arm and lift the bottle with white cap using the other.",
+    "Use each arm to grab the bottle with white cap and the bottle with ridged orange grip.",
+    "Grab the white capped orange plastic bottle and the bottle with white cap at the same time.",
+    "Pick up both the bottle with ridged orange grip and the bottle with ridged orange grip together.",
+    "Pick up the bottle with white cap with one arm, grab the bottle with white cap with the other.",
+    "Pick up the bottle with ridged orange grip and take the bottle with white cap together.",
+    "Use each arm to lift a bottle: the bottle with white cap, then the bottle with ridged orange grip.",
+    "Pick up the bottle with ridged orange grip and the white capped orange plastic bottle together.",
+    "Grab the bottle with white cap with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the white capped orange plastic bottle and grab the white capped orange plastic bottle at once.",
+    "Lift the bottle with ridged orange grip using one arm and lift the bottle with ridged orange grip using the other.",
+    "Use each arm to grab the bottle with ridged orange grip and the bottle with ridged orange grip.",
+    "Grab the bottle with ridged orange grip and the white capped orange plastic bottle at the same time.",
+    "Pick up both the bottle with ridged orange grip and the bottle with white cap together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001226.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the small bottle with bright yellow lid and then pick up the medium bottle with colorful label.",
+    "Catch the bottle with yellow cap in one arm and the round-bottom bottle with white cap in the other arm.",
+    "Lift both the yellow-capped orange plastic bottle and the cylindrical orange plastic bottle simultaneously.",
+    "Catch the rounded bottom orange plastic bottle, grab the plastic bottle next.",
+    "Grab the small bottle with bright yellow lid using an arm and the plastic bottle with the other arm.",
+    "Lift the yellow-capped orange plastic bottle and also take hold of the medium bottle with colorful label.",
+    "One arm grabs the smooth orange cylindrical bottle; the other arm grabs the smooth orange bottle.",
+    "With two arms, catch both the yellow-capped bottle for beverages and the smooth orange bottle.",
+    "Hold onto the cylindrical orange bottle with smooth surface and then get the ridged orange bottle with grooves.",
+    "Lift the orange bottle, continue and pick up the plastic bottle.",
+    "Let each arm grab either the smooth orange cylindrical bottle or the round-bottom bottle with white cap.",
+    "Take hold of the handheld medium-sized liquid bottle and the light and medium-sized bottle.",
+    "Assign one arm to catch the yellow-capped orange plastic bottle, one for the smooth orange bottle.",
+    "Pick up both the smooth orange cylindrical bottle and the cylindrical orange plastic bottle together.",
+    "Hold the liquid container with orange body in one arm, the grooved orange drink bottle in the other.",
+    "Grab the small bottle with bright yellow lid with one arm, the orange bottle with the other.",
+    "Hold onto the yellow-capped orange plastic bottle, then pick up the light and medium-sized bottle.",
+    "Lift both bottles, the rounded bottom orange plastic bottle with one arm, the plastic bottle with the other.",
+    "Pick up both the liquid container with orange body and the smooth orange bottle.",
+    "Use one arm for the orange bottle with bold labeling, the other for the grooved orange drink bottle.",
+    "Hold both the orange bottle with bold labeling and the orange bottle.",
+    "Lift the orange bottle and the light and medium-sized bottle with separate arms.",
+    "Catch both the yellow-capped orange plastic bottle and the light and medium-sized bottle quickly.",
+    "Secure the smooth orange cylindrical bottle, then secure the medium bottle with colorful label.",
+    "Secure the yellow-capped orange plastic bottle and the bottle for holding drinks in succession.",
+    "Grab the yellow-capped bottle for beverages using one arm and the plastic bottle using the other.",
+    "Collect the handheld medium-sized liquid bottle, then pick up the plastic bottle.",
+    "Catch the rounded orange bottle with yellow top, then take hold of the bottle for holding drinks.",
+    "Pick both the orange bottle with bold labeling and the light and medium-sized bottle one after another.",
+    "Grab the handheld medium-sized liquid bottle, pick up the orange drink bottle with label.",
+    "Grab the yellow-capped orange plastic bottle and pick up the bottle for holding drinks.",
+    "Use one arm for the cylindrical orange bottle with smooth surface, another for the orange bottle.",
+    "Catch the rounded orange bottle with yellow top, then catch the orange drink bottle with label.",
+    "Use both arms to pick up the rounded bottom orange plastic bottle and the round-bottom bottle with white cap.",
+    "Assign one arm to each of the orange bottle with bold labeling and the plastic bottle.",
+    "Grasp the rounded bottom orange plastic bottle first, then take the medium bottle with colorful label.",
+    "Catch the small bottle with bright yellow lid, then grab the grooved orange drink bottle too.",
+    "Grab the smooth orange cylindrical bottle with one arm, the medium bottle with colorful label with the other.",
+    "Catch the orange bottle with bold labeling with one arm, the round-bottom bottle with white cap with another arm.",
+    "Use both arms to pick up the cylindrical orange bottle with smooth surface and the curved orange soda bottle.",
+    "Each arm should pick up one: the liquid container with orange body, then the light and medium-sized bottle.",
+    "Use both arms to lift the cylindrical orange bottle with smooth surface and the ridged orange bottle with grooves.",
+    "Use one arm for the rounded bottom orange plastic bottle and the other for the light and medium-sized bottle.",
+    "Hold the cylindrical orange bottle with smooth surface in one arm, catch the curved orange soda bottle with the other arm.",
+    "Secure both the cylindrical orange bottle with smooth surface and the orange bottle quickly.",
+    "With both arms, pick up the orange bottle with bold labeling, then the light and medium-sized bottle.",
+    "Hold the smooth orange cylindrical bottle with one arm, hold the grooved orange drink bottle with the other.",
+    "Pick up the handheld medium-sized liquid bottle, then pick up the round-bottom bottle with white cap.",
+    "Use each arm to lift the small bottle with bright yellow lid and the cylindrical orange plastic bottle.",
+    "Grab and hold the bottle with yellow cap, then grab the round-bottom bottle with white cap.",
+    "Pick up the handheld medium-sized liquid bottle and then pick up the orange bottle.",
+    "Catch the smooth orange cylindrical bottle in one arm and the orange drink bottle with label in the other arm.",
+    "Lift both the yellow-capped bottle for beverages and the orange bottle simultaneously.",
+    "Catch the orange bottle with bold labeling, grab the orange drink bottle with label next.",
+    "Grab the yellow-capped bottle for beverages using an arm and the cylindrical orange plastic bottle with the other arm.",
+    "Lift the smooth orange cylindrical bottle and also take hold of the grooved orange drink bottle.",
+    "One arm grabs the small bottle with bright yellow lid; the other arm grabs the ridged orange bottle with grooves.",
+    "With two arms, catch both the rounded orange bottle with yellow top and the orange bottle.",
+    "Hold onto the liquid container with orange body and then get the plastic bottle.",
+    "Lift the bottle with yellow cap, continue and pick up the round-bottom bottle with white cap.",
+    "Let each arm grab either the orange bottle with bold labeling or the medium bottle with colorful label.",
+    "Take hold of the small bottle with bright yellow lid and the curved orange soda bottle.",
+    "Assign one arm to catch the bottle with yellow cap, one for the light and medium-sized bottle.",
+    "Pick up both the orange bottle with bold labeling and the ridged orange bottle with grooves together.",
+    "Hold the orange bottle with bold labeling in one arm, the light and medium-sized bottle in the other.",
+    "Grab the cylindrical orange bottle with smooth surface with one arm, the plastic bottle with the other.",
+    "Hold onto the orange bottle, then pick up the light and medium-sized bottle.",
+    "Lift both bottles, the orange bottle with bold labeling with one arm, the round-bottom bottle with white cap with the other.",
+    "Pick up both the yellow-capped orange plastic bottle and the ridged orange bottle with grooves.",
+    "Use one arm for the yellow-capped bottle for beverages, the other for the curved orange soda bottle.",
+    "Hold both the rounded orange bottle with yellow top and the orange bottle.",
+    "Lift the rounded bottom orange plastic bottle and the cylindrical orange plastic bottle with separate arms.",
+    "Catch both the rounded bottom orange plastic bottle and the plastic bottle quickly.",
+    "Secure the cylindrical orange bottle with smooth surface, then secure the curved orange soda bottle.",
+    "Secure the smooth orange cylindrical bottle and the orange bottle in succession.",
+    "Grab the handheld medium-sized liquid bottle using one arm and the bottle for holding drinks using the other.",
+    "Collect the rounded orange bottle with yellow top, then pick up the medium bottle with colorful label.",
+    "Catch the bottle with yellow cap, then take hold of the medium bottle with colorful label.",
+    "Pick both the orange bottle and the round-bottom bottle with white cap one after another.",
+    "Grab the handheld medium-sized liquid bottle, pick up the bottle for holding drinks.",
+    "Grab the yellow-capped bottle for beverages and pick up the curved orange soda bottle.",
+    "Use one arm for the liquid container with orange body, another for the medium bottle with colorful label.",
+    "Catch the small bottle with bright yellow lid, then catch the cylindrical orange plastic bottle.",
+    "Use both arms to pick up the yellow-capped bottle for beverages and the curved orange soda bottle.",
+    "Assign one arm to each of the smooth orange cylindrical bottle and the smooth orange bottle.",
+    "Grasp the handheld medium-sized liquid bottle first, then take the medium bottle with colorful label.",
+    "Catch the rounded bottom orange plastic bottle, then grab the cylindrical orange plastic bottle too.",
+    "Grab the yellow-capped bottle for beverages with one arm, the orange bottle with the other.",
+    "Catch the cylindrical orange bottle with smooth surface with one arm, the light and medium-sized bottle with another arm.",
+    "Use both arms to pick up the yellow-capped bottle for beverages and the bottle for holding drinks.",
+    "Each arm should pick up one: the orange bottle, then the medium bottle with colorful label.",
+    "Use both arms to lift the small bottle with bright yellow lid and the medium bottle with colorful label.",
+    "Use one arm for the yellow-capped bottle for beverages and the other for the smooth orange bottle.",
+    "Hold the orange bottle with bold labeling in one arm, catch the ridged orange bottle with grooves with the other arm.",
+    "Secure both the rounded orange bottle with yellow top and the round-bottom bottle with white cap quickly.",
+    "With both arms, pick up the handheld medium-sized liquid bottle, then the light and medium-sized bottle.",
+    "Hold the rounded bottom orange plastic bottle with one arm, hold the ridged orange bottle with grooves with the other.",
+    "Pick up the liquid container with orange body, then pick up the cylindrical orange plastic bottle.",
+    "Use each arm to lift the yellow-capped bottle for beverages and the light and medium-sized bottle.",
+    "Grab and hold the yellow-capped bottle for beverages, then grab the grooved orange drink bottle."
+  ],
+  "unseen": [
+    "Lift the plastic orange bottle with rounded base using one arm and lift the bottle with white cap using the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the medium plastic bottle and the bottle with ridged orange grip together.",
+    "Grab the medium plastic bottle and grab the bottle with white cap at once.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with ridged orange grip.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the white capped orange plastic bottle.",
+    "Grab the medium plastic bottle and the bottle with white cap at the same time.",
+    "Pick up both the medium plastic bottle and the bottle with white cap together.",
+    "Pick up the plastic orange bottle with rounded base and take the white capped orange plastic bottle together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the plastic orange bottle with rounded base and the white capped orange plastic bottle together.",
+    "Grab the medium plastic bottle and grab the bottle with white cap at once.",
+    "Use each arm to grab the medium plastic bottle and the bottle with white cap.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the white capped orange plastic bottle with the other.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the bottle with ridged orange grip.",
+    "Grab the medium bottle for liquids and the white capped orange plastic bottle at the same time.",
+    "Pick up both the medium plastic bottle and the white capped orange plastic bottle together.",
+    "Pick up the plastic orange bottle with rounded base and take the bottle with white cap together.",
+    "Lift the medium plastic bottle using one arm and lift the bottle with white cap using the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the medium bottle for liquids and the bottle with white cap together.",
+    "Grab the medium plastic bottle and grab the white capped orange plastic bottle at once.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with ridged orange grip.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the bottle with white cap.",
+    "Grab the medium bottle for liquids and the bottle with white cap at the same time.",
+    "Pick up both the medium bottle for liquids and the bottle with white cap together.",
+    "Pick up the medium bottle for liquids and take the bottle with white cap together.",
+    "Lift the medium bottle for liquids using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the plastic orange bottle with rounded base and the bottle with white cap together.",
+    "Grab the medium plastic bottle and grab the white capped orange plastic bottle at once.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the white capped orange plastic bottle.",
+    "Grab the medium plastic bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the bottle with ridged orange grip.",
+    "Grab the plastic orange bottle with rounded base and the white capped orange plastic bottle at the same time.",
+    "Pick up both the plastic orange bottle with rounded base and the white capped orange plastic bottle together.",
+    "Pick up the medium plastic bottle and take the white capped orange plastic bottle together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the medium plastic bottle and the bottle with ridged orange grip together.",
+    "Grab the medium bottle for liquids and grab the bottle with ridged orange grip at once.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the white capped orange plastic bottle.",
+    "Grab the medium bottle for liquids with one arm, grab the white capped orange plastic bottle with the other.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the bottle with white cap.",
+    "Grab the medium plastic bottle and the bottle with white cap at the same time.",
+    "Pick up both the medium bottle for liquids and the bottle with ridged orange grip together.",
+    "Pick up the plastic orange bottle with rounded base and take the bottle with white cap together.",
+    "Lift the medium plastic bottle using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the medium plastic bottle with one arm, grab the bottle with white cap with the other.",
+    "Pick up the medium plastic bottle and the bottle with white cap together.",
+    "Grab the plastic orange bottle with rounded base and grab the bottle with white cap at once.",
+    "Use each arm to grab the medium plastic bottle and the white capped orange plastic bottle.",
+    "Grab the medium bottle for liquids with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the bottle with ridged orange grip.",
+    "Grab the medium plastic bottle and the white capped orange plastic bottle at the same time.",
+    "Pick up both the medium plastic bottle and the white capped orange plastic bottle together.",
+    "Pick up the medium plastic bottle and take the bottle with ridged orange grip together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the plastic orange bottle with rounded base and the bottle with white cap together.",
+    "Grab the medium bottle for liquids and grab the bottle with white cap at once.",
+    "Use each arm to grab the medium plastic bottle and the white capped orange plastic bottle.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the white capped orange plastic bottle.",
+    "Grab the plastic orange bottle with rounded base and the bottle with ridged orange grip at the same time.",
+    "Pick up both the medium bottle for liquids and the bottle with ridged orange grip together.",
+    "Pick up the medium bottle for liquids and take the bottle with ridged orange grip together.",
+    "Lift the medium plastic bottle using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the medium plastic bottle with one arm, grab the bottle with white cap with the other.",
+    "Pick up the medium bottle for liquids and the white capped orange plastic bottle together.",
+    "Grab the medium plastic bottle and grab the bottle with ridged orange grip at once.",
+    "Use each arm to grab the medium bottle for liquids and the white capped orange plastic bottle.",
+    "Grab the medium plastic bottle with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the bottle with white cap.",
+    "Grab the plastic orange bottle with rounded base and the bottle with white cap at the same time.",
+    "Pick up both the medium bottle for liquids and the bottle with ridged orange grip together.",
+    "Pick up the medium bottle for liquids and take the bottle with ridged orange grip together.",
+    "Lift the medium plastic bottle using one arm and lift the bottle with white cap using the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the medium bottle for liquids and the white capped orange plastic bottle together.",
+    "Grab the plastic orange bottle with rounded base and grab the bottle with ridged orange grip at once.",
+    "Use each arm to grab the medium bottle for liquids and the bottle with ridged orange grip.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the white capped orange plastic bottle with the other.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the white capped orange plastic bottle.",
+    "Grab the medium bottle for liquids and the white capped orange plastic bottle at the same time.",
+    "Pick up both the medium bottle for liquids and the white capped orange plastic bottle together.",
+    "Pick up the plastic orange bottle with rounded base and take the white capped orange plastic bottle together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the bottle with white cap using the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the medium plastic bottle and the bottle with white cap together.",
+    "Grab the plastic orange bottle with rounded base and grab the white capped orange plastic bottle at once.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the white capped orange plastic bottle.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the bottle with ridged orange grip.",
+    "Grab the medium plastic bottle and the white capped orange plastic bottle at the same time.",
+    "Pick up both the plastic orange bottle with rounded base and the bottle with ridged orange grip together.",
+    "Pick up the medium plastic bottle and take the bottle with ridged orange grip together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001234.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the plastic bottle with one arm, hold the bottle with blue and yellow print with the other.",
+    "Hold the plastic bottle in one arm, the yellow-capped cylindrical bottle in the other.",
+    "Use one arm for the yellow bottle with a green design, another for the black plastic bottle with Pepsi logo.",
+    "Grab and hold the yellow bottle with a green design, then grab the black plastic bottle with Pepsi logo.",
+    "Pick up both the bottle with white cap and the black cylindrical bottle with ridges together.",
+    "One arm grabs the yellow bottle with a green design; the other arm grabs the medium black bottle with printed label.",
+    "Grab the bottle with green and white labels and pick up the black cylindrical bottle with ridges.",
+    "Catch the bottle with a smooth plastic body, grab the medium bottle with yellow cap next.",
+    "Pick both the bottle with white cap and the drink bottle with rounded yellow lid one after another.",
+    "Grab the medium rectangular yellow bottle, pick up the smooth black bottle with ridges.",
+    "Pick up the smooth bottle with rounded edges and then pick up the drink bottle with rounded yellow lid.",
+    "Use one arm for the plastic bottle and the other for the yellow capped drink bottle.",
+    "With two arms, catch both the rectangular bottle with cylindrical neck and the drink bottle with rounded yellow lid.",
+    "Lift both the bottle with green and white labels and the yellow capped drink bottle simultaneously.",
+    "Collect the yellow bottle, then pick up the black plastic bottle with Pepsi logo.",
+    "Hold onto the yellow bottle, then pick up the black plastic bottle with Pepsi logo.",
+    "Pick up the yellow bottle, then pick up the beverage bottle with black body.",
+    "With both arms, pick up the bottle with white cap, then the yellow capped drink bottle.",
+    "Pick up both the bottle with a smooth plastic body and the drink bottle with rounded yellow lid.",
+    "Lift the medium rectangular yellow bottle, continue and pick up the yellow-capped cylindrical bottle.",
+    "Use both arms to pick up the rectangular bottle with cylindrical neck and the bottle with blue and yellow print.",
+    "Catch the plastic bottle, then grab the yellow capped drink bottle too.",
+    "Grab the yellow container with rounded edges with one arm, the yellow capped drink bottle with the other.",
+    "Lift the yellow bottle with a green design and also take hold of the black plastic bottle with Pepsi logo.",
+    "Assign one arm to each of the yellow container with rounded edges and the beverage bottle with black body.",
+    "Lift the yellow bottle with a green design and the yellow-capped cylindrical bottle with separate arms.",
+    "Grab the bottle with a smooth plastic body using an arm and the black bottle with the other arm.",
+    "Secure the yellow plastic bottle with white top, then secure the drink bottle with rounded yellow lid.",
+    "Secure the bottle with green and white labels and the black bottle in succession.",
+    "Hold the yellow bottle with a green design in one arm, catch the plastic bottle with colorful label with the other arm.",
+    "Secure both the bottle with green and white labels and the medium black bottle with printed label quickly.",
+    "Grab the rectangular bottle with cylindrical neck with one arm, the black bottle with the other.",
+    "Use both arms to pick up the bottle with green and white labels and the yellow-capped cylindrical bottle.",
+    "Use each arm to lift the rectangular bottle with cylindrical neck and the yellow capped drink bottle.",
+    "Catch the bottle with white cap, then take hold of the bottle with blue and yellow print.",
+    "Hold onto the yellow container with rounded edges and then get the black plastic bottle with Pepsi logo.",
+    "Grab the bottle with green label using one arm and the black plastic bottle with Pepsi logo using the other.",
+    "Lift both bottles, the rectangular bottle with cylindrical neck with one arm, the beverage bottle with black body with the other.",
+    "Take hold of the rectangular bottle with cylindrical neck and the black bottle.",
+    "Each arm should pick up one: the bottle with white cap, then the smooth black bottle with ridges.",
+    "Grasp the bottle with green label first, then take the medium bottle with yellow cap.",
+    "Hold both the yellow bottle with a green design and the medium black bottle with printed label.",
+    "Catch the bottle with white cap with one arm, the beverage bottle with black body with another arm.",
+    "Let each arm grab either the bottle with white cap or the bottle with blue and yellow print.",
+    "Catch the rectangular bottle with cylindrical neck in one arm and the drink bottle with rounded yellow lid in the other arm.",
+    "Catch both the bottle with white cap and the black bottle quickly.",
+    "Use both arms to lift the yellow container with rounded edges and the plastic bottle with colorful label.",
+    "Assign one arm to catch the bottle with green and white labels, one for the yellow capped drink bottle.",
+    "Catch the yellow container with rounded edges, then catch the medium black bottle with printed label.",
+    "Use one arm for the bottle with a smooth plastic body, the other for the plastic bottle with colorful label.",
+    "Hold the medium rectangular yellow bottle with one arm, hold the smooth black bottle with ridges with the other.",
+    "Hold the medium rectangular yellow bottle in one arm, the beverage bottle with black body in the other.",
+    "Use one arm for the yellow plastic bottle with white top, another for the plastic bottle with colorful label.",
+    "Grab and hold the medium rectangular yellow bottle, then grab the beverage bottle with black body.",
+    "Pick up both the rectangular bottle with cylindrical neck and the drink bottle with rounded yellow lid together.",
+    "One arm grabs the bottle with green and white labels; the other arm grabs the beverage bottle with black body.",
+    "Grab the bottle with white cap and pick up the black bottle.",
+    "Catch the smooth bottle with rounded edges, grab the plastic bottle with colorful label next.",
+    "Pick both the yellow plastic bottle with white top and the black plastic bottle with Pepsi logo one after another.",
+    "Grab the yellow container with rounded edges, pick up the smooth black bottle with ridges.",
+    "Pick up the bottle with green and white labels and then pick up the drink bottle with rounded yellow lid.",
+    "Use one arm for the yellow container with rounded edges and the other for the medium black bottle with printed label.",
+    "With two arms, catch both the rectangular bottle with cylindrical neck and the black bottle.",
+    "Lift both the medium rectangular yellow bottle and the beverage bottle with black body simultaneously.",
+    "Collect the yellow container with rounded edges, then pick up the medium black bottle with printed label.",
+    "Hold onto the yellow bottle, then pick up the black bottle.",
+    "Pick up the bottle with a smooth plastic body, then pick up the drink bottle with rounded yellow lid.",
+    "With both arms, pick up the yellow bottle, then the medium black bottle with printed label.",
+    "Pick up both the yellow container with rounded edges and the yellow-capped cylindrical bottle.",
+    "Lift the rectangular bottle with cylindrical neck, continue and pick up the plastic bottle with colorful label.",
+    "Use both arms to pick up the bottle with green and white labels and the medium black bottle with printed label.",
+    "Catch the smooth bottle with rounded edges, then grab the black plastic bottle with Pepsi logo too.",
+    "Grab the bottle with white cap with one arm, the medium black bottle with printed label with the other.",
+    "Lift the yellow container with rounded edges and also take hold of the medium bottle with yellow cap.",
+    "Assign one arm to each of the yellow bottle with a green design and the black bottle.",
+    "Lift the yellow bottle with a green design and the black plastic bottle with Pepsi logo with separate arms.",
+    "Grab the yellow bottle with a green design using an arm and the black bottle with the other arm.",
+    "Secure the rectangular bottle with cylindrical neck, then secure the black cylindrical bottle with ridges.",
+    "Secure the yellow container with rounded edges and the black plastic bottle with Pepsi logo in succession.",
+    "Hold the bottle with green and white labels in one arm, catch the black bottle with the other arm.",
+    "Secure both the yellow container with rounded edges and the black bottle quickly.",
+    "Grab the bottle with green label with one arm, the smooth black bottle with ridges with the other.",
+    "Use both arms to pick up the rectangular bottle with cylindrical neck and the yellow-capped cylindrical bottle.",
+    "Use each arm to lift the yellow container with rounded edges and the yellow-capped cylindrical bottle.",
+    "Catch the smooth bottle with rounded edges, then take hold of the bottle with blue and yellow print.",
+    "Hold onto the yellow bottle and then get the black plastic bottle with Pepsi logo.",
+    "Grab the plastic bottle using one arm and the black cylindrical bottle with ridges using the other.",
+    "Lift both bottles, the bottle with green and white labels with one arm, the beverage bottle with black body with the other.",
+    "Take hold of the yellow bottle and the black plastic bottle with Pepsi logo.",
+    "Each arm should pick up one: the bottle with green and white labels, then the beverage bottle with black body.",
+    "Grasp the bottle with green label first, then take the black cylindrical bottle with ridges.",
+    "Hold both the yellow plastic bottle with white top and the smooth black bottle with ridges.",
+    "Catch the bottle with white cap with one arm, the beverage bottle with black body with another arm.",
+    "Let each arm grab either the bottle with white cap or the plastic bottle with colorful label.",
+    "Catch the bottle with white cap in one arm and the medium bottle with yellow cap in the other arm.",
+    "Catch both the yellow plastic bottle with white top and the black bottle quickly.",
+    "Use both arms to lift the medium rectangular yellow bottle and the yellow capped drink bottle.",
+    "Assign one arm to catch the bottle with white cap, one for the drink bottle with rounded yellow lid.",
+    "Catch the bottle with white cap, then catch the smooth black bottle with ridges.",
+    "Use one arm for the rectangular bottle with cylindrical neck, the other for the yellow capped drink bottle."
+  ],
+  "unseen": [
+    "Pick up the yellow rectangular bottle and take the hand-sized bottle with ridged bottom together.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Grab the yellow bottle for liquid storage and grab the hand-sized bottle with ridged bottom at once.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the bottle with ridges near base using the other.",
+    "Use each arm to grab the yellow rectangular bottle and the plastic bottle with blue label.",
+    "Grab the hand-sized yellow plastic bottle and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up both the yellow rectangular bottle and the hand-sized bottle with ridged bottom together.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the bottle with ridges near base.",
+    "Grab the hand-sized yellow plastic bottle with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Pick up the hand-sized yellow plastic bottle and the bottle with ridges near base together.",
+    "Pick up the hand-sized yellow plastic bottle and take the plastic bottle with blue label together.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Grab the yellow bottle for liquid storage and grab the hand-sized bottle with ridged bottom at once.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the bottle with ridges near base using the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the bottle with ridges near base.",
+    "Grab the hand-sized yellow plastic bottle and the plastic bottle with blue label at the same time.",
+    "Pick up both the yellow bottle for liquid storage and the bottle with ridges near base together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the hand-sized bottle with ridged bottom.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Pick up the hand-sized yellow plastic bottle and the hand-sized bottle with ridged bottom together.",
+    "Pick up the yellow bottle for liquid storage and take the plastic bottle with blue label together.",
+    "Pick up the hand-sized yellow plastic bottle with one arm, grab the bottle with ridges near base with the other.",
+    "Grab the yellow bottle for liquid storage and grab the hand-sized bottle with ridged bottom at once.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the bottle with ridges near base using the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the bottle with ridges near base.",
+    "Grab the hand-sized yellow plastic bottle and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up both the hand-sized yellow plastic bottle and the hand-sized bottle with ridged bottom together.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the plastic bottle with blue label.",
+    "Grab the hand-sized yellow plastic bottle with one arm, grab the bottle with ridges near base with the other.",
+    "Pick up the yellow rectangular bottle and the hand-sized bottle with ridged bottom together.",
+    "Pick up the hand-sized yellow plastic bottle and take the hand-sized bottle with ridged bottom together.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Grab the yellow bottle for liquid storage and grab the plastic bottle with blue label at once.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the hand-sized bottle with ridged bottom using the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the plastic bottle with blue label.",
+    "Grab the yellow bottle for liquid storage and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up both the yellow rectangular bottle and the plastic bottle with blue label together.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the plastic bottle with blue label.",
+    "Grab the hand-sized yellow plastic bottle with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Pick up the yellow bottle for liquid storage and the plastic bottle with blue label together.",
+    "Pick up the yellow bottle for liquid storage and take the bottle with ridges near base together.",
+    "Pick up the hand-sized yellow plastic bottle with one arm, grab the bottle with ridges near base with the other.",
+    "Grab the hand-sized yellow plastic bottle and grab the bottle with ridges near base at once.",
+    "Lift the yellow rectangular bottle using one arm and lift the bottle with ridges near base using the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the bottle with ridges near base.",
+    "Grab the hand-sized yellow plastic bottle and the plastic bottle with blue label at the same time.",
+    "Pick up both the yellow rectangular bottle and the hand-sized bottle with ridged bottom together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the plastic bottle with blue label.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the plastic bottle with blue label with the other.",
+    "Pick up the hand-sized yellow plastic bottle and the plastic bottle with blue label together.",
+    "Pick up the hand-sized yellow plastic bottle and take the hand-sized bottle with ridged bottom together.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Grab the yellow bottle for liquid storage and grab the hand-sized bottle with ridged bottom at once.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the hand-sized bottle with ridged bottom using the other.",
+    "Use each arm to grab the yellow rectangular bottle and the bottle with ridges near base.",
+    "Grab the yellow bottle for liquid storage and the plastic bottle with blue label at the same time.",
+    "Pick up both the yellow bottle for liquid storage and the bottle with ridges near base together.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the hand-sized bottle with ridged bottom.",
+    "Grab the hand-sized yellow plastic bottle with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Pick up the yellow bottle for liquid storage and the bottle with ridges near base together.",
+    "Pick up the hand-sized yellow plastic bottle and take the hand-sized bottle with ridged bottom together.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the plastic bottle with blue label with the other.",
+    "Grab the hand-sized yellow plastic bottle and grab the bottle with ridges near base at once.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the bottle with ridges near base using the other.",
+    "Use each arm to grab the yellow rectangular bottle and the hand-sized bottle with ridged bottom.",
+    "Grab the yellow rectangular bottle and the bottle with ridges near base at the same time.",
+    "Pick up both the yellow bottle for liquid storage and the bottle with ridges near base together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the hand-sized bottle with ridged bottom.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the plastic bottle with blue label with the other.",
+    "Pick up the hand-sized yellow plastic bottle and the plastic bottle with blue label together.",
+    "Pick up the hand-sized yellow plastic bottle and take the plastic bottle with blue label together.",
+    "Pick up the hand-sized yellow plastic bottle with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Grab the yellow rectangular bottle and grab the hand-sized bottle with ridged bottom at once.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the hand-sized bottle with ridged bottom using the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the plastic bottle with blue label.",
+    "Grab the hand-sized yellow plastic bottle and the plastic bottle with blue label at the same time.",
+    "Pick up both the hand-sized yellow plastic bottle and the plastic bottle with blue label together.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the plastic bottle with blue label.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the bottle with ridges near base with the other.",
+    "Pick up the yellow rectangular bottle and the hand-sized bottle with ridged bottom together.",
+    "Pick up the hand-sized yellow plastic bottle and take the hand-sized bottle with ridged bottom together.",
+    "Pick up the yellow rectangular bottle with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Grab the hand-sized yellow plastic bottle and grab the bottle with ridges near base at once.",
+    "Lift the yellow rectangular bottle using one arm and lift the hand-sized bottle with ridged bottom using the other.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the bottle with ridges near base.",
+    "Grab the yellow bottle for liquid storage and the bottle with ridges near base at the same time.",
+    "Pick up both the hand-sized yellow plastic bottle and the plastic bottle with blue label together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the plastic bottle with blue label.",
+    "Grab the hand-sized yellow plastic bottle with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Pick up the hand-sized yellow plastic bottle and the plastic bottle with blue label together.",
+    "Pick up the yellow rectangular bottle and take the hand-sized bottle with ridged bottom together.",
+    "Pick up the yellow rectangular bottle with one arm, grab the plastic bottle with blue label with the other.",
+    "Grab the hand-sized yellow plastic bottle and grab the hand-sized bottle with ridged bottom at once.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the hand-sized bottle with ridged bottom using the other.",
+    "Use each arm to grab the yellow rectangular bottle and the bottle with ridges near base.",
+    "Grab the yellow bottle for liquid storage and the plastic bottle with blue label at the same time.",
+    "Pick up both the yellow rectangular bottle and the plastic bottle with blue label together.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the plastic bottle with blue label.",
+    "Grab the yellow rectangular bottle with one arm, grab the bottle with ridges near base with the other.",
+    "Pick up the yellow bottle for liquid storage and the plastic bottle with blue label together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001236.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red bottle with curved grooves, continue and pick up the white-capped bottle.",
+    "Pick up the handheld plastic bottle, then pick up the hand-sized plastic bottle.",
+    "Hold the red bottle with white bottom text in one arm, catch the smooth brown and white patterned bottle with the other arm.",
+    "Use both arms to pick up the red bottle with narrow neck and the bottle holding liquid.",
+    "Grab and hold the plastic bottle, then grab the bottle with black label.",
+    "Catch both the yellow text bottle and the bottle with black label quickly.",
+    "Grab the smooth red cylindrical bottle, pick up the small bottle with decorative design.",
+    "With two arms, catch both the bottle with red cap and the brown bottle.",
+    "Grab the smooth red cylindrical bottle using one arm and the brown bottle using the other.",
+    "Pick both the red bottle with screw cap and the bottle with white screw cap one after another.",
+    "Catch the smooth red cylindrical bottle, then catch the bottle with brown and white patterns.",
+    "Hold both the smooth red cylindrical bottle and the bottle holding liquid.",
+    "Let each arm grab either the red bottle or the small curved plastic bottle.",
+    "Grab the plastic bottle with bright red color with one arm, the small curved plastic bottle with the other.",
+    "Use both arms to pick up the yellow text bottle and the small curved plastic bottle.",
+    "Lift the bottle with red cap and also take hold of the bottle with black label.",
+    "One arm grabs the red bottle with white bottom text; the other arm grabs the bottle with brown and white patterns.",
+    "With both arms, pick up the plastic bottle with bright red color, then the plastic bottle.",
+    "Secure the medium-size plastic bottle and the plastic bottle in succession.",
+    "Collect the yellow text bottle, then pick up the bottle with black label.",
+    "Catch the red bottle with curved grooves with one arm, the bottle with black label with another arm.",
+    "Grab the smooth red cylindrical bottle and pick up the small curved plastic bottle.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the smooth brown and white patterned bottle.",
+    "Use both arms to lift the handheld plastic bottle and the bottle with black label.",
+    "Catch the red bottle, then take hold of the bottle with black label.",
+    "Grasp the bottle with red cap first, then take the brown bottle.",
+    "Grab the red bottle with narrow neck using an arm and the hand-sized plastic bottle with the other arm.",
+    "Use each arm to lift the plastic bottle with bright red color and the bottle with black label.",
+    "Hold onto the handheld plastic bottle, then pick up the brown bottle.",
+    "Assign one arm to each of the yellow text bottle and the bottle with brown and white patterns.",
+    "Grab the red bottle with curved grooves with one arm, the curved bottle with white top with the other.",
+    "Hold the handheld plastic bottle with one arm, hold the small bottle with decorative design with the other.",
+    "Take hold of the plastic bottle with bright red color and the brown bottle.",
+    "Use one arm for the medium-size plastic bottle, another for the bottle with black label.",
+    "Pick up the red bottle with narrow neck and then pick up the plastic bottle.",
+    "Lift both bottles, the red bottle with white bottom text with one arm, the bottle with white screw cap with the other.",
+    "Catch the handheld plastic bottle in one arm and the bottle holding liquid in the other arm.",
+    "Lift the handheld plastic bottle and the smooth brown and white patterned bottle with separate arms.",
+    "Catch the handheld plastic bottle, grab the bottle with white screw cap next.",
+    "Use one arm for the red bottle, the other for the small curved plastic bottle.",
+    "Pick up both the yellow text bottle and the bottle with brown and white patterns.",
+    "Assign one arm to catch the handheld plastic bottle, one for the hand-sized plastic bottle.",
+    "Secure both the red bottle with curved grooves and the bottle with black label quickly.",
+    "Lift both the red bottle with white bottom text and the curved bottle with white top simultaneously.",
+    "Catch the medium-size plastic bottle, then grab the bottle with brown and white patterns too.",
+    "Hold onto the medium-size plastic bottle and then get the white-capped bottle.",
+    "Secure the plastic bottle, then secure the hand-sized plastic bottle.",
+    "Hold the red bottle with narrow neck in one arm, the plastic bottle in the other.",
+    "Pick up both the medium-size plastic bottle and the plastic bottle together.",
+    "Use one arm for the medium-size plastic bottle and the other for the hand-sized plastic bottle.",
+    "Lift the red bottle, continue and pick up the small bottle with decorative design.",
+    "Pick up the red bottle with white bottom text, then pick up the small curved plastic bottle.",
+    "Hold the bottle with red cap in one arm, catch the small bottle with decorative design with the other arm.",
+    "Use both arms to pick up the yellow text bottle and the curved bottle with white top.",
+    "Grab and hold the bottle with red cap, then grab the bottle with white screw cap.",
+    "Catch both the plastic bottle and the bottle with brown and white patterns quickly.",
+    "Grab the handheld plastic bottle, pick up the brown bottle.",
+    "With two arms, catch both the handheld plastic bottle and the curved bottle with white top.",
+    "Grab the red bottle with screw cap using one arm and the brown bottle using the other.",
+    "Pick both the smooth red cylindrical bottle and the bottle with black label one after another.",
+    "Catch the red bottle, then catch the small curved plastic bottle.",
+    "Hold both the red bottle with narrow neck and the white-capped bottle.",
+    "Let each arm grab either the plastic bottle or the bottle holding liquid.",
+    "Grab the handheld plastic bottle with one arm, the smooth brown and white patterned bottle with the other.",
+    "Use both arms to pick up the red bottle with narrow neck and the white-capped bottle.",
+    "Lift the medium-size plastic bottle and also take hold of the bottle with black label.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the bottle holding liquid.",
+    "With both arms, pick up the red bottle, then the bottle with white screw cap.",
+    "Secure the medium-size plastic bottle and the curved bottle with white top in succession.",
+    "Collect the red bottle with screw cap, then pick up the bottle with brown and white patterns.",
+    "Catch the red bottle with screw cap with one arm, the bottle with brown and white patterns with another arm.",
+    "Grab the yellow text bottle and pick up the smooth brown and white patterned bottle.",
+    "Each arm should pick up one: the plastic bottle, then the small bottle with decorative design.",
+    "Use both arms to lift the plastic bottle with bright red color and the bottle with brown and white patterns.",
+    "Catch the bottle with red cap, then take hold of the bottle with black label.",
+    "Grasp the medium-size plastic bottle first, then take the bottle with white screw cap.",
+    "Grab the medium-size plastic bottle using an arm and the small curved plastic bottle with the other arm.",
+    "Use each arm to lift the red bottle with screw cap and the small bottle with decorative design.",
+    "Hold onto the medium-size plastic bottle, then pick up the hand-sized plastic bottle.",
+    "Assign one arm to each of the red bottle and the bottle with brown and white patterns.",
+    "Grab the handheld plastic bottle with one arm, the smooth brown and white patterned bottle with the other.",
+    "Hold the red bottle with white bottom text with one arm, hold the small curved plastic bottle with the other.",
+    "Take hold of the red bottle and the bottle with brown and white patterns.",
+    "Use one arm for the red bottle with white bottom text, another for the bottle holding liquid.",
+    "Pick up the smooth red cylindrical bottle and then pick up the bottle holding liquid.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the white-capped bottle with the other.",
+    "Catch the medium-size plastic bottle in one arm and the small curved plastic bottle in the other arm.",
+    "Lift the yellow text bottle and the bottle with brown and white patterns with separate arms.",
+    "Catch the medium-size plastic bottle, grab the hand-sized plastic bottle next.",
+    "Use one arm for the smooth red cylindrical bottle, the other for the curved bottle with white top.",
+    "Pick up both the red bottle with narrow neck and the brown bottle.",
+    "Assign one arm to catch the medium-size plastic bottle, one for the bottle with white screw cap.",
+    "Secure both the red bottle with screw cap and the plastic bottle quickly.",
+    "Lift both the smooth red cylindrical bottle and the plastic bottle simultaneously.",
+    "Catch the bottle with red cap, then grab the plastic bottle too.",
+    "Hold onto the yellow text bottle and then get the hand-sized plastic bottle.",
+    "Secure the handheld plastic bottle, then secure the brown bottle.",
+    "Hold the plastic bottle in one arm, the plastic bottle in the other.",
+    "Pick up both the red bottle with screw cap and the hand-sized plastic bottle together.",
+    "Use one arm for the red bottle with narrow neck and the other for the small curved plastic bottle."
+  ],
+  "unseen": [
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle with glossy swirls together.",
+    "Grab the bottle with yellow Chinese characters and grab the cylindrical bottle with curved sides at once.",
+    "Grab the bottle with white and yellow label and the brown bottle with glossy swirls at the same time.",
+    "Use each arm to grab the shiny red bottle and the cylindrical bottle with curved sides.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the cylindrical bottle with curved sides.",
+    "Pick up the shiny red bottle and the brown bottle with glossy swirls together.",
+    "Pick up both the shiny red bottle and the cylindrical bottle with curved sides together.",
+    "Grab the bottle with white and yellow label with one arm, grab the glossy brown bottle with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle with glossy swirls together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle with glossy swirls at once.",
+    "Grab the bottle with yellow Chinese characters and the cylindrical bottle with curved sides at the same time.",
+    "Use each arm to grab the bottle with white and yellow label and the glossy brown bottle.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the glossy brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the cylindrical bottle with curved sides together.",
+    "Pick up both the bottle with white and yellow label and the glossy brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Pick up the shiny red bottle and take the glossy brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the glossy brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown bottle with glossy swirls at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the cylindrical bottle with curved sides.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the glossy brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown bottle with glossy swirls together.",
+    "Pick up both the bottle with white and yellow label and the glossy brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the glossy brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the glossy brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle with glossy swirls at once.",
+    "Grab the bottle with white and yellow label and the brown bottle with glossy swirls at the same time.",
+    "Use each arm to grab the bottle with white and yellow label and the cylindrical bottle with curved sides.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the glossy brown bottle.",
+    "Pick up the shiny red bottle and the glossy brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle with glossy swirls together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Pick up the shiny red bottle and take the brown bottle with glossy swirls together.",
+    "Grab the bottle with white and yellow label and grab the cylindrical bottle with curved sides at once.",
+    "Grab the bottle with yellow Chinese characters and the glossy brown bottle at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the cylindrical bottle with curved sides.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle with glossy swirls.",
+    "Pick up the bottle with yellow Chinese characters and the cylindrical bottle with curved sides together.",
+    "Pick up both the shiny red bottle and the cylindrical bottle with curved sides together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle with glossy swirls together.",
+    "Grab the bottle with white and yellow label and grab the cylindrical bottle with curved sides at once.",
+    "Grab the bottle with yellow Chinese characters and the glossy brown bottle at the same time.",
+    "Use each arm to grab the shiny red bottle and the cylindrical bottle with curved sides.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the cylindrical bottle with curved sides.",
+    "Pick up the bottle with white and yellow label and the brown bottle with glossy swirls together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle with glossy swirls together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the glossy brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the glossy brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and take the glossy brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle with glossy swirls at once.",
+    "Grab the bottle with yellow Chinese characters and the cylindrical bottle with curved sides at the same time.",
+    "Use each arm to grab the shiny red bottle and the cylindrical bottle with curved sides.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle with glossy swirls.",
+    "Pick up the shiny red bottle and the glossy brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle with glossy swirls together.",
+    "Grab the bottle with white and yellow label with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Pick up the shiny red bottle and take the glossy brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the glossy brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown bottle with glossy swirls at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the glossy brown bottle.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the cylindrical bottle with curved sides.",
+    "Pick up the bottle with white and yellow label and the cylindrical bottle with curved sides together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle with glossy swirls together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Pick up the shiny red bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the glossy brown bottle using the other.",
+    "Pick up the shiny red bottle and take the cylindrical bottle with curved sides together.",
+    "Grab the bottle with yellow Chinese characters and grab the cylindrical bottle with curved sides at once.",
+    "Grab the shiny red bottle and the cylindrical bottle with curved sides at the same time.",
+    "Use each arm to grab the bottle with white and yellow label and the cylindrical bottle with curved sides.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the cylindrical bottle with curved sides.",
+    "Pick up the bottle with white and yellow label and the cylindrical bottle with curved sides together.",
+    "Pick up both the bottle with yellow Chinese characters and the cylindrical bottle with curved sides together.",
+    "Grab the shiny red bottle with one arm, grab the glossy brown bottle with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the glossy brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the cylindrical bottle with curved sides together.",
+    "Grab the bottle with white and yellow label and grab the cylindrical bottle with curved sides at once.",
+    "Grab the bottle with yellow Chinese characters and the glossy brown bottle at the same time.",
+    "Use each arm to grab the bottle with white and yellow label and the cylindrical bottle with curved sides.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle with glossy swirls.",
+    "Pick up the bottle with yellow Chinese characters and the cylindrical bottle with curved sides together.",
+    "Pick up both the shiny red bottle and the brown bottle with glossy swirls together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001238.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium green bottle with capped neck and also take hold of the orange drink bottle with label.",
+    "Use each arm to lift the plastic bottle and the orange drink bottle with label.",
+    "Catch the smooth green bottle, then take hold of the plastic bottle.",
+    "Hold the bottle with rounded neck with one arm, hold the orange drink bottle with label with the other.",
+    "Use one arm for the bottle with narrow top and the other for the plastic bottle.",
+    "Hold the plastic bottle in one arm, catch the curved orange soda bottle with the other arm.",
+    "Lift the smooth green bottle and the curved orange soda bottle with separate arms.",
+    "Catch the handheld green bottle with one arm, the bottle for holding drinks with another arm.",
+    "Use one arm for the smooth green plastic bottle, another for the light and medium-sized bottle.",
+    "Hold both the bottle with narrow top and the bottle for holding drinks.",
+    "Grab the handheld green bottle with one arm, the plastic bottle with the other.",
+    "Hold onto the bottle with ridges near base, then pick up the orange drink bottle with label.",
+    "Grab the green bottle with indented base using an arm and the ridged orange bottle with grooves with the other arm.",
+    "Collect the handheld green bottle, then pick up the round-bottom bottle with white cap.",
+    "Grab and hold the medium green bottle, then grab the curved orange soda bottle.",
+    "Use both arms to pick up the smooth green plastic bottle and the cylindrical orange plastic bottle.",
+    "Catch the bottle with rounded neck, grab the cylindrical orange plastic bottle next.",
+    "With both arms, pick up the medium green bottle with capped neck, then the bottle for holding drinks.",
+    "Grab the smooth green bottle with one arm, the grooved orange drink bottle with the other.",
+    "Pick both the plastic bottle and the plastic bottle one after another.",
+    "Hold onto the bottle with narrow top and then get the cylindrical orange plastic bottle.",
+    "Take hold of the medium green bottle and the cylindrical orange plastic bottle.",
+    "Grab the medium-sized green bottle and pick up the medium bottle with colorful label.",
+    "Grab the smooth green plastic bottle, pick up the ridged orange bottle with grooves.",
+    "Lift both the handheld green bottle and the medium bottle with colorful label simultaneously.",
+    "Catch the medium green bottle with capped neck, then catch the round-bottom bottle with white cap.",
+    "Hold the medium green bottle in one arm, the ridged orange bottle with grooves in the other.",
+    "Use both arms to pick up the smooth green plastic bottle and the ridged orange bottle with grooves.",
+    "Secure the medium-sized green bottle, then secure the cylindrical orange plastic bottle.",
+    "Pick up both the medium green bottle with capped neck and the ridged orange bottle with grooves.",
+    "Pick up the green bottle with indented base and then pick up the curved orange soda bottle.",
+    "Use both arms to lift the bottle with rounded neck and the curved orange soda bottle.",
+    "With two arms, catch both the green bottle with indented base and the curved orange soda bottle.",
+    "Grab the smooth green plastic bottle using one arm and the light and medium-sized bottle using the other.",
+    "Secure the medium-sized green bottle and the medium bottle with colorful label in succession.",
+    "Lift the plastic bottle, continue and pick up the ridged orange bottle with grooves.",
+    "One arm grabs the green bottle with indented base; the other arm grabs the light and medium-sized bottle.",
+    "Catch both the green bottle with indented base and the orange bottle quickly.",
+    "Pick up the plastic bottle, then pick up the grooved orange drink bottle.",
+    "Assign one arm to catch the smooth green bottle, one for the cylindrical orange plastic bottle.",
+    "Secure both the bottle with ridges near base and the orange bottle quickly.",
+    "Lift both bottles, the medium green bottle with one arm, the light and medium-sized bottle with the other.",
+    "Assign one arm to each of the bottle with white printed label and the smooth orange bottle.",
+    "Pick up both the plastic bottle and the smooth orange bottle together.",
+    "Each arm should pick up one: the medium green bottle, then the plastic bottle.",
+    "Catch the green bottle with indented base, then grab the orange drink bottle with label too.",
+    "Catch the medium green bottle in one arm and the orange drink bottle with label in the other arm.",
+    "Use one arm for the handheld green bottle, the other for the cylindrical orange plastic bottle.",
+    "Let each arm grab either the smooth green bottle or the curved orange soda bottle.",
+    "Grasp the smooth green bottle first, then take the plastic bottle.",
+    "Lift the handheld green bottle and also take hold of the light and medium-sized bottle.",
+    "Use each arm to lift the smooth green bottle and the smooth orange bottle.",
+    "Catch the bottle with white printed label, then take hold of the ridged orange bottle with grooves.",
+    "Hold the medium-sized green bottle with one arm, hold the medium bottle with colorful label with the other.",
+    "Use one arm for the bottle with rounded neck and the other for the orange drink bottle with label.",
+    "Hold the bottle with narrow top in one arm, catch the round-bottom bottle with white cap with the other arm.",
+    "Lift the medium green bottle with capped neck and the round-bottom bottle with white cap with separate arms.",
+    "Catch the smooth green bottle with one arm, the orange bottle with another arm.",
+    "Use one arm for the smooth green bottle, another for the light and medium-sized bottle.",
+    "Hold both the medium-sized green bottle and the orange drink bottle with label.",
+    "Grab the bottle with ridges near base with one arm, the light and medium-sized bottle with the other.",
+    "Hold onto the medium green bottle with capped neck, then pick up the plastic bottle.",
+    "Grab the medium-sized green bottle using an arm and the bottle for holding drinks with the other arm.",
+    "Collect the bottle with rounded neck, then pick up the light and medium-sized bottle.",
+    "Grab and hold the medium-sized green bottle, then grab the curved orange soda bottle.",
+    "Use both arms to pick up the smooth green bottle and the cylindrical orange plastic bottle.",
+    "Catch the medium green bottle, grab the curved orange soda bottle next.",
+    "With both arms, pick up the plastic bottle, then the round-bottom bottle with white cap.",
+    "Grab the bottle with white printed label with one arm, the smooth orange bottle with the other.",
+    "Pick both the bottle with rounded neck and the ridged orange bottle with grooves one after another.",
+    "Hold onto the bottle with narrow top and then get the light and medium-sized bottle.",
+    "Take hold of the medium green bottle with capped neck and the medium bottle with colorful label.",
+    "Grab the medium green bottle with capped neck and pick up the cylindrical orange plastic bottle.",
+    "Grab the smooth green plastic bottle, pick up the smooth orange bottle.",
+    "Lift both the bottle with rounded neck and the orange drink bottle with label simultaneously.",
+    "Catch the bottle with rounded neck, then catch the orange bottle.",
+    "Hold the bottle with rounded neck in one arm, the medium bottle with colorful label in the other.",
+    "Use both arms to pick up the medium-sized green bottle and the smooth orange bottle.",
+    "Secure the medium green bottle, then secure the round-bottom bottle with white cap.",
+    "Pick up both the handheld green bottle and the cylindrical orange plastic bottle.",
+    "Pick up the bottle with white printed label and then pick up the plastic bottle.",
+    "Use both arms to lift the bottle with white printed label and the orange bottle.",
+    "With two arms, catch both the smooth green bottle and the cylindrical orange plastic bottle.",
+    "Grab the handheld green bottle using one arm and the grooved orange drink bottle using the other.",
+    "Secure the medium green bottle and the cylindrical orange plastic bottle in succession.",
+    "Lift the green bottle with indented base, continue and pick up the orange drink bottle with label.",
+    "One arm grabs the medium-sized green bottle; the other arm grabs the grooved orange drink bottle.",
+    "Catch both the bottle with ridges near base and the smooth orange bottle quickly.",
+    "Pick up the green bottle with indented base, then pick up the medium bottle with colorful label.",
+    "Assign one arm to catch the medium green bottle with capped neck, one for the smooth orange bottle.",
+    "Secure both the medium green bottle and the light and medium-sized bottle quickly.",
+    "Lift both bottles, the handheld green bottle with one arm, the ridged orange bottle with grooves with the other.",
+    "Assign one arm to each of the bottle with ridges near base and the medium bottle with colorful label.",
+    "Pick up both the handheld green bottle and the round-bottom bottle with white cap together.",
+    "Each arm should pick up one: the medium green bottle, then the medium bottle with colorful label.",
+    "Catch the medium green bottle, then grab the round-bottom bottle with white cap too.",
+    "Catch the bottle with white printed label in one arm and the bottle for holding drinks in the other arm.",
+    "Use one arm for the handheld green bottle, the other for the grooved orange drink bottle.",
+    "Let each arm grab either the smooth green bottle or the light and medium-sized bottle.",
+    "Grasp the plastic bottle first, then take the round-bottom bottle with white cap."
+  ],
+  "unseen": [
+    "Grab the green bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the green bottle and the white capped orange plastic bottle together.",
+    "Use each arm to grab the green bottle with white label and the white capped orange plastic bottle.",
+    "Use each arm to lift a bottle: the green bottle, then the bottle with ridged orange grip.",
+    "Lift the green bottle with white label using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up both the green plastic bottle with ridged bottom and the bottle with ridged orange grip together.",
+    "Grab the green plastic bottle with ridged bottom and the bottle with ridged orange grip at the same time.",
+    "Pick up the green bottle with white label with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the green bottle with white label and grab the bottle with white cap at once.",
+    "Pick up the green bottle with white label and take the bottle with white cap together.",
+    "Grab the green bottle with white label with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the green bottle with white label and the bottle with ridged orange grip together.",
+    "Use each arm to grab the green bottle and the bottle with white cap.",
+    "Use each arm to lift a bottle: the green plastic bottle with ridged bottom, then the bottle with white cap.",
+    "Lift the green plastic bottle with ridged bottom using one arm and lift the bottle with white cap using the other.",
+    "Pick up both the green bottle and the white capped orange plastic bottle together.",
+    "Grab the green bottle with white label and the bottle with white cap at the same time.",
+    "Pick up the green bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the green plastic bottle with ridged bottom and grab the bottle with white cap at once.",
+    "Pick up the green plastic bottle with ridged bottom and take the bottle with white cap together.",
+    "Grab the green plastic bottle with ridged bottom with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the green bottle with white label and the bottle with ridged orange grip together.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the bottle with ridged orange grip.",
+    "Use each arm to lift a bottle: the green bottle, then the white capped orange plastic bottle.",
+    "Lift the green bottle with white label using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up both the green plastic bottle with ridged bottom and the white capped orange plastic bottle together.",
+    "Grab the green bottle and the bottle with ridged orange grip at the same time.",
+    "Pick up the green bottle with one arm, grab the bottle with white cap with the other.",
+    "Grab the green bottle and grab the bottle with ridged orange grip at once.",
+    "Pick up the green plastic bottle with ridged bottom and take the bottle with white cap together.",
+    "Grab the green bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the green bottle with white label and the white capped orange plastic bottle together.",
+    "Use each arm to grab the green bottle and the bottle with white cap.",
+    "Use each arm to lift a bottle: the green plastic bottle with ridged bottom, then the bottle with white cap.",
+    "Lift the green bottle using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up both the green bottle with white label and the white capped orange plastic bottle together.",
+    "Grab the green bottle and the bottle with ridged orange grip at the same time.",
+    "Pick up the green bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the green bottle and grab the bottle with white cap at once.",
+    "Pick up the green bottle and take the white capped orange plastic bottle together.",
+    "Grab the green bottle with white label with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the green bottle with white label and the bottle with ridged orange grip together.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the bottle with white cap.",
+    "Use each arm to lift a bottle: the green bottle with white label, then the white capped orange plastic bottle.",
+    "Lift the green bottle using one arm and lift the bottle with white cap using the other.",
+    "Pick up both the green plastic bottle with ridged bottom and the bottle with white cap together.",
+    "Grab the green bottle and the bottle with white cap at the same time.",
+    "Pick up the green bottle with one arm, grab the bottle with white cap with the other.",
+    "Grab the green plastic bottle with ridged bottom and grab the white capped orange plastic bottle at once.",
+    "Pick up the green bottle with white label and take the bottle with ridged orange grip together.",
+    "Grab the green bottle with white label with one arm, grab the bottle with white cap with the other.",
+    "Pick up the green bottle with white label and the bottle with white cap together.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the bottle with ridged orange grip.",
+    "Use each arm to lift a bottle: the green plastic bottle with ridged bottom, then the bottle with white cap.",
+    "Lift the green plastic bottle with ridged bottom using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up both the green bottle with white label and the bottle with white cap together.",
+    "Grab the green bottle and the bottle with ridged orange grip at the same time.",
+    "Pick up the green plastic bottle with ridged bottom with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the green plastic bottle with ridged bottom and grab the bottle with white cap at once.",
+    "Pick up the green bottle and take the bottle with white cap together.",
+    "Grab the green bottle with one arm, grab the white capped orange plastic bottle with the other.",
+    "Pick up the green bottle and the bottle with white cap together.",
+    "Use each arm to grab the green bottle with white label and the bottle with ridged orange grip.",
+    "Use each arm to lift a bottle: the green plastic bottle with ridged bottom, then the bottle with white cap.",
+    "Lift the green bottle using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up both the green bottle with white label and the bottle with ridged orange grip together.",
+    "Grab the green bottle with white label and the bottle with ridged orange grip at the same time.",
+    "Pick up the green bottle with white label with one arm, grab the bottle with white cap with the other.",
+    "Grab the green plastic bottle with ridged bottom and grab the bottle with ridged orange grip at once.",
+    "Pick up the green bottle with white label and take the bottle with ridged orange grip together.",
+    "Grab the green bottle with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the green bottle with white label and the bottle with ridged orange grip together.",
+    "Use each arm to grab the green bottle and the bottle with ridged orange grip.",
+    "Use each arm to lift a bottle: the green bottle with white label, then the bottle with ridged orange grip.",
+    "Lift the green bottle using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up both the green bottle and the bottle with ridged orange grip together.",
+    "Grab the green bottle and the white capped orange plastic bottle at the same time.",
+    "Pick up the green bottle with white label with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the green plastic bottle with ridged bottom and grab the white capped orange plastic bottle at once.",
+    "Pick up the green bottle and take the bottle with white cap together.",
+    "Grab the green plastic bottle with ridged bottom with one arm, grab the bottle with white cap with the other.",
+    "Pick up the green plastic bottle with ridged bottom and the white capped orange plastic bottle together.",
+    "Use each arm to grab the green bottle and the bottle with ridged orange grip.",
+    "Use each arm to lift a bottle: the green bottle with white label, then the bottle with ridged orange grip.",
+    "Lift the green bottle with white label using one arm and lift the bottle with white cap using the other.",
+    "Pick up both the green bottle with white label and the bottle with white cap together.",
+    "Grab the green bottle with white label and the bottle with ridged orange grip at the same time.",
+    "Pick up the green plastic bottle with ridged bottom with one arm, grab the bottle with white cap with the other.",
+    "Grab the green plastic bottle with ridged bottom and grab the bottle with white cap at once.",
+    "Pick up the green bottle and take the bottle with ridged orange grip together.",
+    "Grab the green plastic bottle with ridged bottom with one arm, grab the bottle with ridged orange grip with the other.",
+    "Pick up the green bottle with white label and the white capped orange plastic bottle together.",
+    "Use each arm to grab the green plastic bottle with ridged bottom and the white capped orange plastic bottle.",
+    "Use each arm to lift a bottle: the green plastic bottle with ridged bottom, then the bottle with white cap.",
+    "Lift the green plastic bottle with ridged bottom using one arm and lift the bottle with ridged orange grip using the other.",
+    "Pick up both the green plastic bottle with ridged bottom and the bottle with white cap together.",
+    "Grab the green plastic bottle with ridged bottom and the white capped orange plastic bottle at the same time.",
+    "Pick up the green bottle with white label with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the green bottle with white label and grab the bottle with ridged orange grip at once.",
+    "Pick up the green bottle and take the bottle with ridged orange grip together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001244.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Let each arm grab either the smooth black bottle with ridges or the ridged orange bottle with grooves.",
+    "Each arm should pick up one: the medium black bottle with printed label, then the orange bottle.",
+    "Lift the black cylindrical bottle with ridges and also take hold of the cylindrical orange plastic bottle.",
+    "Secure both the black plastic bottle with Pepsi logo and the grooved orange drink bottle quickly.",
+    "Hold the bottle with blue and yellow print in one arm, the orange drink bottle with label in the other.",
+    "Grab and hold the smooth black bottle with ridges, then grab the light and medium-sized bottle.",
+    "Lift the smooth black bottle with ridges and the medium bottle with colorful label with separate arms.",
+    "Catch the yellow capped drink bottle, grab the plastic bottle next.",
+    "Lift both bottles, the black cylindrical bottle with ridges with one arm, the bottle for holding drinks with the other.",
+    "Use one arm for the yellow-capped cylindrical bottle and the other for the medium bottle with colorful label.",
+    "Use both arms to pick up the medium black bottle with printed label and the plastic bottle.",
+    "Assign one arm to catch the black bottle, one for the orange drink bottle with label.",
+    "Use each arm to lift the smooth black bottle with ridges and the curved orange soda bottle.",
+    "Catch both the beverage bottle with black body and the light and medium-sized bottle quickly.",
+    "Lift the bottle with blue and yellow print, continue and pick up the orange bottle.",
+    "Catch the yellow capped drink bottle, then catch the cylindrical orange plastic bottle.",
+    "Use one arm for the black cylindrical bottle with ridges, the other for the grooved orange drink bottle.",
+    "Use both arms to pick up the smooth black bottle with ridges and the curved orange soda bottle.",
+    "Hold onto the smooth black bottle with ridges and then get the plastic bottle.",
+    "Grab the yellow capped drink bottle and pick up the orange drink bottle with label.",
+    "Grasp the plastic bottle with colorful label first, then take the plastic bottle.",
+    "Hold onto the bottle with blue and yellow print, then pick up the ridged orange bottle with grooves.",
+    "Take hold of the medium bottle with yellow cap and the ridged orange bottle with grooves.",
+    "Grab the medium black bottle with printed label using one arm and the cylindrical orange plastic bottle using the other.",
+    "Secure the yellow capped drink bottle and the grooved orange drink bottle in succession.",
+    "Pick up both the drink bottle with rounded yellow lid and the grooved orange drink bottle together.",
+    "Catch the yellow capped drink bottle, then grab the medium bottle with colorful label too.",
+    "Use one arm for the beverage bottle with black body, another for the smooth orange bottle.",
+    "Hold both the bottle with blue and yellow print and the grooved orange drink bottle.",
+    "Hold the beverage bottle with black body with one arm, hold the cylindrical orange plastic bottle with the other.",
+    "Secure the yellow-capped cylindrical bottle, then secure the orange drink bottle with label.",
+    "With both arms, pick up the black bottle, then the grooved orange drink bottle.",
+    "Grab the beverage bottle with black body with one arm, the bottle for holding drinks with the other.",
+    "Pick up the plastic bottle with colorful label and then pick up the light and medium-sized bottle.",
+    "Grab the smooth black bottle with ridges with one arm, the grooved orange drink bottle with the other.",
+    "Pick up the yellow capped drink bottle, then pick up the round-bottom bottle with white cap.",
+    "Collect the medium black bottle with printed label, then pick up the curved orange soda bottle.",
+    "Catch the yellow capped drink bottle in one arm and the orange drink bottle with label in the other arm.",
+    "Pick up both the medium black bottle with printed label and the orange bottle.",
+    "Use both arms to lift the black plastic bottle with Pepsi logo and the ridged orange bottle with grooves.",
+    "Catch the black plastic bottle with Pepsi logo with one arm, the orange bottle with another arm.",
+    "Grab the bottle with blue and yellow print, pick up the plastic bottle.",
+    "With two arms, catch both the black cylindrical bottle with ridges and the round-bottom bottle with white cap.",
+    "Pick both the smooth black bottle with ridges and the light and medium-sized bottle one after another.",
+    "Hold the bottle with blue and yellow print in one arm, catch the orange bottle with the other arm.",
+    "Assign one arm to each of the drink bottle with rounded yellow lid and the curved orange soda bottle.",
+    "Lift both the medium black bottle with printed label and the medium bottle with colorful label simultaneously.",
+    "Catch the bottle with blue and yellow print, then take hold of the orange bottle.",
+    "Grab the medium bottle with yellow cap using an arm and the smooth orange bottle with the other arm.",
+    "One arm grabs the black bottle; the other arm grabs the curved orange soda bottle.",
+    "Let each arm grab either the yellow capped drink bottle or the light and medium-sized bottle.",
+    "Each arm should pick up one: the black plastic bottle with Pepsi logo, then the bottle for holding drinks.",
+    "Lift the beverage bottle with black body and also take hold of the curved orange soda bottle.",
+    "Secure both the bottle with blue and yellow print and the light and medium-sized bottle quickly.",
+    "Hold the yellow-capped cylindrical bottle in one arm, the light and medium-sized bottle in the other.",
+    "Grab and hold the black cylindrical bottle with ridges, then grab the cylindrical orange plastic bottle.",
+    "Lift the beverage bottle with black body and the round-bottom bottle with white cap with separate arms.",
+    "Catch the plastic bottle with colorful label, grab the cylindrical orange plastic bottle next.",
+    "Lift both bottles, the smooth black bottle with ridges with one arm, the plastic bottle with the other.",
+    "Use one arm for the yellow-capped cylindrical bottle and the other for the orange bottle.",
+    "Use both arms to pick up the yellow-capped cylindrical bottle and the round-bottom bottle with white cap.",
+    "Assign one arm to catch the plastic bottle with colorful label, one for the medium bottle with colorful label.",
+    "Use each arm to lift the black bottle and the grooved orange drink bottle.",
+    "Catch both the yellow capped drink bottle and the grooved orange drink bottle quickly.",
+    "Lift the medium black bottle with printed label, continue and pick up the ridged orange bottle with grooves.",
+    "Catch the black bottle, then catch the cylindrical orange plastic bottle.",
+    "Use one arm for the bottle with blue and yellow print, the other for the curved orange soda bottle.",
+    "Use both arms to pick up the black bottle and the round-bottom bottle with white cap.",
+    "Hold onto the beverage bottle with black body and then get the curved orange soda bottle.",
+    "Grab the beverage bottle with black body and pick up the curved orange soda bottle.",
+    "Grasp the drink bottle with rounded yellow lid first, then take the curved orange soda bottle.",
+    "Hold onto the black plastic bottle with Pepsi logo, then pick up the round-bottom bottle with white cap.",
+    "Take hold of the smooth black bottle with ridges and the curved orange soda bottle.",
+    "Grab the smooth black bottle with ridges using one arm and the cylindrical orange plastic bottle using the other.",
+    "Secure the smooth black bottle with ridges and the orange drink bottle with label in succession.",
+    "Pick up both the black cylindrical bottle with ridges and the grooved orange drink bottle together.",
+    "Catch the plastic bottle with colorful label, then grab the smooth orange bottle too.",
+    "Use one arm for the yellow capped drink bottle, another for the plastic bottle.",
+    "Hold both the beverage bottle with black body and the grooved orange drink bottle.",
+    "Hold the beverage bottle with black body with one arm, hold the bottle for holding drinks with the other.",
+    "Secure the drink bottle with rounded yellow lid, then secure the curved orange soda bottle.",
+    "With both arms, pick up the black cylindrical bottle with ridges, then the grooved orange drink bottle.",
+    "Grab the black bottle with one arm, the round-bottom bottle with white cap with the other.",
+    "Pick up the yellow capped drink bottle and then pick up the ridged orange bottle with grooves.",
+    "Grab the yellow-capped cylindrical bottle with one arm, the curved orange soda bottle with the other.",
+    "Pick up the yellow-capped cylindrical bottle, then pick up the bottle for holding drinks.",
+    "Collect the bottle with blue and yellow print, then pick up the medium bottle with colorful label.",
+    "Catch the black cylindrical bottle with ridges in one arm and the curved orange soda bottle in the other arm.",
+    "Pick up both the bottle with blue and yellow print and the ridged orange bottle with grooves.",
+    "Use both arms to lift the drink bottle with rounded yellow lid and the orange bottle.",
+    "Catch the plastic bottle with colorful label with one arm, the plastic bottle with another arm.",
+    "Grab the beverage bottle with black body, pick up the orange bottle.",
+    "With two arms, catch both the drink bottle with rounded yellow lid and the grooved orange drink bottle.",
+    "Pick both the black bottle and the light and medium-sized bottle one after another.",
+    "Hold the medium black bottle with printed label in one arm, catch the ridged orange bottle with grooves with the other arm.",
+    "Assign one arm to each of the black bottle and the round-bottom bottle with white cap.",
+    "Lift both the smooth black bottle with ridges and the bottle for holding drinks simultaneously.",
+    "Catch the plastic bottle with colorful label, then take hold of the orange drink bottle with label.",
+    "Grab the smooth black bottle with ridges using an arm and the curved orange soda bottle with the other arm.",
+    "One arm grabs the black plastic bottle with Pepsi logo; the other arm grabs the light and medium-sized bottle."
+  ],
+  "unseen": [
+    "Use each arm to lift a bottle: the bottle with ridges near base, then the bottle with white cap.",
+    "Use each arm to grab the hand-sized bottle with ridged bottom and the bottle with ridged orange grip.",
+    "Pick up both the bottle with ridges near base and the white capped orange plastic bottle together.",
+    "Grab the plastic bottle with blue label and the white capped orange plastic bottle at the same time.",
+    "Lift the plastic bottle with blue label using one arm and lift the bottle with white cap using the other.",
+    "Pick up the bottle with ridges near base and take the bottle with ridged orange grip together.",
+    "Grab the hand-sized bottle with ridged bottom and grab the bottle with white cap at once.",
+    "Pick up the hand-sized bottle with ridged bottom and the bottle with white cap together.",
+    "Pick up the bottle with ridges near base with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the hand-sized bottle with ridged bottom with one arm, grab the white capped orange plastic bottle with the other.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the bottle with ridged orange grip.",
+    "Use each arm to grab the bottle with ridges near base and the bottle with ridged orange grip.",
+    "Pick up both the bottle with ridges near base and the bottle with white cap together.",
+    "Grab the plastic bottle with blue label and the white capped orange plastic bottle at the same time.",
+    "Lift the hand-sized bottle with ridged bottom using one arm and lift the bottle with white cap using the other.",
+    "Pick up the plastic bottle with blue label and take the bottle with ridged orange grip together.",
+    "Grab the plastic bottle with blue label and grab the white capped orange plastic bottle at once.",
+    "Pick up the bottle with ridges near base and the bottle with ridged orange grip together.",
+    "Pick up the bottle with ridges near base with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the white capped orange plastic bottle.",
+    "Use each arm to grab the bottle with ridges near base and the bottle with ridged orange grip.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with white cap together.",
+    "Grab the bottle with ridges near base and the white capped orange plastic bottle at the same time.",
+    "Lift the bottle with ridges near base using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the bottle with ridges near base and take the bottle with ridged orange grip together.",
+    "Grab the bottle with ridges near base and grab the bottle with white cap at once.",
+    "Pick up the plastic bottle with blue label and the white capped orange plastic bottle together.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the hand-sized bottle with ridged bottom with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the white capped orange plastic bottle.",
+    "Use each arm to grab the bottle with ridges near base and the bottle with ridged orange grip.",
+    "Pick up both the hand-sized bottle with ridged bottom and the white capped orange plastic bottle together.",
+    "Grab the bottle with ridges near base and the bottle with white cap at the same time.",
+    "Lift the plastic bottle with blue label using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the plastic bottle with blue label and take the bottle with ridged orange grip together.",
+    "Grab the plastic bottle with blue label and grab the white capped orange plastic bottle at once.",
+    "Pick up the bottle with ridges near base and the white capped orange plastic bottle together.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the bottle with white cap with the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to lift a bottle: the hand-sized bottle with ridged bottom, then the bottle with ridged orange grip.",
+    "Use each arm to grab the plastic bottle with blue label and the white capped orange plastic bottle.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with ridged orange grip together.",
+    "Grab the hand-sized bottle with ridged bottom and the white capped orange plastic bottle at the same time.",
+    "Lift the bottle with ridges near base using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the hand-sized bottle with ridged bottom and take the white capped orange plastic bottle together.",
+    "Grab the hand-sized bottle with ridged bottom and grab the bottle with white cap at once.",
+    "Pick up the plastic bottle with blue label and the bottle with ridged orange grip together.",
+    "Pick up the bottle with ridges near base with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to lift a bottle: the hand-sized bottle with ridged bottom, then the bottle with white cap.",
+    "Use each arm to grab the plastic bottle with blue label and the white capped orange plastic bottle.",
+    "Pick up both the bottle with ridges near base and the bottle with ridged orange grip together.",
+    "Grab the hand-sized bottle with ridged bottom and the bottle with white cap at the same time.",
+    "Lift the bottle with ridges near base using one arm and lift the bottle with white cap using the other.",
+    "Pick up the plastic bottle with blue label and take the bottle with ridged orange grip together.",
+    "Grab the plastic bottle with blue label and grab the bottle with ridged orange grip at once.",
+    "Pick up the bottle with ridges near base and the bottle with ridged orange grip together.",
+    "Pick up the plastic bottle with blue label with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the bottle with ridges near base with one arm, grab the bottle with ridged orange grip with the other.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the bottle with white cap.",
+    "Use each arm to grab the plastic bottle with blue label and the bottle with ridged orange grip.",
+    "Pick up both the plastic bottle with blue label and the bottle with ridged orange grip together.",
+    "Grab the hand-sized bottle with ridged bottom and the bottle with ridged orange grip at the same time.",
+    "Lift the hand-sized bottle with ridged bottom using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the hand-sized bottle with ridged bottom and take the bottle with ridged orange grip together.",
+    "Grab the bottle with ridges near base and grab the bottle with ridged orange grip at once.",
+    "Pick up the hand-sized bottle with ridged bottom and the white capped orange plastic bottle together.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the bottle with ridged orange grip with the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to lift a bottle: the plastic bottle with blue label, then the white capped orange plastic bottle.",
+    "Use each arm to grab the hand-sized bottle with ridged bottom and the bottle with ridged orange grip.",
+    "Pick up both the plastic bottle with blue label and the bottle with white cap together.",
+    "Grab the plastic bottle with blue label and the bottle with ridged orange grip at the same time.",
+    "Lift the plastic bottle with blue label using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the bottle with ridges near base and take the white capped orange plastic bottle together.",
+    "Grab the plastic bottle with blue label and grab the bottle with white cap at once.",
+    "Pick up the plastic bottle with blue label and the bottle with white cap together.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the bottle with white cap with the other.",
+    "Grab the hand-sized bottle with ridged bottom with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to lift a bottle: the hand-sized bottle with ridged bottom, then the white capped orange plastic bottle.",
+    "Use each arm to grab the plastic bottle with blue label and the bottle with ridged orange grip.",
+    "Pick up both the bottle with ridges near base and the white capped orange plastic bottle together.",
+    "Grab the hand-sized bottle with ridged bottom and the white capped orange plastic bottle at the same time.",
+    "Lift the bottle with ridges near base using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the hand-sized bottle with ridged bottom and take the bottle with white cap together.",
+    "Grab the plastic bottle with blue label and grab the bottle with ridged orange grip at once.",
+    "Pick up the bottle with ridges near base and the bottle with white cap together.",
+    "Pick up the hand-sized bottle with ridged bottom with one arm, grab the bottle with white cap with the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the bottle with white cap with the other.",
+    "Use each arm to lift a bottle: the bottle with ridges near base, then the bottle with ridged orange grip.",
+    "Use each arm to grab the plastic bottle with blue label and the white capped orange plastic bottle.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with ridged orange grip together.",
+    "Grab the plastic bottle with blue label and the bottle with ridged orange grip at the same time.",
+    "Lift the bottle with ridges near base using one arm and lift the white capped orange plastic bottle using the other.",
+    "Pick up the hand-sized bottle with ridged bottom and take the bottle with ridged orange grip together.",
+    "Grab the bottle with ridges near base and grab the bottle with ridged orange grip at once.",
+    "Pick up the hand-sized bottle with ridged bottom and the bottle with white cap together.",
+    "Pick up the bottle with ridges near base with one arm, grab the white capped orange plastic bottle with the other.",
+    "Grab the plastic bottle with blue label with one arm, grab the white capped orange plastic bottle with the other."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001245.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Let each arm grab either the liquid container with orange body or the dark brown bottle with a squared body.",
+    "Grab the rounded bottom orange plastic bottle with one arm, the brown bottle with rounded rectangular shape with the other.",
+    "Catch both the yellow-capped bottle for beverages and the rectangular brown body with white top quickly.",
+    "Grab and hold the rounded bottom orange plastic bottle, then grab the smooth plastic bottle with white cap.",
+    "Assign one arm to each of the rounded orange bottle with yellow top and the brown bottle.",
+    "Grab the smooth orange cylindrical bottle with one arm, the medium bottle with glossy surface with the other.",
+    "Pick both the handheld medium-sized liquid bottle and the rectangular brown body with white top one after another.",
+    "Collect the rounded bottom orange plastic bottle, then pick up the dark brown bottle with a squared body.",
+    "Secure both the yellow-capped orange plastic bottle and the brown bottle quickly.",
+    "Hold the orange bottle with bold labeling in one arm, catch the medium bottle with glossy surface with the other arm.",
+    "Use both arms to lift the liquid container with orange body and the plastic bottle.",
+    "Grasp the rounded orange bottle with yellow top first, then take the dark brown bottle with a squared body.",
+    "Each arm should pick up one: the bottle with yellow cap, then the medium bottle with glossy surface.",
+    "Use one arm for the bottle with yellow cap, another for the rectangular brown body with white top.",
+    "With both arms, pick up the orange bottle, then the bottle with flat sides and logo.",
+    "Take hold of the yellow-capped bottle for beverages and the plastic bottle.",
+    "Catch the bottle with yellow cap in one arm and the medium bottle with glossy surface in the other arm.",
+    "Use both arms to pick up the rounded bottom orange plastic bottle and the plastic bottle.",
+    "Lift the smooth orange cylindrical bottle and also take hold of the smooth plastic bottle with white cap.",
+    "Catch the handheld medium-sized liquid bottle, then grab the bottle with green cap too.",
+    "Use one arm for the cylindrical orange bottle with smooth surface and the other for the dark brown bottle with a squared body.",
+    "Hold onto the handheld medium-sized liquid bottle and then get the bottle with flat sides and logo.",
+    "Use each arm to lift the orange bottle with bold labeling and the plastic bottle.",
+    "Lift the yellow-capped orange plastic bottle, continue and pick up the rectangular-shaped bottle with round cap.",
+    "Assign one arm to catch the rounded bottom orange plastic bottle, one for the smooth brown bottle with green label.",
+    "Hold the smooth orange cylindrical bottle in one arm, the bottle with flat sides and logo in the other.",
+    "Secure the yellow-capped bottle for beverages and the brown bottle with rounded rectangular shape in succession.",
+    "Hold onto the cylindrical orange bottle with smooth surface, then pick up the plastic bottle.",
+    "Pick up both the small bottle with bright yellow lid and the medium bottle with glossy surface.",
+    "Secure the bottle with yellow cap, then secure the medium bottle with glossy surface.",
+    "Lift the bottle with yellow cap and the plastic bottle with separate arms.",
+    "Grab the orange bottle with bold labeling and pick up the brown bottle.",
+    "Catch the orange bottle with bold labeling with one arm, the medium bottle with glossy surface with another arm.",
+    "Lift both bottles, the cylindrical orange bottle with smooth surface with one arm, the plastic bottle with the other.",
+    "Catch the small bottle with bright yellow lid, grab the bottle with green cap next.",
+    "Pick up both the small bottle with bright yellow lid and the bottle with flat sides and logo together.",
+    "Hold the rounded bottom orange plastic bottle with one arm, hold the rectangular-shaped bottle with round cap with the other.",
+    "Grab the handheld medium-sized liquid bottle, pick up the rectangular brown body with white top.",
+    "Hold both the rounded bottom orange plastic bottle and the plastic bottle.",
+    "One arm grabs the bottle with yellow cap; the other arm grabs the medium-sized brown plastic bottle.",
+    "Catch the small bottle with bright yellow lid, then take hold of the smooth plastic bottle with white cap.",
+    "Grab the cylindrical orange bottle with smooth surface using one arm and the plastic bottle using the other.",
+    "With two arms, catch both the handheld medium-sized liquid bottle and the bottle with flat sides and logo.",
+    "Lift both the yellow-capped bottle for beverages and the rectangular brown body with white top simultaneously.",
+    "Pick up the rounded bottom orange plastic bottle and then pick up the plastic bottle.",
+    "Grab the rounded bottom orange plastic bottle using an arm and the rectangular brown body with white top with the other arm.",
+    "Use both arms to pick up the rounded orange bottle with yellow top and the brown bottle.",
+    "Catch the yellow-capped bottle for beverages, then catch the medium-sized brown plastic bottle.",
+    "Use one arm for the cylindrical orange bottle with smooth surface, the other for the smooth plastic bottle with white cap.",
+    "Pick up the rounded orange bottle with yellow top, then pick up the smooth plastic bottle with white cap.",
+    "Let each arm grab either the orange bottle or the rectangular-shaped bottle with round cap.",
+    "Grab the bottle with yellow cap with one arm, the smooth brown bottle with green label with the other.",
+    "Catch both the smooth orange cylindrical bottle and the medium bottle with glossy surface quickly.",
+    "Grab and hold the orange bottle, then grab the rectangular brown body with white top.",
+    "Assign one arm to each of the rounded bottom orange plastic bottle and the medium-sized brown plastic bottle.",
+    "Grab the rounded bottom orange plastic bottle with one arm, the medium-sized brown plastic bottle with the other.",
+    "Pick both the rounded orange bottle with yellow top and the bottle with flat sides and logo one after another.",
+    "Collect the yellow-capped bottle for beverages, then pick up the rectangular-shaped bottle with round cap.",
+    "Secure both the liquid container with orange body and the rectangular brown body with white top quickly.",
+    "Hold the yellow-capped orange plastic bottle in one arm, catch the smooth brown bottle with green label with the other arm.",
+    "Use both arms to lift the yellow-capped orange plastic bottle and the brown bottle with rounded rectangular shape.",
+    "Grasp the orange bottle first, then take the medium-sized brown plastic bottle.",
+    "Each arm should pick up one: the yellow-capped bottle for beverages, then the brown bottle with rounded rectangular shape.",
+    "Use one arm for the smooth orange cylindrical bottle, another for the medium bottle with glossy surface.",
+    "With both arms, pick up the small bottle with bright yellow lid, then the smooth brown bottle with green label.",
+    "Take hold of the yellow-capped bottle for beverages and the brown bottle with rounded rectangular shape.",
+    "Catch the rounded bottom orange plastic bottle in one arm and the bottle with green cap in the other arm.",
+    "Use both arms to pick up the rounded orange bottle with yellow top and the smooth plastic bottle with white cap.",
+    "Lift the orange bottle with bold labeling and also take hold of the dark brown bottle with a squared body.",
+    "Catch the liquid container with orange body, then grab the medium bottle with glossy surface too.",
+    "Use one arm for the rounded bottom orange plastic bottle and the other for the plastic bottle.",
+    "Hold onto the yellow-capped orange plastic bottle and then get the dark brown bottle with a squared body.",
+    "Use each arm to lift the yellow-capped orange plastic bottle and the brown bottle.",
+    "Lift the cylindrical orange bottle with smooth surface, continue and pick up the smooth brown bottle with green label.",
+    "Assign one arm to catch the rounded bottom orange plastic bottle, one for the bottle with flat sides and logo.",
+    "Hold the cylindrical orange bottle with smooth surface in one arm, the medium bottle with glossy surface in the other.",
+    "Secure the orange bottle with bold labeling and the rectangular-shaped bottle with round cap in succession.",
+    "Hold onto the handheld medium-sized liquid bottle, then pick up the plastic bottle.",
+    "Pick up both the rounded orange bottle with yellow top and the medium-sized brown plastic bottle.",
+    "Secure the smooth orange cylindrical bottle, then secure the medium-sized brown plastic bottle.",
+    "Lift the small bottle with bright yellow lid and the bottle with green cap with separate arms.",
+    "Grab the bottle with yellow cap and pick up the medium-sized brown plastic bottle.",
+    "Catch the rounded orange bottle with yellow top with one arm, the smooth brown bottle with green label with another arm.",
+    "Lift both bottles, the yellow-capped orange plastic bottle with one arm, the brown bottle with rounded rectangular shape with the other.",
+    "Catch the orange bottle, grab the brown bottle next.",
+    "Pick up both the yellow-capped bottle for beverages and the medium-sized brown plastic bottle together.",
+    "Hold the yellow-capped bottle for beverages with one arm, hold the bottle with green cap with the other.",
+    "Grab the bottle with yellow cap, pick up the bottle with flat sides and logo.",
+    "Hold both the small bottle with bright yellow lid and the medium bottle with glossy surface.",
+    "One arm grabs the rounded orange bottle with yellow top; the other arm grabs the smooth plastic bottle with white cap.",
+    "Catch the liquid container with orange body, then take hold of the medium bottle with glossy surface.",
+    "Grab the yellow-capped orange plastic bottle using one arm and the dark brown bottle with a squared body using the other.",
+    "With two arms, catch both the orange bottle and the brown bottle with rounded rectangular shape.",
+    "Lift both the orange bottle with bold labeling and the medium bottle with glossy surface simultaneously.",
+    "Pick up the smooth orange cylindrical bottle and then pick up the rectangular brown body with white top.",
+    "Grab the small bottle with bright yellow lid using an arm and the medium-sized brown plastic bottle with the other arm.",
+    "Use both arms to pick up the bottle with yellow cap and the rectangular brown body with white top.",
+    "Catch the orange bottle with bold labeling, then catch the medium-sized brown plastic bottle.",
+    "Use one arm for the yellow-capped bottle for beverages, the other for the bottle with flat sides and logo.",
+    "Pick up the yellow-capped orange plastic bottle, then pick up the brown bottle with rounded rectangular shape."
+  ],
+  "unseen": [
+    "Lift the plastic orange bottle with rounded base using one arm and lift the liquid container dark brown plastic using the other.",
+    "Grab the medium bottle for liquids and grab the liquid container dark brown plastic at once.",
+    "Grab the medium plastic bottle with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the medium plastic bottle with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Pick up both the plastic orange bottle with rounded base and the medium-sized plastic bottle with capped top together.",
+    "Use each arm to grab the medium bottle for liquids and the bottle with green label and white lid.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the liquid container dark brown plastic.",
+    "Pick up the plastic orange bottle with rounded base and take the liquid container dark brown plastic together.",
+    "Grab the medium bottle for liquids and the liquid container dark brown plastic at the same time.",
+    "Pick up the medium plastic bottle and the bottle with green label and white lid together.",
+    "Lift the medium plastic bottle using one arm and lift the bottle with green label and white lid using the other.",
+    "Grab the plastic orange bottle with rounded base and grab the bottle with green label and white lid at once.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the liquid container dark brown plastic with the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the liquid container dark brown plastic with the other.",
+    "Pick up both the medium bottle for liquids and the medium-sized plastic bottle with capped top together.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the liquid container dark brown plastic.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the liquid container dark brown plastic.",
+    "Pick up the medium plastic bottle and take the bottle with green label and white lid together.",
+    "Grab the medium plastic bottle and the bottle with green label and white lid at the same time.",
+    "Pick up the medium plastic bottle and the medium-sized plastic bottle with capped top together.",
+    "Lift the medium bottle for liquids using one arm and lift the bottle with green label and white lid using the other.",
+    "Grab the plastic orange bottle with rounded base and grab the medium-sized plastic bottle with capped top at once.",
+    "Grab the medium plastic bottle with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up both the medium bottle for liquids and the liquid container dark brown plastic together.",
+    "Use each arm to grab the medium bottle for liquids and the bottle with green label and white lid.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the medium-sized plastic bottle with capped top.",
+    "Pick up the medium plastic bottle and take the liquid container dark brown plastic together.",
+    "Grab the medium bottle for liquids and the liquid container dark brown plastic at the same time.",
+    "Pick up the medium bottle for liquids and the medium-sized plastic bottle with capped top together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the liquid container dark brown plastic using the other.",
+    "Grab the plastic orange bottle with rounded base and grab the bottle with green label and white lid at once.",
+    "Grab the medium bottle for liquids with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Pick up both the plastic orange bottle with rounded base and the bottle with green label and white lid together.",
+    "Use each arm to grab the medium bottle for liquids and the medium-sized plastic bottle with capped top.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the medium-sized plastic bottle with capped top.",
+    "Pick up the plastic orange bottle with rounded base and take the liquid container dark brown plastic together.",
+    "Grab the plastic orange bottle with rounded base and the medium-sized plastic bottle with capped top at the same time.",
+    "Pick up the plastic orange bottle with rounded base and the medium-sized plastic bottle with capped top together.",
+    "Lift the medium plastic bottle using one arm and lift the medium-sized plastic bottle with capped top using the other.",
+    "Grab the plastic orange bottle with rounded base and grab the liquid container dark brown plastic at once.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the liquid container dark brown plastic with the other.",
+    "Pick up both the plastic orange bottle with rounded base and the bottle with green label and white lid together.",
+    "Use each arm to grab the medium plastic bottle and the bottle with green label and white lid.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the medium-sized plastic bottle with capped top.",
+    "Pick up the medium bottle for liquids and take the medium-sized plastic bottle with capped top together.",
+    "Grab the medium plastic bottle and the medium-sized plastic bottle with capped top at the same time.",
+    "Pick up the medium plastic bottle and the bottle with green label and white lid together.",
+    "Lift the medium bottle for liquids using one arm and lift the medium-sized plastic bottle with capped top using the other.",
+    "Grab the medium plastic bottle and grab the bottle with green label and white lid at once.",
+    "Grab the medium bottle for liquids with one arm, grab the liquid container dark brown plastic with the other.",
+    "Pick up the medium plastic bottle with one arm, grab the liquid container dark brown plastic with the other.",
+    "Pick up both the medium bottle for liquids and the liquid container dark brown plastic together.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with green label and white lid.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the liquid container dark brown plastic.",
+    "Pick up the plastic orange bottle with rounded base and take the medium-sized plastic bottle with capped top together.",
+    "Grab the medium plastic bottle and the liquid container dark brown plastic at the same time.",
+    "Pick up the plastic orange bottle with rounded base and the bottle with green label and white lid together.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the bottle with green label and white lid using the other.",
+    "Grab the medium bottle for liquids and grab the liquid container dark brown plastic at once.",
+    "Grab the medium bottle for liquids with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the liquid container dark brown plastic with the other.",
+    "Pick up both the medium plastic bottle and the medium-sized plastic bottle with capped top together.",
+    "Use each arm to grab the medium bottle for liquids and the liquid container dark brown plastic.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the liquid container dark brown plastic.",
+    "Pick up the medium plastic bottle and take the bottle with green label and white lid together.",
+    "Grab the medium plastic bottle and the liquid container dark brown plastic at the same time.",
+    "Pick up the medium bottle for liquids and the medium-sized plastic bottle with capped top together.",
+    "Lift the medium bottle for liquids using one arm and lift the bottle with green label and white lid using the other.",
+    "Grab the medium bottle for liquids and grab the bottle with green label and white lid at once.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the liquid container dark brown plastic with the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Pick up both the plastic orange bottle with rounded base and the liquid container dark brown plastic together.",
+    "Use each arm to grab the medium plastic bottle and the bottle with green label and white lid.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the bottle with green label and white lid.",
+    "Pick up the medium bottle for liquids and take the bottle with green label and white lid together.",
+    "Grab the plastic orange bottle with rounded base and the liquid container dark brown plastic at the same time.",
+    "Pick up the medium plastic bottle and the bottle with green label and white lid together.",
+    "Lift the medium bottle for liquids using one arm and lift the bottle with green label and white lid using the other.",
+    "Grab the plastic orange bottle with rounded base and grab the liquid container dark brown plastic at once.",
+    "Grab the medium plastic bottle with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up both the plastic orange bottle with rounded base and the medium-sized plastic bottle with capped top together.",
+    "Use each arm to grab the medium bottle for liquids and the medium-sized plastic bottle with capped top.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the medium-sized plastic bottle with capped top.",
+    "Pick up the medium plastic bottle and take the liquid container dark brown plastic together.",
+    "Grab the plastic orange bottle with rounded base and the bottle with green label and white lid at the same time.",
+    "Pick up the plastic orange bottle with rounded base and the liquid container dark brown plastic together.",
+    "Lift the medium bottle for liquids using one arm and lift the medium-sized plastic bottle with capped top using the other.",
+    "Grab the medium bottle for liquids and grab the medium-sized plastic bottle with capped top at once.",
+    "Grab the medium plastic bottle with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up both the plastic orange bottle with rounded base and the medium-sized plastic bottle with capped top together.",
+    "Use each arm to grab the medium plastic bottle and the bottle with green label and white lid.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the medium-sized plastic bottle with capped top.",
+    "Pick up the medium plastic bottle and take the medium-sized plastic bottle with capped top together.",
+    "Grab the medium plastic bottle and the medium-sized plastic bottle with capped top at the same time.",
+    "Pick up the plastic orange bottle with rounded base and the liquid container dark brown plastic together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001285.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick both the red bottle and the yellow-capped bottle for beverages one after another.",
+    "Hold onto the red bottle with narrow neck and then get the yellow-capped orange plastic bottle.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the orange bottle with bold labeling.",
+    "Secure both the handheld plastic bottle and the rounded bottom orange plastic bottle quickly.",
+    "Catch the medium-size plastic bottle in one arm and the rounded orange bottle with yellow top in the other arm.",
+    "Secure the plastic bottle with bright red color and the handheld medium-sized liquid bottle in succession.",
+    "Pick up the red bottle, then pick up the orange bottle.",
+    "Hold the yellow text bottle in one arm, catch the bottle with yellow cap with the other arm.",
+    "Catch both the yellow text bottle and the yellow-capped orange plastic bottle quickly.",
+    "Assign one arm to each of the red bottle with screw cap and the orange bottle with bold labeling.",
+    "Collect the yellow text bottle, then pick up the handheld medium-sized liquid bottle.",
+    "Use both arms to pick up the red bottle with curved grooves and the bottle with yellow cap.",
+    "Grab the smooth red cylindrical bottle and pick up the orange bottle.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the orange bottle.",
+    "With two arms, catch both the red bottle with screw cap and the rounded bottom orange plastic bottle.",
+    "Take hold of the red bottle and the orange bottle with bold labeling.",
+    "Hold onto the yellow text bottle, then pick up the small bottle with bright yellow lid.",
+    "Pick up both the smooth red cylindrical bottle and the yellow-capped bottle for beverages together.",
+    "Grasp the handheld plastic bottle first, then take the orange bottle.",
+    "Use one arm for the red bottle and the other for the handheld medium-sized liquid bottle.",
+    "Use both arms to pick up the medium-size plastic bottle and the small bottle with bright yellow lid.",
+    "Hold both the red bottle and the orange bottle.",
+    "Pick up both the red bottle and the cylindrical orange bottle with smooth surface.",
+    "Grab the red bottle with screw cap using an arm and the rounded orange bottle with yellow top with the other arm.",
+    "Use one arm for the red bottle with curved grooves, the other for the yellow-capped orange plastic bottle.",
+    "Each arm should pick up one: the bottle with red cap, then the yellow-capped bottle for beverages.",
+    "Catch the red bottle with screw cap with one arm, the rounded bottom orange plastic bottle with another arm.",
+    "Hold the red bottle with narrow neck in one arm, the rounded bottom orange plastic bottle in the other.",
+    "Grab the medium-size plastic bottle with one arm, the liquid container with orange body with the other.",
+    "Catch the handheld plastic bottle, then take hold of the rounded orange bottle with yellow top.",
+    "Secure the bottle with red cap, then secure the smooth orange cylindrical bottle.",
+    "Hold the medium-size plastic bottle with one arm, hold the handheld medium-sized liquid bottle with the other.",
+    "Assign one arm to catch the bottle with red cap, one for the bottle with yellow cap.",
+    "Grab the red bottle with curved grooves, pick up the cylindrical orange bottle with smooth surface.",
+    "Pick up the red bottle with narrow neck and then pick up the bottle with yellow cap.",
+    "Catch the plastic bottle, then grab the bottle with yellow cap too.",
+    "Grab the plastic bottle with bright red color using one arm and the rounded orange bottle with yellow top using the other.",
+    "One arm grabs the plastic bottle; the other arm grabs the handheld medium-sized liquid bottle.",
+    "Lift the red bottle and also take hold of the orange bottle.",
+    "Use both arms to lift the red bottle with screw cap and the handheld medium-sized liquid bottle.",
+    "Let each arm grab either the red bottle or the orange bottle with bold labeling.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the yellow-capped bottle for beverages.",
+    "Grab the bottle with red cap with one arm, the cylindrical orange bottle with smooth surface with the other.",
+    "Use each arm to lift the medium-size plastic bottle and the yellow-capped bottle for beverages.",
+    "Lift both the smooth red cylindrical bottle and the small bottle with bright yellow lid simultaneously.",
+    "Lift the red bottle with white bottom text and the smooth orange cylindrical bottle with separate arms.",
+    "Catch the red bottle with narrow neck, grab the rounded bottom orange plastic bottle next.",
+    "Use one arm for the plastic bottle, another for the yellow-capped bottle for beverages.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the smooth orange cylindrical bottle with the other.",
+    "Catch the smooth red cylindrical bottle, then catch the cylindrical orange bottle with smooth surface.",
+    "Pick both the red bottle with narrow neck and the smooth orange cylindrical bottle one after another.",
+    "Hold onto the yellow text bottle and then get the smooth orange cylindrical bottle.",
+    "With both arms, pick up the red bottle with curved grooves, then the small bottle with bright yellow lid.",
+    "Secure both the red bottle with screw cap and the handheld medium-sized liquid bottle quickly.",
+    "Catch the bottle with red cap in one arm and the rounded orange bottle with yellow top in the other arm.",
+    "Secure the smooth red cylindrical bottle and the yellow-capped bottle for beverages in succession.",
+    "Pick up the yellow text bottle, then pick up the bottle with yellow cap.",
+    "Hold the red bottle with screw cap in one arm, catch the yellow-capped orange plastic bottle with the other arm.",
+    "Catch both the yellow text bottle and the rounded orange bottle with yellow top quickly.",
+    "Assign one arm to each of the plastic bottle with bright red color and the rounded bottom orange plastic bottle.",
+    "Collect the bottle with red cap, then pick up the orange bottle.",
+    "Use both arms to pick up the handheld plastic bottle and the orange bottle with bold labeling.",
+    "Grab the bottle with red cap and pick up the small bottle with bright yellow lid.",
+    "Lift the red bottle with curved grooves, continue and pick up the yellow-capped bottle for beverages.",
+    "With two arms, catch both the handheld plastic bottle and the rounded orange bottle with yellow top.",
+    "Take hold of the medium-size plastic bottle and the orange bottle.",
+    "Hold onto the handheld plastic bottle, then pick up the liquid container with orange body.",
+    "Pick up both the plastic bottle and the rounded orange bottle with yellow top together.",
+    "Grasp the plastic bottle first, then take the bottle with yellow cap.",
+    "Use one arm for the red bottle with narrow neck and the other for the orange bottle.",
+    "Use both arms to pick up the red bottle and the smooth orange cylindrical bottle.",
+    "Hold both the red bottle with narrow neck and the orange bottle with bold labeling.",
+    "Pick up both the red bottle with white bottom text and the yellow-capped orange plastic bottle.",
+    "Grab the red bottle with screw cap using an arm and the orange bottle with the other arm.",
+    "Use one arm for the red bottle with curved grooves, the other for the cylindrical orange bottle with smooth surface.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the yellow-capped bottle for beverages.",
+    "Catch the handheld plastic bottle with one arm, the rounded orange bottle with yellow top with another arm.",
+    "Hold the red bottle with curved grooves in one arm, the cylindrical orange bottle with smooth surface in the other.",
+    "Grab the plastic bottle with bright red color with one arm, the yellow-capped bottle for beverages with the other.",
+    "Catch the handheld plastic bottle, then take hold of the rounded orange bottle with yellow top.",
+    "Secure the bottle with red cap, then secure the rounded orange bottle with yellow top.",
+    "Hold the medium-size plastic bottle with one arm, hold the orange bottle with bold labeling with the other.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the rounded orange bottle with yellow top.",
+    "Grab the red bottle with narrow neck, pick up the cylindrical orange bottle with smooth surface.",
+    "Pick up the plastic bottle and then pick up the rounded orange bottle with yellow top.",
+    "Catch the plastic bottle with bright red color, then grab the yellow-capped orange plastic bottle too.",
+    "Grab the red bottle using one arm and the liquid container with orange body using the other.",
+    "One arm grabs the red bottle with screw cap; the other arm grabs the yellow-capped bottle for beverages.",
+    "Lift the plastic bottle with bright red color and also take hold of the orange bottle.",
+    "Use both arms to lift the plastic bottle with bright red color and the rounded orange bottle with yellow top.",
+    "Let each arm grab either the medium-size plastic bottle or the small bottle with bright yellow lid.",
+    "Grab and hold the plastic bottle, then grab the cylindrical orange bottle with smooth surface.",
+    "Grab the red bottle with white bottom text with one arm, the cylindrical orange bottle with smooth surface with the other.",
+    "Use each arm to lift the red bottle with curved grooves and the smooth orange cylindrical bottle.",
+    "Lift both the red bottle and the liquid container with orange body simultaneously.",
+    "Lift the bottle with red cap and the handheld medium-sized liquid bottle with separate arms.",
+    "Catch the red bottle with screw cap, grab the bottle with yellow cap next.",
+    "Use one arm for the plastic bottle with bright red color, another for the small bottle with bright yellow lid.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the orange bottle with bold labeling with the other.",
+    "Catch the plastic bottle with bright red color, then catch the cylindrical orange bottle with smooth surface."
+  ],
+  "unseen": [
+    "Lift the bottle with yellow Chinese characters using one arm and lift the medium plastic bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and grab the plastic orange bottle with rounded base at once.",
+    "Pick up the shiny red bottle with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up the shiny red bottle and take the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with white and yellow label and the medium bottle for liquids together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the medium bottle for liquids.",
+    "Grab the shiny red bottle with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the plastic orange bottle with rounded base.",
+    "Grab the bottle with white and yellow label and the medium plastic bottle at the same time.",
+    "Pick up both the shiny red bottle and the medium bottle for liquids together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the medium plastic bottle using the other.",
+    "Grab the bottle with white and yellow label and grab the medium bottle for liquids at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up the bottle with white and yellow label and take the medium bottle for liquids together.",
+    "Pick up the shiny red bottle and the medium plastic bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the medium plastic bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the plastic orange bottle with rounded base.",
+    "Grab the bottle with yellow Chinese characters and the plastic orange bottle with rounded base at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the medium plastic bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Grab the bottle with white and yellow label and grab the medium bottle for liquids at once.",
+    "Pick up the shiny red bottle with one arm, grab the medium plastic bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the medium bottle for liquids together.",
+    "Pick up the bottle with yellow Chinese characters and the medium plastic bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the medium bottle for liquids.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the plastic orange bottle with rounded base.",
+    "Grab the shiny red bottle and the medium plastic bottle at the same time.",
+    "Pick up both the shiny red bottle and the medium bottle for liquids together.",
+    "Lift the bottle with white and yellow label using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Grab the bottle with white and yellow label and grab the plastic orange bottle with rounded base at once.",
+    "Pick up the shiny red bottle with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up the bottle with white and yellow label and take the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with white and yellow label and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab the bottle with white and yellow label and the medium plastic bottle.",
+    "Grab the shiny red bottle with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the medium plastic bottle.",
+    "Grab the bottle with yellow Chinese characters and the medium plastic bottle at the same time.",
+    "Pick up both the shiny red bottle and the medium plastic bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the medium bottle for liquids using the other.",
+    "Grab the bottle with yellow Chinese characters and grab the medium plastic bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up the shiny red bottle and take the medium bottle for liquids together.",
+    "Pick up the shiny red bottle and the medium bottle for liquids together.",
+    "Use each arm to grab the bottle with white and yellow label and the plastic orange bottle with rounded base.",
+    "Grab the shiny red bottle with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the medium plastic bottle.",
+    "Grab the shiny red bottle and the medium plastic bottle at the same time.",
+    "Pick up both the shiny red bottle and the medium bottle for liquids together.",
+    "Lift the shiny red bottle using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Grab the bottle with white and yellow label and grab the medium plastic bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the medium plastic bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab the bottle with white and yellow label and the medium bottle for liquids.",
+    "Grab the shiny red bottle with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the plastic orange bottle with rounded base.",
+    "Grab the bottle with white and yellow label and the medium bottle for liquids at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the medium bottle for liquids together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the medium bottle for liquids using the other.",
+    "Grab the bottle with yellow Chinese characters and grab the medium bottle for liquids at once.",
+    "Pick up the shiny red bottle with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up the bottle with white and yellow label and take the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with yellow Chinese characters and the medium plastic bottle together.",
+    "Use each arm to grab the shiny red bottle and the plastic orange bottle with rounded base.",
+    "Grab the shiny red bottle with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the medium bottle for liquids.",
+    "Grab the shiny red bottle and the plastic orange bottle with rounded base at the same time.",
+    "Pick up both the bottle with white and yellow label and the medium bottle for liquids together.",
+    "Lift the shiny red bottle using one arm and lift the medium bottle for liquids using the other.",
+    "Grab the bottle with white and yellow label and grab the plastic orange bottle with rounded base at once.",
+    "Pick up the shiny red bottle with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with yellow Chinese characters and the medium bottle for liquids together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the plastic orange bottle with rounded base.",
+    "Grab the shiny red bottle with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the plastic orange bottle with rounded base.",
+    "Grab the bottle with white and yellow label and the medium plastic bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the medium bottle for liquids together.",
+    "Lift the shiny red bottle using one arm and lift the medium plastic bottle using the other.",
+    "Grab the bottle with white and yellow label and grab the plastic orange bottle with rounded base at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the medium bottle for liquids with the other.",
+    "Pick up the bottle with white and yellow label and take the medium bottle for liquids together.",
+    "Pick up the bottle with yellow Chinese characters and the medium bottle for liquids together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the plastic orange bottle with rounded base.",
+    "Grab the bottle with white and yellow label with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the plastic orange bottle with rounded base.",
+    "Grab the bottle with white and yellow label and the medium bottle for liquids at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the medium bottle for liquids together.",
+    "Lift the bottle with white and yellow label using one arm and lift the medium bottle for liquids using the other.",
+    "Grab the bottle with yellow Chinese characters and grab the medium plastic bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the medium bottle for liquids together.",
+    "Pick up the shiny red bottle and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab the bottle with white and yellow label and the medium plastic bottle.",
+    "Grab the shiny red bottle with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the medium plastic bottle.",
+    "Grab the bottle with white and yellow label and the medium bottle for liquids at the same time.",
+    "Pick up both the bottle with white and yellow label and the medium bottle for liquids together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001302.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium-sized bottle, continue and pick up the bottle with green and white labels.",
+    "Catch both the handheld bottle and the bottle with white cap quickly.",
+    "Grab the white bottle with blue accents using one arm and the yellow bottle using the other.",
+    "Grasp the handheld bottle first, then take the yellow bottle with a green design.",
+    "Secure the blue bottle and the bottle with white cap in succession.",
+    "Use both arms to lift the bottle for liquids and the bottle with a smooth plastic body.",
+    "Catch the medium bottle for beverages in one arm and the rectangular bottle with cylindrical neck in the other arm.",
+    "Pick both the white bottle with blue accents and the yellow plastic bottle with white top one after another.",
+    "Grab the blue bottle using an arm and the yellow bottle with a green design with the other arm.",
+    "Pick up both the plastic bottle and the smooth bottle with rounded edges.",
+    "Catch the white and blue bottle, then catch the bottle with green label.",
+    "With both arms, pick up the smooth plastic bottle, then the bottle with a smooth plastic body.",
+    "Use each arm to lift the medium-sized bottle and the bottle with a smooth plastic body.",
+    "Catch the blue bottle, then grab the medium rectangular yellow bottle too.",
+    "Hold the white bottle with blue accents in one arm, the medium rectangular yellow bottle in the other.",
+    "Use one arm for the cylindrical bottle, another for the yellow bottle.",
+    "Hold the smooth plastic bottle in one arm, catch the yellow container with rounded edges with the other arm.",
+    "Pick up both the white and blue bottle and the rectangular bottle with cylindrical neck together.",
+    "Lift both bottles, the smooth plastic bottle with one arm, the yellow container with rounded edges with the other.",
+    "Secure both the bottle with blue cap and the bottle with green label quickly.",
+    "Assign one arm to each of the white bottle with blue accents and the bottle with a smooth plastic body.",
+    "Let each arm grab either the bottle with blue cap or the bottle with green label.",
+    "One arm grabs the medium-sized bottle; the other arm grabs the plastic bottle.",
+    "Hold onto the white and blue bottle and then get the bottle with green and white labels.",
+    "Collect the medium bottle for beverages, then pick up the bottle with white cap.",
+    "Use both arms to pick up the white bottle with blue accents and the bottle with a smooth plastic body.",
+    "With two arms, catch both the handheld bottle and the yellow bottle with a green design.",
+    "Use both arms to pick up the smooth plastic bottle and the medium rectangular yellow bottle.",
+    "Take hold of the smooth plastic bottle and the medium rectangular yellow bottle.",
+    "Use one arm for the medium bottle for beverages, the other for the yellow plastic bottle with white top.",
+    "Catch the handheld bottle, grab the smooth bottle with rounded edges next.",
+    "Hold onto the plastic bottle, then pick up the medium rectangular yellow bottle.",
+    "Pick up the cylindrical bottle and then pick up the plastic bottle.",
+    "Secure the white and blue bottle, then secure the smooth bottle with rounded edges.",
+    "Hold both the medium-sized bottle and the yellow container with rounded edges.",
+    "Lift the white and blue bottle and also take hold of the bottle with green label.",
+    "Assign one arm to catch the medium bottle for beverages, one for the yellow bottle with a green design.",
+    "Lift the handheld bottle and the yellow bottle with a green design with separate arms.",
+    "Use one arm for the plastic bottle and the other for the yellow container with rounded edges.",
+    "Grab and hold the bottle with blue cap, then grab the yellow bottle with a green design.",
+    "Catch the white and blue bottle, then take hold of the rectangular bottle with cylindrical neck.",
+    "Each arm should pick up one: the medium-sized bottle, then the plastic bottle.",
+    "Hold the smooth plastic bottle with one arm, hold the rectangular bottle with cylindrical neck with the other.",
+    "Grab the bottle with blue cap with one arm, the bottle with green label with the other.",
+    "Grab the medium bottle for beverages with one arm, the yellow container with rounded edges with the other.",
+    "Grab the white and blue bottle and pick up the yellow bottle with a green design.",
+    "Pick up the bottle with blue cap, then pick up the yellow bottle with a green design.",
+    "Lift both the white and blue bottle and the bottle with white cap simultaneously.",
+    "Catch the plastic bottle with one arm, the yellow bottle with a green design with another arm.",
+    "Grab the bottle with blue cap, pick up the yellow plastic bottle with white top.",
+    "Lift the blue bottle, continue and pick up the bottle with green label.",
+    "Catch both the plastic bottle and the medium rectangular yellow bottle quickly.",
+    "Grab the bottle for liquids using one arm and the plastic bottle using the other.",
+    "Grasp the medium-sized bottle first, then take the bottle with green label.",
+    "Secure the blue bottle and the medium rectangular yellow bottle in succession.",
+    "Use both arms to lift the smooth plastic bottle and the bottle with white cap.",
+    "Catch the cylindrical bottle in one arm and the yellow container with rounded edges in the other arm.",
+    "Pick both the blue bottle and the medium rectangular yellow bottle one after another.",
+    "Grab the smooth plastic bottle using an arm and the yellow bottle with a green design with the other arm.",
+    "Pick up both the plastic bottle and the bottle with green label.",
+    "Catch the handheld bottle, then catch the smooth bottle with rounded edges.",
+    "With both arms, pick up the white bottle with blue accents, then the yellow bottle.",
+    "Use each arm to lift the cylindrical bottle and the yellow container with rounded edges.",
+    "Catch the smooth plastic bottle, then grab the medium rectangular yellow bottle too.",
+    "Hold the plastic bottle in one arm, the bottle with white cap in the other.",
+    "Use one arm for the cylindrical bottle, another for the yellow bottle.",
+    "Hold the blue bottle in one arm, catch the bottle with white cap with the other arm.",
+    "Pick up both the medium bottle for beverages and the bottle with green label together.",
+    "Lift both bottles, the cylindrical bottle with one arm, the medium rectangular yellow bottle with the other.",
+    "Secure both the plastic bottle and the yellow plastic bottle with white top quickly.",
+    "Assign one arm to each of the plastic bottle and the bottle with white cap.",
+    "Let each arm grab either the medium-sized bottle or the smooth bottle with rounded edges.",
+    "One arm grabs the bottle with blue cap; the other arm grabs the bottle with green label.",
+    "Hold onto the blue bottle and then get the yellow bottle with a green design.",
+    "Collect the plastic bottle, then pick up the yellow plastic bottle with white top.",
+    "Use both arms to pick up the medium bottle for beverages and the smooth bottle with rounded edges.",
+    "With two arms, catch both the plastic bottle and the bottle with a smooth plastic body.",
+    "Use both arms to pick up the white bottle with blue accents and the bottle with a smooth plastic body.",
+    "Take hold of the smooth plastic bottle and the yellow plastic bottle with white top.",
+    "Use one arm for the blue bottle, the other for the yellow bottle with a green design.",
+    "Catch the white and blue bottle, grab the bottle with green and white labels next.",
+    "Hold onto the white bottle with blue accents, then pick up the yellow bottle.",
+    "Pick up the medium-sized bottle and then pick up the yellow container with rounded edges.",
+    "Secure the smooth plastic bottle, then secure the plastic bottle.",
+    "Hold both the bottle with blue cap and the yellow bottle with a green design.",
+    "Lift the white bottle with blue accents and also take hold of the rectangular bottle with cylindrical neck.",
+    "Assign one arm to catch the cylindrical bottle, one for the yellow bottle with a green design.",
+    "Lift the smooth plastic bottle and the bottle with green label with separate arms.",
+    "Use one arm for the smooth plastic bottle and the other for the bottle with a smooth plastic body.",
+    "Grab and hold the bottle with blue cap, then grab the bottle with a smooth plastic body.",
+    "Catch the blue bottle, then take hold of the medium rectangular yellow bottle.",
+    "Each arm should pick up one: the medium bottle for beverages, then the yellow bottle with a green design.",
+    "Hold the smooth plastic bottle with one arm, hold the bottle with green and white labels with the other.",
+    "Grab the bottle with blue cap with one arm, the yellow bottle with a green design with the other.",
+    "Grab the plastic bottle with one arm, the bottle with a smooth plastic body with the other.",
+    "Grab the white and blue bottle and pick up the yellow bottle with a green design.",
+    "Pick up the medium-sized bottle, then pick up the yellow plastic bottle with white top.",
+    "Lift both the plastic bottle and the rectangular bottle with cylindrical neck simultaneously.",
+    "Catch the bottle with blue cap with one arm, the plastic bottle with another arm.",
+    "Grab the plastic bottle, pick up the medium rectangular yellow bottle."
+  ],
+  "unseen": [
+    "Grab the bottle with curved neck design and grab the hand-sized yellow plastic bottle at once.",
+    "Grab the blue-capped plastic bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Use each arm to lift a bottle: the bottle with ridged neck, then the yellow rectangular bottle.",
+    "Pick up the bottle with curved neck design with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the blue-capped plastic bottle and take the hand-sized yellow plastic bottle together.",
+    "Pick up both the bottle with ridged neck and the yellow bottle for liquid storage together.",
+    "Grab the bottle with curved neck design and the yellow rectangular bottle at the same time.",
+    "Use each arm to grab the bottle with ridged neck and the yellow rectangular bottle.",
+    "Lift the blue-capped plastic bottle using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Pick up the bottle with ridged neck and the hand-sized yellow plastic bottle together.",
+    "Grab the blue-capped plastic bottle and grab the yellow rectangular bottle at once.",
+    "Grab the bottle with ridged neck with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Use each arm to lift a bottle: the blue-capped plastic bottle, then the yellow rectangular bottle.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the blue-capped plastic bottle and take the hand-sized yellow plastic bottle together.",
+    "Pick up both the blue-capped plastic bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the bottle with curved neck design and the yellow bottle for liquid storage at the same time.",
+    "Use each arm to grab the bottle with curved neck design and the yellow bottle for liquid storage.",
+    "Lift the bottle with curved neck design using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the bottle with ridged neck and the yellow bottle for liquid storage together.",
+    "Grab the blue-capped plastic bottle and grab the yellow bottle for liquid storage at once.",
+    "Grab the blue-capped plastic bottle with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Use each arm to lift a bottle: the bottle with ridged neck, then the yellow rectangular bottle.",
+    "Pick up the bottle with ridged neck with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the blue-capped plastic bottle and take the yellow rectangular bottle together.",
+    "Pick up both the blue-capped plastic bottle and the yellow rectangular bottle together.",
+    "Grab the bottle with curved neck design and the yellow bottle for liquid storage at the same time.",
+    "Use each arm to grab the bottle with ridged neck and the yellow rectangular bottle.",
+    "Lift the blue-capped plastic bottle using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Pick up the blue-capped plastic bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the blue-capped plastic bottle and grab the yellow rectangular bottle at once.",
+    "Grab the blue-capped plastic bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Use each arm to lift a bottle: the blue-capped plastic bottle, then the yellow rectangular bottle.",
+    "Pick up the bottle with curved neck design with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the bottle with ridged neck and take the yellow rectangular bottle together.",
+    "Pick up both the bottle with curved neck design and the hand-sized yellow plastic bottle together.",
+    "Grab the bottle with ridged neck and the yellow rectangular bottle at the same time.",
+    "Use each arm to grab the blue-capped plastic bottle and the yellow rectangular bottle.",
+    "Lift the blue-capped plastic bottle using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Pick up the bottle with ridged neck and the hand-sized yellow plastic bottle together.",
+    "Grab the bottle with curved neck design and grab the hand-sized yellow plastic bottle at once.",
+    "Grab the bottle with curved neck design with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Use each arm to lift a bottle: the bottle with ridged neck, then the hand-sized yellow plastic bottle.",
+    "Pick up the bottle with curved neck design with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the bottle with curved neck design and take the yellow rectangular bottle together.",
+    "Pick up both the blue-capped plastic bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the bottle with ridged neck and the yellow bottle for liquid storage at the same time.",
+    "Use each arm to grab the blue-capped plastic bottle and the yellow bottle for liquid storage.",
+    "Lift the bottle with curved neck design using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the bottle with ridged neck and the yellow rectangular bottle together.",
+    "Grab the bottle with curved neck design and grab the hand-sized yellow plastic bottle at once.",
+    "Grab the bottle with ridged neck with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with ridged neck, then the yellow bottle for liquid storage.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the hand-sized yellow plastic bottle with the other.",
+    "Pick up the bottle with curved neck design and take the hand-sized yellow plastic bottle together.",
+    "Pick up both the bottle with ridged neck and the yellow bottle for liquid storage together.",
+    "Grab the bottle with ridged neck and the hand-sized yellow plastic bottle at the same time.",
+    "Use each arm to grab the blue-capped plastic bottle and the yellow bottle for liquid storage.",
+    "Lift the blue-capped plastic bottle using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Pick up the bottle with ridged neck and the yellow rectangular bottle together.",
+    "Grab the bottle with curved neck design and grab the yellow rectangular bottle at once.",
+    "Grab the bottle with ridged neck with one arm, grab the yellow rectangular bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with ridged neck, then the yellow bottle for liquid storage.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the bottle with ridged neck and take the yellow bottle for liquid storage together.",
+    "Pick up both the blue-capped plastic bottle and the yellow rectangular bottle together.",
+    "Grab the bottle with curved neck design and the hand-sized yellow plastic bottle at the same time.",
+    "Use each arm to grab the blue-capped plastic bottle and the hand-sized yellow plastic bottle.",
+    "Lift the bottle with ridged neck using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the blue-capped plastic bottle and the yellow rectangular bottle together.",
+    "Grab the blue-capped plastic bottle and grab the hand-sized yellow plastic bottle at once.",
+    "Grab the bottle with ridged neck with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Use each arm to lift a bottle: the bottle with curved neck design, then the yellow bottle for liquid storage.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the bottle with ridged neck and take the hand-sized yellow plastic bottle together.",
+    "Pick up both the bottle with ridged neck and the yellow bottle for liquid storage together.",
+    "Grab the blue-capped plastic bottle and the hand-sized yellow plastic bottle at the same time.",
+    "Use each arm to grab the bottle with curved neck design and the yellow rectangular bottle.",
+    "Lift the blue-capped plastic bottle using one arm and lift the hand-sized yellow plastic bottle using the other.",
+    "Pick up the blue-capped plastic bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the bottle with ridged neck and grab the yellow bottle for liquid storage at once.",
+    "Grab the blue-capped plastic bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with ridged neck, then the yellow bottle for liquid storage.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Pick up the bottle with ridged neck and take the yellow bottle for liquid storage together.",
+    "Pick up both the bottle with ridged neck and the hand-sized yellow plastic bottle together.",
+    "Grab the bottle with curved neck design and the hand-sized yellow plastic bottle at the same time.",
+    "Use each arm to grab the bottle with curved neck design and the yellow rectangular bottle.",
+    "Lift the blue-capped plastic bottle using one arm and lift the yellow bottle for liquid storage using the other.",
+    "Pick up the blue-capped plastic bottle and the yellow rectangular bottle together.",
+    "Grab the bottle with curved neck design and grab the yellow bottle for liquid storage at once.",
+    "Grab the blue-capped plastic bottle with one arm, grab the yellow rectangular bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with ridged neck, then the yellow bottle for liquid storage.",
+    "Pick up the bottle with ridged neck with one arm, grab the yellow bottle for liquid storage with the other.",
+    "Pick up the bottle with ridged neck and take the yellow bottle for liquid storage together.",
+    "Pick up both the bottle with ridged neck and the yellow bottle for liquid storage together.",
+    "Grab the bottle with curved neck design and the yellow rectangular bottle at the same time.",
+    "Use each arm to grab the blue-capped plastic bottle and the hand-sized yellow plastic bottle.",
+    "Lift the bottle with ridged neck using one arm and lift the yellow rectangular bottle using the other.",
+    "Pick up the bottle with ridged neck and the hand-sized yellow plastic bottle together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001304.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Collect the orange bottle with bold labeling, then pick up the bottle with red cap.",
+    "With both arms, pick up the rounded orange bottle with yellow top, then the red bottle with curved grooves.",
+    "Each arm should pick up one: the smooth orange cylindrical bottle, then the bottle with red cap.",
+    "With two arms, catch both the yellow-capped orange plastic bottle and the red bottle with narrow neck.",
+    "Lift the rounded orange bottle with yellow top, continue and pick up the plastic bottle.",
+    "Lift both the smooth orange cylindrical bottle and the red bottle with curved grooves simultaneously.",
+    "Hold the smooth orange cylindrical bottle in one arm, the yellow text bottle in the other.",
+    "Secure the bottle with yellow cap and the red bottle in succession.",
+    "Grab and hold the rounded bottom orange plastic bottle, then grab the plastic bottle with bright red color.",
+    "Catch the liquid container with orange body, then grab the red bottle with screw cap too.",
+    "One arm grabs the rounded orange bottle with yellow top; the other arm grabs the plastic bottle with bright red color.",
+    "Use both arms to lift the liquid container with orange body and the red bottle.",
+    "Catch the yellow-capped bottle for beverages, grab the plastic bottle with bright red color next.",
+    "Lift both bottles, the orange bottle with one arm, the bottle with red cap with the other.",
+    "Pick up both the smooth orange cylindrical bottle and the bottle with red cap together.",
+    "Grab the rounded bottom orange plastic bottle with one arm, the handheld plastic bottle with the other.",
+    "Secure the rounded bottom orange plastic bottle, then secure the red bottle with curved grooves.",
+    "Catch the orange bottle with bold labeling, then take hold of the smooth red cylindrical bottle.",
+    "Use both arms to pick up the orange bottle with bold labeling and the red bottle.",
+    "Pick up the liquid container with orange body, then pick up the red bottle with screw cap.",
+    "Grab the orange bottle with bold labeling, pick up the bottle with red cap.",
+    "Secure both the liquid container with orange body and the red bottle quickly.",
+    "Take hold of the orange bottle with bold labeling and the bottle with red cap.",
+    "Use one arm for the yellow-capped bottle for beverages, another for the bottle with red cap.",
+    "Pick up both the cylindrical orange bottle with smooth surface and the red bottle.",
+    "Catch the rounded orange bottle with yellow top with one arm, the red bottle with screw cap with another arm.",
+    "Grab the orange bottle with bold labeling using an arm and the red bottle with narrow neck with the other arm.",
+    "Lift the bottle with yellow cap and the handheld plastic bottle with separate arms.",
+    "Assign one arm to catch the bottle with yellow cap, one for the plastic bottle with bright red color.",
+    "Let each arm grab either the handheld medium-sized liquid bottle or the red bottle with screw cap.",
+    "Hold onto the orange bottle, then pick up the red bottle with narrow neck.",
+    "Lift the small bottle with bright yellow lid and also take hold of the medium-size plastic bottle.",
+    "Grab the orange bottle with bold labeling with one arm, the red bottle with curved grooves with the other.",
+    "Catch the liquid container with orange body in one arm and the red bottle with white bottom text in the other arm.",
+    "Use each arm to lift the yellow-capped orange plastic bottle and the plastic bottle with bright red color.",
+    "Hold the cylindrical orange bottle with smooth surface with one arm, hold the red bottle with the other.",
+    "Grasp the rounded orange bottle with yellow top first, then take the red bottle with curved grooves.",
+    "Grab the small bottle with bright yellow lid using one arm and the bottle with red cap using the other.",
+    "Pick up the orange bottle with bold labeling and then pick up the red bottle with screw cap.",
+    "Catch both the orange bottle and the yellow text bottle quickly.",
+    "Grab the yellow-capped bottle for beverages and pick up the red bottle with curved grooves.",
+    "Assign one arm to each of the yellow-capped orange plastic bottle and the handheld plastic bottle.",
+    "Hold both the rounded bottom orange plastic bottle and the red bottle with white bottom text.",
+    "Use one arm for the smooth orange cylindrical bottle and the other for the handheld plastic bottle.",
+    "Catch the bottle with yellow cap, then catch the bottle with red cap.",
+    "Use one arm for the yellow-capped orange plastic bottle, the other for the red bottle with narrow neck.",
+    "Hold onto the yellow-capped orange plastic bottle and then get the red bottle.",
+    "Use both arms to pick up the yellow-capped bottle for beverages and the plastic bottle.",
+    "Pick both the rounded bottom orange plastic bottle and the red bottle with curved grooves one after another.",
+    "Hold the rounded orange bottle with yellow top in one arm, catch the smooth red cylindrical bottle with the other arm.",
+    "Collect the cylindrical orange bottle with smooth surface, then pick up the plastic bottle.",
+    "With both arms, pick up the small bottle with bright yellow lid, then the bottle with red cap.",
+    "Each arm should pick up one: the bottle with yellow cap, then the plastic bottle.",
+    "With two arms, catch both the rounded bottom orange plastic bottle and the handheld plastic bottle.",
+    "Lift the liquid container with orange body, continue and pick up the plastic bottle with bright red color.",
+    "Lift both the small bottle with bright yellow lid and the plastic bottle simultaneously.",
+    "Hold the cylindrical orange bottle with smooth surface in one arm, the yellow text bottle in the other.",
+    "Secure the cylindrical orange bottle with smooth surface and the red bottle with curved grooves in succession.",
+    "Grab and hold the bottle with yellow cap, then grab the plastic bottle.",
+    "Catch the rounded orange bottle with yellow top, then grab the yellow text bottle too.",
+    "One arm grabs the handheld medium-sized liquid bottle; the other arm grabs the yellow text bottle.",
+    "Use both arms to lift the cylindrical orange bottle with smooth surface and the plastic bottle.",
+    "Catch the small bottle with bright yellow lid, grab the bottle with red cap next.",
+    "Lift both bottles, the smooth orange cylindrical bottle with one arm, the medium-size plastic bottle with the other.",
+    "Pick up both the liquid container with orange body and the red bottle with narrow neck together.",
+    "Grab the cylindrical orange bottle with smooth surface with one arm, the plastic bottle with bright red color with the other.",
+    "Secure the orange bottle with bold labeling, then secure the handheld plastic bottle.",
+    "Catch the rounded orange bottle with yellow top, then take hold of the plastic bottle with bright red color.",
+    "Use both arms to pick up the small bottle with bright yellow lid and the red bottle with screw cap.",
+    "Pick up the liquid container with orange body, then pick up the red bottle with screw cap.",
+    "Grab the liquid container with orange body, pick up the red bottle with white bottom text.",
+    "Secure both the cylindrical orange bottle with smooth surface and the medium-size plastic bottle quickly.",
+    "Take hold of the rounded bottom orange plastic bottle and the red bottle with curved grooves.",
+    "Use one arm for the handheld medium-sized liquid bottle, another for the red bottle with curved grooves.",
+    "Pick up both the small bottle with bright yellow lid and the smooth red cylindrical bottle.",
+    "Catch the yellow-capped orange plastic bottle with one arm, the plastic bottle with bright red color with another arm.",
+    "Grab the smooth orange cylindrical bottle using an arm and the red bottle with curved grooves with the other arm.",
+    "Lift the small bottle with bright yellow lid and the red bottle with screw cap with separate arms.",
+    "Assign one arm to catch the orange bottle, one for the red bottle with narrow neck.",
+    "Let each arm grab either the cylindrical orange bottle with smooth surface or the handheld plastic bottle.",
+    "Hold onto the handheld medium-sized liquid bottle, then pick up the handheld plastic bottle.",
+    "Lift the orange bottle with bold labeling and also take hold of the handheld plastic bottle.",
+    "Grab the small bottle with bright yellow lid with one arm, the yellow text bottle with the other.",
+    "Catch the orange bottle with bold labeling in one arm and the handheld plastic bottle in the other arm.",
+    "Use each arm to lift the rounded bottom orange plastic bottle and the red bottle.",
+    "Hold the rounded bottom orange plastic bottle with one arm, hold the bottle with red cap with the other.",
+    "Grasp the orange bottle first, then take the red bottle with screw cap.",
+    "Grab the rounded orange bottle with yellow top using one arm and the red bottle with curved grooves using the other.",
+    "Pick up the yellow-capped orange plastic bottle and then pick up the red bottle with curved grooves.",
+    "Catch both the rounded orange bottle with yellow top and the plastic bottle quickly.",
+    "Grab the bottle with yellow cap and pick up the red bottle.",
+    "Assign one arm to each of the rounded bottom orange plastic bottle and the bottle with red cap.",
+    "Hold both the orange bottle with bold labeling and the yellow text bottle.",
+    "Use one arm for the yellow-capped orange plastic bottle and the other for the medium-size plastic bottle.",
+    "Catch the smooth orange cylindrical bottle, then catch the handheld plastic bottle.",
+    "Use one arm for the rounded bottom orange plastic bottle, the other for the handheld plastic bottle.",
+    "Hold onto the rounded orange bottle with yellow top and then get the red bottle with screw cap.",
+    "Use both arms to pick up the bottle with yellow cap and the red bottle with screw cap.",
+    "Pick both the orange bottle and the red bottle with curved grooves one after another.",
+    "Hold the liquid container with orange body in one arm, catch the smooth red cylindrical bottle with the other arm."
+  ],
+  "unseen": [
+    "Pick up the plastic orange bottle with rounded base and the bottle with yellow Chinese characters together.",
+    "Pick up both the medium plastic bottle and the bottle with white and yellow label together.",
+    "Grab the plastic orange bottle with rounded base and grab the shiny red bottle at once.",
+    "Lift the medium plastic bottle using one arm and lift the shiny red bottle using the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the bottle with white and yellow label with the other.",
+    "Pick up the plastic orange bottle with rounded base and take the shiny red bottle together.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the shiny red bottle with the other.",
+    "Grab the medium plastic bottle and the bottle with white and yellow label at the same time.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the bottle with white and yellow label.",
+    "Use each arm to grab the medium plastic bottle and the bottle with white and yellow label.",
+    "Pick up the plastic orange bottle with rounded base and the bottle with white and yellow label together.",
+    "Pick up both the medium bottle for liquids and the shiny red bottle together.",
+    "Grab the medium plastic bottle and grab the shiny red bottle at once.",
+    "Lift the medium plastic bottle using one arm and lift the shiny red bottle using the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the bottle with white and yellow label with the other.",
+    "Pick up the medium bottle for liquids and take the shiny red bottle together.",
+    "Grab the medium bottle for liquids with one arm, grab the shiny red bottle with the other.",
+    "Grab the medium plastic bottle and the shiny red bottle at the same time.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the bottle with yellow Chinese characters.",
+    "Use each arm to grab the medium plastic bottle and the bottle with yellow Chinese characters.",
+    "Pick up the plastic orange bottle with rounded base and the shiny red bottle together.",
+    "Pick up both the medium plastic bottle and the bottle with white and yellow label together.",
+    "Grab the medium plastic bottle and grab the shiny red bottle at once.",
+    "Lift the medium plastic bottle using one arm and lift the shiny red bottle using the other.",
+    "Pick up the medium plastic bottle with one arm, grab the shiny red bottle with the other.",
+    "Pick up the plastic orange bottle with rounded base and take the bottle with white and yellow label together.",
+    "Grab the medium bottle for liquids with one arm, grab the bottle with white and yellow label with the other.",
+    "Grab the plastic orange bottle with rounded base and the bottle with yellow Chinese characters at the same time.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the shiny red bottle.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with white and yellow label.",
+    "Pick up the medium bottle for liquids and the bottle with white and yellow label together.",
+    "Pick up both the plastic orange bottle with rounded base and the shiny red bottle together.",
+    "Grab the medium bottle for liquids and grab the bottle with white and yellow label at once.",
+    "Lift the medium bottle for liquids using one arm and lift the shiny red bottle using the other.",
+    "Pick up the medium plastic bottle with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Pick up the plastic orange bottle with rounded base and take the bottle with yellow Chinese characters together.",
+    "Grab the medium bottle for liquids with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Grab the medium plastic bottle and the shiny red bottle at the same time.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the shiny red bottle.",
+    "Use each arm to grab the medium plastic bottle and the bottle with yellow Chinese characters.",
+    "Pick up the medium bottle for liquids and the bottle with white and yellow label together.",
+    "Pick up both the medium bottle for liquids and the bottle with yellow Chinese characters together.",
+    "Grab the medium plastic bottle and grab the bottle with yellow Chinese characters at once.",
+    "Lift the medium plastic bottle using one arm and lift the bottle with yellow Chinese characters using the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the shiny red bottle with the other.",
+    "Pick up the medium plastic bottle and take the shiny red bottle together.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the bottle with white and yellow label with the other.",
+    "Grab the plastic orange bottle with rounded base and the bottle with yellow Chinese characters at the same time.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the bottle with white and yellow label.",
+    "Use each arm to grab the medium plastic bottle and the bottle with yellow Chinese characters.",
+    "Pick up the medium bottle for liquids and the bottle with yellow Chinese characters together.",
+    "Pick up both the plastic orange bottle with rounded base and the shiny red bottle together.",
+    "Grab the medium bottle for liquids and grab the bottle with yellow Chinese characters at once.",
+    "Lift the medium bottle for liquids using one arm and lift the bottle with white and yellow label using the other.",
+    "Pick up the medium plastic bottle with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Pick up the medium bottle for liquids and take the bottle with white and yellow label together.",
+    "Grab the medium plastic bottle with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Grab the medium bottle for liquids and the shiny red bottle at the same time.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the bottle with yellow Chinese characters.",
+    "Use each arm to grab the medium plastic bottle and the bottle with yellow Chinese characters.",
+    "Pick up the medium bottle for liquids and the bottle with yellow Chinese characters together.",
+    "Pick up both the medium plastic bottle and the shiny red bottle together.",
+    "Grab the plastic orange bottle with rounded base and grab the bottle with white and yellow label at once.",
+    "Lift the medium bottle for liquids using one arm and lift the bottle with yellow Chinese characters using the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the bottle with white and yellow label with the other.",
+    "Pick up the plastic orange bottle with rounded base and take the shiny red bottle together.",
+    "Grab the medium plastic bottle with one arm, grab the bottle with white and yellow label with the other.",
+    "Grab the medium plastic bottle and the bottle with yellow Chinese characters at the same time.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the bottle with yellow Chinese characters.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with white and yellow label.",
+    "Pick up the medium bottle for liquids and the bottle with white and yellow label together.",
+    "Pick up both the medium plastic bottle and the bottle with yellow Chinese characters together.",
+    "Grab the plastic orange bottle with rounded base and grab the bottle with white and yellow label at once.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the bottle with white and yellow label using the other.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the bottle with white and yellow label with the other.",
+    "Pick up the medium bottle for liquids and take the bottle with white and yellow label together.",
+    "Grab the medium bottle for liquids with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Grab the medium plastic bottle and the bottle with yellow Chinese characters at the same time.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the bottle with white and yellow label.",
+    "Use each arm to grab the medium plastic bottle and the shiny red bottle.",
+    "Pick up the medium bottle for liquids and the bottle with white and yellow label together.",
+    "Pick up both the plastic orange bottle with rounded base and the bottle with yellow Chinese characters together.",
+    "Grab the medium bottle for liquids and grab the shiny red bottle at once.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the shiny red bottle using the other.",
+    "Pick up the medium plastic bottle with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Pick up the plastic orange bottle with rounded base and take the bottle with white and yellow label together.",
+    "Grab the medium plastic bottle with one arm, grab the bottle with white and yellow label with the other.",
+    "Grab the medium plastic bottle and the bottle with white and yellow label at the same time.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the shiny red bottle.",
+    "Use each arm to grab the medium plastic bottle and the bottle with yellow Chinese characters.",
+    "Pick up the medium plastic bottle and the bottle with yellow Chinese characters together.",
+    "Pick up both the medium bottle for liquids and the bottle with yellow Chinese characters together.",
+    "Grab the plastic orange bottle with rounded base and grab the bottle with white and yellow label at once.",
+    "Lift the medium plastic bottle using one arm and lift the shiny red bottle using the other.",
+    "Pick up the medium bottle for liquids with one arm, grab the bottle with yellow Chinese characters with the other.",
+    "Pick up the medium plastic bottle and take the bottle with yellow Chinese characters together.",
+    "Grab the medium plastic bottle with one arm, grab the shiny red bottle with the other.",
+    "Grab the medium bottle for liquids and the bottle with white and yellow label at the same time.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the bottle with white and yellow label.",
+    "Use each arm to grab the medium bottle for liquids and the bottle with white and yellow label."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001313.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold onto the yellow body bottle, then pick up the bottle with narrow top.",
+    "Each arm should pick up one: the yellow bottle with flower design, then the bottle with white printed label.",
+    "Secure the plastic bottle and the green bottle with indented base in succession.",
+    "Pick up the smooth yellow plastic bottle and then pick up the bottle with white printed label.",
+    "Grab the handheld bottle with one arm, the green bottle with indented base with the other.",
+    "Grab the smooth yellow plastic bottle using an arm and the medium green bottle with the other arm.",
+    "Grab the bottle with white cap using one arm and the medium green bottle using the other.",
+    "Catch the yellow bottle with green label with one arm, the handheld green bottle with another arm.",
+    "Catch the bottle with white cap, then take hold of the bottle with narrow top.",
+    "One arm grabs the rectangular bottle; the other arm grabs the medium green bottle with capped neck.",
+    "Let each arm grab either the yellow bottle or the medium-sized green bottle.",
+    "Lift the rectangular bottle, continue and pick up the bottle with white printed label.",
+    "Hold both the handheld bottle and the medium green bottle.",
+    "Lift the yellow bottle with flower design and the bottle with white printed label with separate arms.",
+    "Grab the bottle for liquids and pick up the bottle with narrow top.",
+    "Use one arm for the bottle for liquids and the other for the bottle with ridges near base.",
+    "Pick up the yellow bottle with flower design, then pick up the bottle with ridges near base.",
+    "Assign one arm to each of the bottle for liquids and the medium green bottle with capped neck.",
+    "Pick both the smooth yellow plastic bottle and the medium green bottle one after another.",
+    "Catch the bottle with green and white label in one arm and the medium green bottle with capped neck in the other arm.",
+    "Grasp the yellow bottle with cylindrical cap first, then take the medium green bottle with capped neck.",
+    "Lift both bottles, the yellow bottle with cylindrical cap with one arm, the plastic bottle with the other.",
+    "Hold the rectangular bottle in one arm, catch the green bottle with indented base with the other arm.",
+    "Use each arm to lift the yellow body bottle and the medium-sized green bottle.",
+    "Use both arms to pick up the yellow body bottle and the green bottle with indented base.",
+    "Use one arm for the yellow bottle with cylindrical cap, another for the plastic bottle.",
+    "Assign one arm to catch the yellow body bottle, one for the medium green bottle with capped neck.",
+    "Lift the yellow bottle with flower design and also take hold of the medium-sized green bottle.",
+    "Catch the yellow bottle with green label, then catch the bottle with narrow top.",
+    "Lift both the handheld bottle and the bottle with rounded neck simultaneously.",
+    "Hold the handheld bottle in one arm, the green bottle with indented base in the other.",
+    "Pick up both the rectangular bottle and the bottle with ridges near base together.",
+    "Catch both the bottle for liquids and the smooth green bottle quickly.",
+    "With both arms, pick up the plastic bottle, then the bottle with ridges near base.",
+    "Use one arm for the smooth yellow plastic bottle, the other for the handheld green bottle.",
+    "Collect the bottle for liquids, then pick up the bottle with rounded neck.",
+    "With two arms, catch both the bottle for liquids and the bottle with white printed label.",
+    "Grab and hold the yellow bottle with flower design, then grab the bottle with rounded neck.",
+    "Pick up both the yellow body bottle and the green bottle with indented base.",
+    "Hold onto the yellow bottle with cylindrical cap and then get the bottle with ridges near base.",
+    "Use both arms to lift the yellow body bottle and the green bottle with indented base.",
+    "Grab the handheld bottle with one arm, the smooth green bottle with the other.",
+    "Hold the plastic bottle with one arm, hold the green bottle with indented base with the other.",
+    "Use both arms to pick up the bottle for liquids and the smooth green bottle.",
+    "Grab the yellow bottle with green label, pick up the handheld green bottle.",
+    "Catch the yellow bottle, grab the handheld green bottle next.",
+    "Secure the bottle with white cap, then secure the smooth green plastic bottle.",
+    "Catch the yellow bottle, then grab the bottle with narrow top too.",
+    "Secure both the yellow bottle with flower design and the medium green bottle with capped neck quickly.",
+    "Take hold of the handheld bottle and the medium-sized green bottle.",
+    "Hold onto the yellow bottle with green label, then pick up the medium green bottle with capped neck.",
+    "Each arm should pick up one: the bottle with white cap, then the smooth green bottle.",
+    "Secure the smooth yellow plastic bottle and the medium-sized green bottle in succession.",
+    "Pick up the bottle for liquids and then pick up the bottle with rounded neck.",
+    "Grab the bottle with white cap with one arm, the medium-sized green bottle with the other.",
+    "Grab the bottle with white cap using an arm and the bottle with ridges near base with the other arm.",
+    "Grab the yellow bottle using one arm and the green bottle with indented base using the other.",
+    "Catch the bottle with green and white label with one arm, the medium green bottle with capped neck with another arm.",
+    "Catch the yellow body bottle, then take hold of the plastic bottle.",
+    "One arm grabs the bottle for liquids; the other arm grabs the medium-sized green bottle.",
+    "Let each arm grab either the smooth yellow plastic bottle or the handheld green bottle.",
+    "Lift the bottle with white cap, continue and pick up the bottle with rounded neck.",
+    "Hold both the bottle with white cap and the plastic bottle.",
+    "Lift the handheld bottle and the medium-sized green bottle with separate arms.",
+    "Grab the yellow bottle with green label and pick up the plastic bottle.",
+    "Use one arm for the yellow bottle and the other for the bottle with narrow top.",
+    "Pick up the plastic bottle, then pick up the bottle with ridges near base.",
+    "Assign one arm to each of the yellow bottle with green label and the handheld green bottle.",
+    "Pick both the yellow bottle with cylindrical cap and the bottle with white printed label one after another.",
+    "Catch the yellow bottle with flower design in one arm and the smooth green bottle in the other arm.",
+    "Grasp the yellow body bottle first, then take the smooth green plastic bottle.",
+    "Lift both bottles, the yellow bottle with cylindrical cap with one arm, the bottle with rounded neck with the other.",
+    "Hold the plastic bottle in one arm, catch the bottle with rounded neck with the other arm.",
+    "Use each arm to lift the bottle with green and white label and the smooth green bottle.",
+    "Use both arms to pick up the bottle with green and white label and the bottle with white printed label.",
+    "Use one arm for the yellow bottle with cylindrical cap, another for the smooth green bottle.",
+    "Assign one arm to catch the yellow bottle with flower design, one for the green bottle with indented base.",
+    "Lift the bottle for liquids and also take hold of the smooth green plastic bottle.",
+    "Catch the bottle with white cap, then catch the bottle with white printed label.",
+    "Lift both the yellow bottle with flower design and the medium green bottle with capped neck simultaneously.",
+    "Hold the yellow bottle with cylindrical cap in one arm, the medium green bottle in the other.",
+    "Pick up both the plastic bottle and the smooth green plastic bottle together.",
+    "Catch both the yellow bottle with cylindrical cap and the medium green bottle with capped neck quickly.",
+    "With both arms, pick up the smooth yellow plastic bottle, then the smooth green plastic bottle.",
+    "Use one arm for the yellow bottle with green label, the other for the bottle with white printed label.",
+    "Collect the yellow bottle with flower design, then pick up the smooth green bottle.",
+    "With two arms, catch both the rectangular bottle and the green bottle with indented base.",
+    "Grab and hold the yellow bottle with cylindrical cap, then grab the smooth green bottle.",
+    "Pick up both the plastic bottle and the medium-sized green bottle.",
+    "Hold onto the yellow bottle with green label and then get the smooth green bottle.",
+    "Use both arms to lift the handheld bottle and the bottle with narrow top.",
+    "Grab the yellow bottle with flower design with one arm, the bottle with ridges near base with the other.",
+    "Hold the yellow body bottle with one arm, hold the handheld green bottle with the other.",
+    "Use both arms to pick up the bottle for liquids and the bottle with white printed label.",
+    "Grab the plastic bottle, pick up the bottle with white printed label.",
+    "Catch the smooth yellow plastic bottle, grab the bottle with rounded neck next.",
+    "Secure the bottle with white cap, then secure the smooth green bottle.",
+    "Catch the bottle for liquids, then grab the green bottle with indented base too.",
+    "Secure both the yellow bottle and the smooth green plastic bottle quickly.",
+    "Take hold of the bottle with green and white label and the bottle with white printed label."
+  ],
+  "unseen": [
+    "Pick up both the medium bottle and the green bottle with white label together.",
+    "Use each arm to grab the medium bottle and the green bottle with white label.",
+    "Pick up the bottle with printed label and take the green bottle together.",
+    "Grab the bottle with printed label with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the medium bottle with one arm, grab the green bottle with the other.",
+    "Use each arm to lift a bottle: the medium bottle, then the green plastic bottle with ridged bottom.",
+    "Pick up the medium bottle and the green bottle with white label together.",
+    "Grab the bottle with rounded edges and the green plastic bottle with ridged bottom at the same time.",
+    "Lift the medium bottle using one arm and lift the green plastic bottle with ridged bottom using the other.",
+    "Grab the medium bottle and grab the green plastic bottle with ridged bottom at once.",
+    "Pick up both the bottle with rounded edges and the green bottle together.",
+    "Use each arm to grab the medium bottle and the green plastic bottle with ridged bottom.",
+    "Pick up the bottle with rounded edges and take the green bottle together.",
+    "Grab the bottle with printed label with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with printed label with one arm, grab the green bottle with white label with the other.",
+    "Use each arm to lift a bottle: the bottle with printed label, then the green plastic bottle with ridged bottom.",
+    "Pick up the bottle with printed label and the green plastic bottle with ridged bottom together.",
+    "Grab the medium bottle and the green bottle with white label at the same time.",
+    "Lift the medium bottle using one arm and lift the green bottle using the other.",
+    "Grab the bottle with rounded edges and grab the green bottle at once.",
+    "Pick up both the medium bottle and the green plastic bottle with ridged bottom together.",
+    "Use each arm to grab the bottle with printed label and the green plastic bottle with ridged bottom.",
+    "Pick up the bottle with rounded edges and take the green bottle with white label together.",
+    "Grab the bottle with printed label with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with printed label with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Use each arm to lift a bottle: the bottle with rounded edges, then the green bottle with white label.",
+    "Pick up the medium bottle and the green bottle together.",
+    "Grab the bottle with rounded edges and the green plastic bottle with ridged bottom at the same time.",
+    "Lift the bottle with printed label using one arm and lift the green plastic bottle with ridged bottom using the other.",
+    "Grab the bottle with printed label and grab the green bottle with white label at once.",
+    "Pick up both the medium bottle and the green bottle with white label together.",
+    "Use each arm to grab the bottle with printed label and the green bottle.",
+    "Pick up the medium bottle and take the green bottle together.",
+    "Grab the medium bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with rounded edges with one arm, grab the green bottle with the other.",
+    "Use each arm to lift a bottle: the medium bottle, then the green bottle with white label.",
+    "Pick up the bottle with printed label and the green bottle together.",
+    "Grab the medium bottle and the green bottle at the same time.",
+    "Lift the bottle with printed label using one arm and lift the green bottle with white label using the other.",
+    "Grab the medium bottle and grab the green bottle at once.",
+    "Pick up both the medium bottle and the green bottle together.",
+    "Use each arm to grab the bottle with rounded edges and the green plastic bottle with ridged bottom.",
+    "Pick up the bottle with printed label and take the green plastic bottle with ridged bottom together.",
+    "Grab the bottle with rounded edges with one arm, grab the green bottle with the other.",
+    "Pick up the bottle with rounded edges with one arm, grab the green bottle with the other.",
+    "Use each arm to lift a bottle: the medium bottle, then the green bottle.",
+    "Pick up the bottle with rounded edges and the green bottle together.",
+    "Grab the bottle with rounded edges and the green bottle with white label at the same time.",
+    "Lift the bottle with rounded edges using one arm and lift the green bottle using the other.",
+    "Grab the bottle with rounded edges and grab the green bottle with white label at once.",
+    "Pick up both the medium bottle and the green bottle together.",
+    "Use each arm to grab the bottle with printed label and the green plastic bottle with ridged bottom.",
+    "Pick up the bottle with printed label and take the green bottle with white label together.",
+    "Grab the bottle with printed label with one arm, grab the green bottle with the other.",
+    "Pick up the medium bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Use each arm to lift a bottle: the medium bottle, then the green bottle with white label.",
+    "Pick up the medium bottle and the green plastic bottle with ridged bottom together.",
+    "Grab the bottle with rounded edges and the green plastic bottle with ridged bottom at the same time.",
+    "Lift the bottle with rounded edges using one arm and lift the green plastic bottle with ridged bottom using the other.",
+    "Grab the bottle with printed label and grab the green plastic bottle with ridged bottom at once.",
+    "Pick up both the medium bottle and the green bottle together.",
+    "Use each arm to grab the medium bottle and the green bottle with white label.",
+    "Pick up the bottle with printed label and take the green plastic bottle with ridged bottom together.",
+    "Grab the bottle with printed label with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with rounded edges with one arm, grab the green bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with rounded edges, then the green bottle with white label.",
+    "Pick up the bottle with rounded edges and the green bottle together.",
+    "Grab the bottle with printed label and the green bottle with white label at the same time.",
+    "Lift the bottle with printed label using one arm and lift the green bottle with white label using the other.",
+    "Grab the medium bottle and grab the green bottle at once.",
+    "Pick up both the medium bottle and the green bottle with white label together.",
+    "Use each arm to grab the bottle with printed label and the green plastic bottle with ridged bottom.",
+    "Pick up the medium bottle and take the green bottle with white label together.",
+    "Grab the medium bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with rounded edges with one arm, grab the green bottle with white label with the other.",
+    "Use each arm to lift a bottle: the bottle with rounded edges, then the green bottle with white label.",
+    "Pick up the bottle with rounded edges and the green bottle with white label together.",
+    "Grab the medium bottle and the green bottle with white label at the same time.",
+    "Lift the bottle with printed label using one arm and lift the green bottle with white label using the other.",
+    "Grab the medium bottle and grab the green bottle at once.",
+    "Pick up both the medium bottle and the green bottle together.",
+    "Use each arm to grab the bottle with rounded edges and the green bottle.",
+    "Pick up the bottle with rounded edges and take the green bottle with white label together.",
+    "Grab the medium bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the medium bottle with one arm, grab the green bottle with the other.",
+    "Use each arm to lift a bottle: the medium bottle, then the green bottle with white label.",
+    "Pick up the medium bottle and the green bottle together.",
+    "Grab the bottle with rounded edges and the green plastic bottle with ridged bottom at the same time.",
+    "Lift the bottle with printed label using one arm and lift the green plastic bottle with ridged bottom using the other.",
+    "Grab the bottle with rounded edges and grab the green bottle with white label at once.",
+    "Pick up both the medium bottle and the green bottle together.",
+    "Use each arm to grab the bottle with rounded edges and the green bottle with white label.",
+    "Pick up the medium bottle and take the green plastic bottle with ridged bottom together.",
+    "Grab the bottle with printed label with one arm, grab the green bottle with the other.",
+    "Pick up the bottle with printed label with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Use each arm to lift a bottle: the bottle with printed label, then the green plastic bottle with ridged bottom.",
+    "Pick up the bottle with rounded edges and the green bottle together.",
+    "Grab the bottle with printed label and the green bottle at the same time.",
+    "Lift the medium bottle using one arm and lift the green bottle with white label using the other.",
+    "Grab the bottle with printed label and grab the green bottle at once."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001326.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold onto the medium dark brown bottle and then get the small curved plastic bottle.",
+    "Lift the medium dark brown bottle and the smooth brown and white patterned bottle with separate arms.",
+    "Grab the narrow-necked bottle with one arm, the small bottle with decorative design with the other.",
+    "With two arms, catch both the red-capped bottle and the plastic bottle.",
+    "Secure the medium dark brown bottle, then secure the small curved plastic bottle.",
+    "Catch the medium dark brown bottle, then take hold of the plastic bottle.",
+    "Let each arm grab either the hand-sized soda bottle or the bottle with white screw cap.",
+    "Hold the plastic drink bottle in one arm, the curved bottle with white top in the other.",
+    "Catch the smooth bottle with red lid, then grab the bottle with brown and white patterns too.",
+    "Catch both the red-capped bottle and the hand-sized plastic bottle quickly.",
+    "Hold the red-capped bottle in one arm, catch the small bottle with decorative design with the other arm.",
+    "Lift the dark drink bottle with logo, continue and pick up the smooth brown and white patterned bottle.",
+    "Catch the Coca-Cola bottle in one arm and the brown bottle in the other arm.",
+    "Use both arms to lift the red-capped bottle and the curved bottle with white top.",
+    "Lift both bottles, the brown bottle with red label with one arm, the brown bottle with the other.",
+    "Use each arm to lift the brown bottle with red label and the small bottle with decorative design.",
+    "One arm grabs the plastic drink bottle; the other arm grabs the small curved plastic bottle.",
+    "Hold both the long thin bottle and the brown bottle.",
+    "With both arms, pick up the hand-sized soda bottle, then the bottle with brown and white patterns.",
+    "Use one arm for the bottle with ridges on bottom, the other for the small curved plastic bottle.",
+    "Pick up both the plastic drink bottle and the brown bottle.",
+    "Pick up both the Coca-Cola bottle and the brown bottle together.",
+    "Hold onto the bottle with ridges on bottom, then pick up the small curved plastic bottle.",
+    "Use both arms to pick up the long thin bottle and the small bottle with decorative design.",
+    "Catch the dark drink bottle with logo, grab the small bottle with decorative design next.",
+    "Pick up the plastic drink bottle, then pick up the bottle with black label.",
+    "Use one arm for the bottle with ridges on bottom, another for the curved bottle with white top.",
+    "Take hold of the medium dark brown bottle and the bottle with brown and white patterns.",
+    "Hold the smooth bottle with red lid with one arm, hold the hand-sized plastic bottle with the other.",
+    "Lift the medium dark brown bottle and also take hold of the bottle with brown and white patterns.",
+    "Grab the brown bottle with red label with one arm, the small bottle with decorative design with the other.",
+    "Grab the bottle with ridges on bottom using an arm and the bottle with brown and white patterns with the other arm.",
+    "Pick both the smooth bottle with red lid and the bottle holding liquid one after another.",
+    "Secure both the long thin bottle and the smooth brown and white patterned bottle quickly.",
+    "Assign one arm to each of the dark drink bottle with logo and the bottle with black label.",
+    "Grab and hold the bottle with white neck and red top, then grab the bottle with black label.",
+    "Grab the narrow-necked bottle and pick up the smooth brown and white patterned bottle.",
+    "Grab the bottle with white neck and red top, pick up the small curved plastic bottle.",
+    "Secure the narrow-necked bottle and the white-capped bottle in succession.",
+    "Grab the red-capped bottle using one arm and the small curved plastic bottle using the other.",
+    "Each arm should pick up one: the red-capped bottle, then the curved bottle with white top.",
+    "Use one arm for the brown bottle with red label and the other for the small bottle with decorative design.",
+    "Assign one arm to catch the brown bottle with red label, one for the hand-sized plastic bottle.",
+    "Pick up the plastic drink bottle and then pick up the hand-sized plastic bottle.",
+    "Collect the hand-sized soda bottle, then pick up the hand-sized plastic bottle.",
+    "Catch the hand-sized soda bottle, then catch the hand-sized plastic bottle.",
+    "Use both arms to pick up the hand-sized soda bottle and the bottle with black label.",
+    "Catch the hand-sized soda bottle with one arm, the bottle with white screw cap with another arm.",
+    "Lift both the bottle with white neck and red top and the hand-sized plastic bottle simultaneously.",
+    "Grasp the dark drink bottle with logo first, then take the small bottle with decorative design.",
+    "Hold onto the hand-sized soda bottle and then get the hand-sized plastic bottle.",
+    "Lift the red-capped bottle and the bottle with black label with separate arms.",
+    "Grab the smooth bottle with red lid with one arm, the brown bottle with the other.",
+    "With two arms, catch both the medium dark brown bottle and the plastic bottle.",
+    "Secure the dark drink bottle with logo, then secure the small bottle with decorative design.",
+    "Catch the long thin bottle, then take hold of the brown bottle.",
+    "Let each arm grab either the dark drink bottle with logo or the white-capped bottle.",
+    "Hold the smooth bottle with red lid in one arm, the white-capped bottle in the other.",
+    "Catch the Coca-Cola bottle, then grab the bottle with black label too.",
+    "Catch both the dark drink bottle with logo and the brown bottle quickly.",
+    "Hold the medium dark brown bottle in one arm, catch the small curved plastic bottle with the other arm.",
+    "Lift the medium dark brown bottle, continue and pick up the plastic bottle.",
+    "Catch the plastic drink bottle in one arm and the bottle with black label in the other arm.",
+    "Use both arms to lift the red-capped bottle and the small bottle with decorative design.",
+    "Lift both bottles, the long thin bottle with one arm, the hand-sized plastic bottle with the other.",
+    "Use each arm to lift the hand-sized soda bottle and the small bottle with decorative design.",
+    "One arm grabs the medium dark brown bottle; the other arm grabs the hand-sized plastic bottle.",
+    "Hold both the long thin bottle and the bottle holding liquid.",
+    "With both arms, pick up the long thin bottle, then the plastic bottle.",
+    "Use one arm for the narrow-necked bottle, the other for the small curved plastic bottle.",
+    "Pick up both the dark drink bottle with logo and the small curved plastic bottle.",
+    "Pick up both the brown bottle with red label and the bottle with black label together.",
+    "Hold onto the long thin bottle, then pick up the bottle with white screw cap.",
+    "Use both arms to pick up the Coca-Cola bottle and the brown bottle.",
+    "Catch the bottle with ridges on bottom, grab the small bottle with decorative design next.",
+    "Pick up the bottle with white neck and red top, then pick up the bottle with brown and white patterns.",
+    "Use one arm for the smooth bottle with red lid, another for the small curved plastic bottle.",
+    "Take hold of the brown bottle with red label and the small curved plastic bottle.",
+    "Hold the red-capped bottle with one arm, hold the small bottle with decorative design with the other.",
+    "Lift the dark drink bottle with logo and also take hold of the curved bottle with white top.",
+    "Grab the hand-sized soda bottle with one arm, the small bottle with decorative design with the other.",
+    "Grab the long thin bottle using an arm and the bottle holding liquid with the other arm.",
+    "Pick both the hand-sized soda bottle and the bottle with white screw cap one after another.",
+    "Secure both the bottle with ridges on bottom and the curved bottle with white top quickly.",
+    "Assign one arm to each of the bottle with ridges on bottom and the small bottle with decorative design.",
+    "Grab and hold the Coca-Cola bottle, then grab the small curved plastic bottle.",
+    "Grab the plastic drink bottle and pick up the hand-sized plastic bottle.",
+    "Grab the bottle with ridges on bottom, pick up the bottle holding liquid.",
+    "Secure the plastic drink bottle and the plastic bottle in succession.",
+    "Grab the bottle with white neck and red top using one arm and the white-capped bottle using the other.",
+    "Each arm should pick up one: the dark drink bottle with logo, then the plastic bottle.",
+    "Use one arm for the plastic drink bottle and the other for the bottle with white screw cap.",
+    "Assign one arm to catch the bottle with white neck and red top, one for the curved bottle with white top.",
+    "Pick up the plastic drink bottle and then pick up the plastic bottle.",
+    "Collect the red-capped bottle, then pick up the smooth brown and white patterned bottle.",
+    "Catch the medium dark brown bottle, then catch the bottle with brown and white patterns.",
+    "Use both arms to pick up the smooth bottle with red lid and the small bottle with decorative design.",
+    "Catch the red-capped bottle with one arm, the bottle with brown and white patterns with another arm.",
+    "Lift both the medium dark brown bottle and the hand-sized plastic bottle simultaneously.",
+    "Grasp the smooth bottle with red lid first, then take the bottle holding liquid."
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle and the cylindrical bottle with curved sides together.",
+    "Pick up the brown bottle and take the brown bottle with glossy swirls together.",
+    "Grab the bottle with red screw cap and grab the glossy brown bottle at once.",
+    "Pick up both the plastic soda bottle and the glossy brown bottle together.",
+    "Use each arm to lift a bottle: the brown bottle, then the brown bottle with glossy swirls.",
+    "Grab the brown bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Grab the brown bottle and the cylindrical bottle with curved sides at the same time.",
+    "Lift the bottle with red screw cap using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Pick up the plastic soda bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Use each arm to grab the brown bottle and the cylindrical bottle with curved sides.",
+    "Pick up the bottle with red screw cap and the cylindrical bottle with curved sides together.",
+    "Pick up the plastic soda bottle and take the cylindrical bottle with curved sides together.",
+    "Grab the brown bottle and grab the cylindrical bottle with curved sides at once.",
+    "Pick up both the plastic soda bottle and the brown bottle with glossy swirls together.",
+    "Use each arm to lift a bottle: the plastic soda bottle, then the glossy brown bottle.",
+    "Grab the brown bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Grab the plastic soda bottle and the brown bottle with glossy swirls at the same time.",
+    "Lift the brown bottle using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Pick up the brown bottle with one arm, grab the glossy brown bottle with the other.",
+    "Use each arm to grab the bottle with red screw cap and the cylindrical bottle with curved sides.",
+    "Pick up the brown bottle and the cylindrical bottle with curved sides together.",
+    "Pick up the plastic soda bottle and take the glossy brown bottle together.",
+    "Grab the brown bottle and grab the cylindrical bottle with curved sides at once.",
+    "Pick up both the brown bottle and the cylindrical bottle with curved sides together.",
+    "Use each arm to lift a bottle: the plastic soda bottle, then the cylindrical bottle with curved sides.",
+    "Grab the bottle with red screw cap with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Grab the plastic soda bottle and the glossy brown bottle at the same time.",
+    "Lift the bottle with red screw cap using one arm and lift the glossy brown bottle using the other.",
+    "Pick up the plastic soda bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Use each arm to grab the plastic soda bottle and the brown bottle with glossy swirls.",
+    "Pick up the bottle with red screw cap and the glossy brown bottle together.",
+    "Pick up the bottle with red screw cap and take the glossy brown bottle together.",
+    "Grab the bottle with red screw cap and grab the brown bottle with glossy swirls at once.",
+    "Pick up both the plastic soda bottle and the brown bottle with glossy swirls together.",
+    "Use each arm to lift a bottle: the bottle with red screw cap, then the brown bottle with glossy swirls.",
+    "Grab the brown bottle with one arm, grab the glossy brown bottle with the other.",
+    "Grab the bottle with red screw cap and the cylindrical bottle with curved sides at the same time.",
+    "Lift the brown bottle using one arm and lift the glossy brown bottle using the other.",
+    "Pick up the brown bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Use each arm to grab the brown bottle and the brown bottle with glossy swirls.",
+    "Pick up the brown bottle and the glossy brown bottle together.",
+    "Pick up the brown bottle and take the glossy brown bottle together.",
+    "Grab the plastic soda bottle and grab the brown bottle with glossy swirls at once.",
+    "Pick up both the brown bottle and the brown bottle with glossy swirls together.",
+    "Use each arm to lift a bottle: the bottle with red screw cap, then the cylindrical bottle with curved sides.",
+    "Grab the plastic soda bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Grab the plastic soda bottle and the cylindrical bottle with curved sides at the same time.",
+    "Lift the bottle with red screw cap using one arm and lift the glossy brown bottle using the other.",
+    "Pick up the bottle with red screw cap with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Use each arm to grab the bottle with red screw cap and the brown bottle with glossy swirls.",
+    "Pick up the brown bottle and the cylindrical bottle with curved sides together.",
+    "Pick up the plastic soda bottle and take the cylindrical bottle with curved sides together.",
+    "Grab the brown bottle and grab the glossy brown bottle at once.",
+    "Pick up both the bottle with red screw cap and the brown bottle with glossy swirls together.",
+    "Use each arm to lift a bottle: the brown bottle, then the cylindrical bottle with curved sides.",
+    "Grab the plastic soda bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Grab the plastic soda bottle and the cylindrical bottle with curved sides at the same time.",
+    "Lift the plastic soda bottle using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Pick up the brown bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Use each arm to grab the plastic soda bottle and the glossy brown bottle.",
+    "Pick up the brown bottle and the brown bottle with glossy swirls together.",
+    "Pick up the bottle with red screw cap and take the cylindrical bottle with curved sides together.",
+    "Grab the brown bottle and grab the glossy brown bottle at once.",
+    "Pick up both the plastic soda bottle and the glossy brown bottle together.",
+    "Use each arm to lift a bottle: the brown bottle, then the glossy brown bottle.",
+    "Grab the brown bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Grab the plastic soda bottle and the brown bottle with glossy swirls at the same time.",
+    "Lift the plastic soda bottle using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Pick up the plastic soda bottle with one arm, grab the glossy brown bottle with the other.",
+    "Use each arm to grab the brown bottle and the brown bottle with glossy swirls.",
+    "Pick up the bottle with red screw cap and the glossy brown bottle together.",
+    "Pick up the bottle with red screw cap and take the cylindrical bottle with curved sides together.",
+    "Grab the brown bottle and grab the cylindrical bottle with curved sides at once.",
+    "Pick up both the brown bottle and the glossy brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with red screw cap, then the glossy brown bottle.",
+    "Grab the plastic soda bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Grab the plastic soda bottle and the cylindrical bottle with curved sides at the same time.",
+    "Lift the brown bottle using one arm and lift the glossy brown bottle using the other.",
+    "Pick up the brown bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Use each arm to grab the plastic soda bottle and the glossy brown bottle.",
+    "Pick up the plastic soda bottle and the brown bottle with glossy swirls together.",
+    "Pick up the plastic soda bottle and take the cylindrical bottle with curved sides together.",
+    "Grab the brown bottle and grab the glossy brown bottle at once.",
+    "Pick up both the plastic soda bottle and the glossy brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with red screw cap, then the brown bottle with glossy swirls.",
+    "Grab the plastic soda bottle with one arm, grab the glossy brown bottle with the other.",
+    "Grab the brown bottle and the glossy brown bottle at the same time.",
+    "Lift the brown bottle using one arm and lift the glossy brown bottle using the other.",
+    "Pick up the bottle with red screw cap with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Use each arm to grab the plastic soda bottle and the brown bottle with glossy swirls.",
+    "Pick up the brown bottle and the glossy brown bottle together.",
+    "Pick up the plastic soda bottle and take the brown bottle with glossy swirls together.",
+    "Grab the plastic soda bottle and grab the brown bottle with glossy swirls at once.",
+    "Pick up both the brown bottle and the glossy brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with red screw cap, then the cylindrical bottle with curved sides.",
+    "Grab the brown bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Grab the bottle with red screw cap and the cylindrical bottle with curved sides at the same time.",
+    "Lift the bottle with red screw cap using one arm and lift the glossy brown bottle using the other.",
+    "Pick up the brown bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Use each arm to grab the plastic soda bottle and the glossy brown bottle."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001327.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Collect the medium dark brown bottle, then pick up the smooth yellow plastic bottle.",
+    "Let each arm grab either the Coca-Cola bottle or the yellow bottle.",
+    "Hold onto the red-capped bottle, then pick up the yellow bottle.",
+    "Use both arms to pick up the red-capped bottle and the yellow bottle.",
+    "Hold onto the bottle with white neck and red top and then get the yellow bottle with flower design.",
+    "Pick up the medium dark brown bottle and then pick up the yellow bottle with cylindrical cap.",
+    "Take hold of the plastic drink bottle and the yellow bottle with green label.",
+    "With both arms, pick up the bottle with ridges on bottom, then the yellow bottle with flower design.",
+    "Grab the Coca-Cola bottle and pick up the yellow bottle with flower design.",
+    "Catch the smooth bottle with red lid, then take hold of the plastic bottle.",
+    "Grab the medium dark brown bottle using one arm and the plastic bottle using the other.",
+    "Grab the smooth bottle with red lid, pick up the yellow bottle with cylindrical cap.",
+    "Assign one arm to each of the medium dark brown bottle and the yellow bottle with flower design.",
+    "Lift both the bottle with ridges on bottom and the plastic bottle simultaneously.",
+    "Catch both the narrow-necked bottle and the plastic bottle quickly.",
+    "Hold the plastic drink bottle with one arm, hold the bottle with white cap with the other.",
+    "Catch the brown bottle with red label, then catch the yellow bottle with green label.",
+    "Grab the long thin bottle with one arm, the yellow bottle with green label with the other.",
+    "Hold both the smooth bottle with red lid and the yellow bottle.",
+    "Grab the dark drink bottle with logo using an arm and the plastic bottle with the other arm.",
+    "Pick up both the hand-sized soda bottle and the yellow body bottle.",
+    "Grab the medium dark brown bottle with one arm, the bottle for liquids with the other.",
+    "Use both arms to lift the narrow-necked bottle and the smooth yellow plastic bottle.",
+    "Lift the narrow-necked bottle and also take hold of the yellow bottle with cylindrical cap.",
+    "Use both arms to pick up the long thin bottle and the bottle with white cap.",
+    "Catch the bottle with white neck and red top in one arm and the yellow bottle with flower design in the other arm.",
+    "Lift both bottles, the dark drink bottle with logo with one arm, the yellow bottle with flower design with the other.",
+    "Use one arm for the red-capped bottle, another for the yellow bottle with green label.",
+    "Lift the medium dark brown bottle, continue and pick up the smooth yellow plastic bottle.",
+    "Hold the Coca-Cola bottle in one arm, catch the handheld bottle with the other arm.",
+    "Grab and hold the long thin bottle, then grab the smooth yellow plastic bottle.",
+    "Hold the red-capped bottle in one arm, the bottle with green and white label in the other.",
+    "Secure the brown bottle with red label and the plastic bottle in succession.",
+    "Catch the Coca-Cola bottle, grab the rectangular bottle next.",
+    "Pick up both the hand-sized soda bottle and the yellow body bottle together.",
+    "Secure both the brown bottle with red label and the bottle for liquids quickly.",
+    "Secure the dark drink bottle with logo, then secure the bottle with green and white label.",
+    "Catch the red-capped bottle with one arm, the smooth yellow plastic bottle with another arm.",
+    "Use one arm for the narrow-necked bottle, the other for the bottle with green and white label.",
+    "Pick both the long thin bottle and the smooth yellow plastic bottle one after another.",
+    "Use one arm for the brown bottle with red label and the other for the bottle with white cap.",
+    "With two arms, catch both the red-capped bottle and the smooth yellow plastic bottle.",
+    "Assign one arm to catch the narrow-necked bottle, one for the yellow bottle with cylindrical cap.",
+    "Use each arm to lift the Coca-Cola bottle and the plastic bottle.",
+    "Each arm should pick up one: the hand-sized soda bottle, then the handheld bottle.",
+    "Pick up the smooth bottle with red lid, then pick up the yellow bottle with flower design.",
+    "Catch the plastic drink bottle, then grab the plastic bottle too.",
+    "One arm grabs the red-capped bottle; the other arm grabs the yellow bottle with cylindrical cap.",
+    "Lift the medium dark brown bottle and the plastic bottle with separate arms.",
+    "Grasp the dark drink bottle with logo first, then take the yellow body bottle.",
+    "Collect the medium dark brown bottle, then pick up the smooth yellow plastic bottle.",
+    "Let each arm grab either the brown bottle with red label or the yellow bottle with cylindrical cap.",
+    "Hold onto the Coca-Cola bottle, then pick up the smooth yellow plastic bottle.",
+    "Use both arms to pick up the bottle with white neck and red top and the bottle with green and white label.",
+    "Hold onto the plastic drink bottle and then get the smooth yellow plastic bottle.",
+    "Pick up the smooth bottle with red lid and then pick up the rectangular bottle.",
+    "Take hold of the plastic drink bottle and the bottle for liquids.",
+    "With both arms, pick up the plastic drink bottle, then the yellow bottle with cylindrical cap.",
+    "Grab the smooth bottle with red lid and pick up the yellow bottle with flower design.",
+    "Catch the brown bottle with red label, then take hold of the smooth yellow plastic bottle.",
+    "Grab the hand-sized soda bottle using one arm and the yellow bottle with cylindrical cap using the other.",
+    "Grab the plastic drink bottle, pick up the yellow bottle with cylindrical cap.",
+    "Assign one arm to each of the long thin bottle and the handheld bottle.",
+    "Lift both the plastic drink bottle and the rectangular bottle simultaneously.",
+    "Catch both the medium dark brown bottle and the smooth yellow plastic bottle quickly.",
+    "Hold the medium dark brown bottle with one arm, hold the yellow bottle with flower design with the other.",
+    "Catch the hand-sized soda bottle, then catch the yellow bottle with green label.",
+    "Grab the dark drink bottle with logo with one arm, the yellow body bottle with the other.",
+    "Hold both the red-capped bottle and the handheld bottle.",
+    "Grab the narrow-necked bottle using an arm and the bottle with green and white label with the other arm.",
+    "Pick up both the bottle with ridges on bottom and the yellow bottle with flower design.",
+    "Grab the medium dark brown bottle with one arm, the bottle with green and white label with the other.",
+    "Use both arms to lift the long thin bottle and the plastic bottle.",
+    "Lift the bottle with ridges on bottom and also take hold of the bottle for liquids.",
+    "Use both arms to pick up the dark drink bottle with logo and the bottle with white cap.",
+    "Catch the long thin bottle in one arm and the bottle for liquids in the other arm.",
+    "Lift both bottles, the narrow-necked bottle with one arm, the yellow bottle with cylindrical cap with the other.",
+    "Use one arm for the bottle with white neck and red top, another for the yellow bottle with green label.",
+    "Lift the red-capped bottle, continue and pick up the bottle with green and white label.",
+    "Hold the brown bottle with red label in one arm, catch the yellow body bottle with the other arm.",
+    "Grab and hold the bottle with white neck and red top, then grab the bottle for liquids.",
+    "Hold the Coca-Cola bottle in one arm, the smooth yellow plastic bottle in the other.",
+    "Secure the plastic drink bottle and the yellow bottle in succession.",
+    "Catch the hand-sized soda bottle, grab the yellow bottle next.",
+    "Pick up both the hand-sized soda bottle and the plastic bottle together.",
+    "Secure both the medium dark brown bottle and the plastic bottle quickly.",
+    "Secure the hand-sized soda bottle, then secure the yellow body bottle.",
+    "Catch the plastic drink bottle with one arm, the rectangular bottle with another arm.",
+    "Use one arm for the brown bottle with red label, the other for the bottle for liquids.",
+    "Pick both the bottle with white neck and red top and the bottle with green and white label one after another.",
+    "Use one arm for the bottle with white neck and red top and the other for the smooth yellow plastic bottle.",
+    "With two arms, catch both the Coca-Cola bottle and the yellow bottle with green label.",
+    "Assign one arm to catch the bottle with ridges on bottom, one for the yellow bottle with flower design.",
+    "Use each arm to lift the bottle with white neck and red top and the handheld bottle.",
+    "Each arm should pick up one: the Coca-Cola bottle, then the bottle with green and white label.",
+    "Pick up the hand-sized soda bottle, then pick up the yellow bottle with flower design.",
+    "Catch the Coca-Cola bottle, then grab the rectangular bottle too.",
+    "One arm grabs the red-capped bottle; the other arm grabs the yellow bottle with cylindrical cap.",
+    "Lift the red-capped bottle and the rectangular bottle with separate arms.",
+    "Grasp the red-capped bottle first, then take the handheld bottle."
+  ],
+  "unseen": [
+    "Lift the plastic soda bottle using one arm and lift the bottle with printed label using the other.",
+    "Pick up the bottle with red screw cap and take the bottle with printed label together.",
+    "Pick up the bottle with red screw cap and the bottle with printed label together.",
+    "Use each arm to lift a bottle: the bottle with red screw cap, then the medium bottle.",
+    "Grab the bottle with red screw cap and grab the bottle with printed label at once.",
+    "Grab the plastic soda bottle with one arm, grab the bottle with printed label with the other.",
+    "Pick up the brown bottle with one arm, grab the bottle with rounded edges with the other.",
+    "Use each arm to grab the brown bottle and the bottle with printed label.",
+    "Grab the bottle with red screw cap and the bottle with printed label at the same time.",
+    "Pick up both the plastic soda bottle and the bottle with rounded edges together.",
+    "Lift the bottle with red screw cap using one arm and lift the bottle with printed label using the other.",
+    "Pick up the bottle with red screw cap and take the bottle with printed label together.",
+    "Pick up the plastic soda bottle and the bottle with printed label together.",
+    "Use each arm to lift a bottle: the bottle with red screw cap, then the bottle with printed label.",
+    "Grab the brown bottle and grab the medium bottle at once.",
+    "Grab the bottle with red screw cap with one arm, grab the medium bottle with the other.",
+    "Pick up the plastic soda bottle with one arm, grab the bottle with rounded edges with the other.",
+    "Use each arm to grab the brown bottle and the bottle with rounded edges.",
+    "Grab the bottle with red screw cap and the bottle with printed label at the same time.",
+    "Pick up both the bottle with red screw cap and the medium bottle together.",
+    "Lift the plastic soda bottle using one arm and lift the bottle with printed label using the other.",
+    "Pick up the brown bottle and take the bottle with rounded edges together.",
+    "Pick up the plastic soda bottle and the bottle with rounded edges together.",
+    "Use each arm to lift a bottle: the plastic soda bottle, then the bottle with printed label.",
+    "Grab the bottle with red screw cap and grab the bottle with rounded edges at once.",
+    "Grab the plastic soda bottle with one arm, grab the bottle with rounded edges with the other.",
+    "Pick up the bottle with red screw cap with one arm, grab the medium bottle with the other.",
+    "Use each arm to grab the bottle with red screw cap and the bottle with rounded edges.",
+    "Grab the bottle with red screw cap and the bottle with rounded edges at the same time.",
+    "Pick up both the brown bottle and the medium bottle together.",
+    "Lift the bottle with red screw cap using one arm and lift the medium bottle using the other.",
+    "Pick up the brown bottle and take the bottle with printed label together.",
+    "Pick up the bottle with red screw cap and the bottle with printed label together.",
+    "Use each arm to lift a bottle: the brown bottle, then the bottle with rounded edges.",
+    "Grab the bottle with red screw cap and grab the bottle with rounded edges at once.",
+    "Grab the brown bottle with one arm, grab the bottle with printed label with the other.",
+    "Pick up the brown bottle with one arm, grab the bottle with printed label with the other.",
+    "Use each arm to grab the bottle with red screw cap and the bottle with printed label.",
+    "Grab the bottle with red screw cap and the medium bottle at the same time.",
+    "Pick up both the bottle with red screw cap and the bottle with rounded edges together.",
+    "Lift the bottle with red screw cap using one arm and lift the medium bottle using the other.",
+    "Pick up the plastic soda bottle and take the bottle with printed label together.",
+    "Pick up the plastic soda bottle and the bottle with rounded edges together.",
+    "Use each arm to lift a bottle: the plastic soda bottle, then the bottle with rounded edges.",
+    "Grab the bottle with red screw cap and grab the bottle with printed label at once.",
+    "Grab the brown bottle with one arm, grab the bottle with printed label with the other.",
+    "Pick up the bottle with red screw cap with one arm, grab the bottle with printed label with the other.",
+    "Use each arm to grab the plastic soda bottle and the bottle with printed label.",
+    "Grab the brown bottle and the bottle with rounded edges at the same time.",
+    "Pick up both the brown bottle and the bottle with printed label together.",
+    "Lift the bottle with red screw cap using one arm and lift the bottle with rounded edges using the other.",
+    "Pick up the brown bottle and take the bottle with printed label together.",
+    "Pick up the bottle with red screw cap and the bottle with printed label together.",
+    "Use each arm to lift a bottle: the brown bottle, then the medium bottle.",
+    "Grab the bottle with red screw cap and grab the bottle with printed label at once.",
+    "Grab the bottle with red screw cap with one arm, grab the bottle with printed label with the other.",
+    "Pick up the bottle with red screw cap with one arm, grab the bottle with rounded edges with the other.",
+    "Use each arm to grab the brown bottle and the bottle with rounded edges.",
+    "Grab the bottle with red screw cap and the bottle with printed label at the same time.",
+    "Pick up both the plastic soda bottle and the bottle with rounded edges together.",
+    "Lift the bottle with red screw cap using one arm and lift the bottle with rounded edges using the other.",
+    "Pick up the brown bottle and take the bottle with printed label together.",
+    "Pick up the brown bottle and the bottle with rounded edges together.",
+    "Use each arm to lift a bottle: the plastic soda bottle, then the medium bottle.",
+    "Grab the brown bottle and grab the bottle with rounded edges at once.",
+    "Grab the plastic soda bottle with one arm, grab the bottle with rounded edges with the other.",
+    "Pick up the brown bottle with one arm, grab the medium bottle with the other.",
+    "Use each arm to grab the bottle with red screw cap and the bottle with rounded edges.",
+    "Grab the plastic soda bottle and the bottle with printed label at the same time.",
+    "Pick up both the brown bottle and the bottle with rounded edges together.",
+    "Lift the plastic soda bottle using one arm and lift the bottle with rounded edges using the other.",
+    "Pick up the plastic soda bottle and take the bottle with rounded edges together.",
+    "Pick up the plastic soda bottle and the medium bottle together.",
+    "Use each arm to lift a bottle: the brown bottle, then the medium bottle.",
+    "Grab the plastic soda bottle and grab the bottle with printed label at once.",
+    "Grab the plastic soda bottle with one arm, grab the medium bottle with the other.",
+    "Pick up the bottle with red screw cap with one arm, grab the bottle with rounded edges with the other.",
+    "Use each arm to grab the brown bottle and the bottle with rounded edges.",
+    "Grab the bottle with red screw cap and the medium bottle at the same time.",
+    "Pick up both the brown bottle and the medium bottle together.",
+    "Lift the brown bottle using one arm and lift the medium bottle using the other.",
+    "Pick up the bottle with red screw cap and take the bottle with printed label together.",
+    "Pick up the bottle with red screw cap and the bottle with printed label together.",
+    "Use each arm to lift a bottle: the brown bottle, then the medium bottle.",
+    "Grab the plastic soda bottle and grab the bottle with printed label at once.",
+    "Grab the bottle with red screw cap with one arm, grab the bottle with rounded edges with the other.",
+    "Pick up the bottle with red screw cap with one arm, grab the medium bottle with the other.",
+    "Use each arm to grab the bottle with red screw cap and the bottle with rounded edges.",
+    "Grab the plastic soda bottle and the medium bottle at the same time.",
+    "Pick up both the bottle with red screw cap and the bottle with rounded edges together.",
+    "Lift the brown bottle using one arm and lift the medium bottle using the other.",
+    "Pick up the bottle with red screw cap and take the medium bottle together.",
+    "Pick up the plastic soda bottle and the medium bottle together.",
+    "Use each arm to lift a bottle: the bottle with red screw cap, then the bottle with rounded edges.",
+    "Grab the plastic soda bottle and grab the bottle with printed label at once.",
+    "Grab the bottle with red screw cap with one arm, grab the bottle with printed label with the other.",
+    "Pick up the bottle with red screw cap with one arm, grab the bottle with printed label with the other.",
+    "Use each arm to grab the plastic soda bottle and the medium bottle.",
+    "Grab the brown bottle and the bottle with printed label at the same time.",
+    "Pick up both the bottle with red screw cap and the bottle with printed label together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001328.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cylindrical liquid bottle with yellow top and also take hold of the plastic bottle.",
+    "With both arms, pick up the bottle with yellow cap, then the bottle with black label.",
+    "Hold the medium bottle with green body in one arm, catch the small bottle with decorative design with the other arm.",
+    "Grasp the bottle with yellow cap first, then take the white-capped bottle.",
+    "Secure the handheld plastic bottle and the curved bottle with white top in succession.",
+    "Grab the green bottle with black text label and pick up the hand-sized plastic bottle.",
+    "Grab and hold the plastic bottle, then grab the hand-sized plastic bottle.",
+    "Use each arm to lift the plastic bottle and the white-capped bottle.",
+    "Secure the bottle with yellow cap, then secure the bottle with brown and white patterns.",
+    "With two arms, catch both the handheld plastic bottle and the bottle with black label.",
+    "Use one arm for the green bottle with black text label, the other for the hand-sized plastic bottle.",
+    "Collect the green bottle with white label, then pick up the hand-sized plastic bottle.",
+    "Grab the bottle with yellow cap using an arm and the white-capped bottle with the other arm.",
+    "Secure both the medium bottle with green body and the bottle with brown and white patterns quickly.",
+    "Grab the green bottle with white label, pick up the curved bottle with white top.",
+    "Lift both bottles, the plastic bottle with one arm, the brown bottle with the other.",
+    "Catch the plastic bottle with colored label, then catch the bottle holding liquid.",
+    "Hold onto the medium bottle with green body and then get the brown bottle.",
+    "Pick up both the medium bottle with green body and the hand-sized plastic bottle.",
+    "Pick both the cylindrical liquid bottle with yellow top and the small bottle with decorative design one after another.",
+    "Hold the green bottle with white label with one arm, hold the smooth brown and white patterned bottle with the other.",
+    "Catch the green bottle with black text label in one arm and the bottle with white screw cap in the other arm.",
+    "Use both arms to lift the bottle with glossy plastic finish and the white-capped bottle.",
+    "Grab the cylindrical liquid bottle with yellow top with one arm, the bottle with black label with the other.",
+    "Lift both the cylindrical bottle with rounded cap and the bottle with white screw cap simultaneously.",
+    "Catch the bottle with yellow cap, grab the bottle with black label next.",
+    "Use one arm for the green bottle with black text label, another for the hand-sized plastic bottle.",
+    "Hold the cylindrical liquid bottle with yellow top in one arm, the small curved plastic bottle in the other.",
+    "Pick up the bottle with yellow cap, then pick up the bottle with white screw cap.",
+    "Hold both the handheld plastic bottle and the bottle with white screw cap.",
+    "Assign one arm to catch the green bottle with white label, one for the curved bottle with white top.",
+    "One arm grabs the smooth green and yellow bottle; the other arm grabs the bottle holding liquid.",
+    "Lift the plastic bottle and the hand-sized plastic bottle with separate arms.",
+    "Catch the cylindrical bottle with rounded cap, then grab the white-capped bottle too.",
+    "Catch the cylindrical liquid bottle with yellow top with one arm, the hand-sized plastic bottle with another arm.",
+    "Use both arms to pick up the green bottle with black text label and the bottle with brown and white patterns.",
+    "Pick up the handheld plastic bottle and then pick up the smooth brown and white patterned bottle.",
+    "Use one arm for the smooth green and yellow bottle and the other for the small curved plastic bottle.",
+    "Use both arms to pick up the smooth green and yellow bottle and the curved bottle with white top.",
+    "Grab the plastic bottle with colored label with one arm, the bottle with brown and white patterns with the other.",
+    "Grab the medium bottle with green body using one arm and the bottle holding liquid using the other.",
+    "Catch both the medium bottle with green body and the bottle with white screw cap quickly.",
+    "Lift the green bottle with black text label, continue and pick up the bottle holding liquid.",
+    "Take hold of the smooth green and yellow bottle and the smooth brown and white patterned bottle.",
+    "Hold onto the bottle with yellow cap, then pick up the hand-sized plastic bottle.",
+    "Each arm should pick up one: the green bottle with white label, then the bottle with black label.",
+    "Pick up both the handheld plastic bottle and the bottle with brown and white patterns together.",
+    "Assign one arm to each of the green bottle and the bottle with brown and white patterns.",
+    "Catch the medium bottle with green body, then take hold of the plastic bottle.",
+    "Let each arm grab either the green bottle with black text label or the white-capped bottle.",
+    "Lift the cylindrical bottle with rounded cap and also take hold of the curved bottle with white top.",
+    "With both arms, pick up the green bottle with black text label, then the brown bottle.",
+    "Hold the bottle with yellow cap in one arm, catch the bottle with brown and white patterns with the other arm.",
+    "Grasp the green bottle with white label first, then take the small bottle with decorative design.",
+    "Secure the medium bottle with green body and the smooth brown and white patterned bottle in succession.",
+    "Grab the smooth green and yellow bottle and pick up the plastic bottle.",
+    "Grab and hold the smooth green and yellow bottle, then grab the plastic bottle.",
+    "Use each arm to lift the green bottle with black text label and the small bottle with decorative design.",
+    "Secure the plastic bottle, then secure the white-capped bottle.",
+    "With two arms, catch both the medium bottle with green body and the hand-sized plastic bottle.",
+    "Use one arm for the smooth green and yellow bottle, the other for the plastic bottle.",
+    "Collect the bottle with glossy plastic finish, then pick up the small bottle with decorative design.",
+    "Grab the cylindrical bottle with rounded cap using an arm and the bottle with white screw cap with the other arm.",
+    "Secure both the cylindrical liquid bottle with yellow top and the bottle with white screw cap quickly.",
+    "Grab the plastic bottle with colored label, pick up the hand-sized plastic bottle.",
+    "Lift both bottles, the cylindrical bottle with rounded cap with one arm, the small curved plastic bottle with the other.",
+    "Catch the plastic bottle with colored label, then catch the small bottle with decorative design.",
+    "Hold onto the smooth green and yellow bottle and then get the curved bottle with white top.",
+    "Pick up both the plastic bottle and the curved bottle with white top.",
+    "Pick both the smooth green and yellow bottle and the hand-sized plastic bottle one after another.",
+    "Hold the cylindrical liquid bottle with yellow top with one arm, hold the bottle with black label with the other.",
+    "Catch the green bottle with black text label in one arm and the small bottle with decorative design in the other arm.",
+    "Use both arms to lift the smooth green and yellow bottle and the curved bottle with white top.",
+    "Grab the bottle with glossy plastic finish with one arm, the hand-sized plastic bottle with the other.",
+    "Lift both the cylindrical liquid bottle with yellow top and the bottle with black label simultaneously.",
+    "Catch the cylindrical liquid bottle with yellow top, grab the bottle with white screw cap next.",
+    "Use one arm for the green bottle with white label, another for the bottle with black label.",
+    "Hold the cylindrical bottle with rounded cap in one arm, the curved bottle with white top in the other.",
+    "Pick up the handheld plastic bottle, then pick up the white-capped bottle.",
+    "Hold both the plastic bottle with colored label and the bottle with white screw cap.",
+    "Assign one arm to catch the plastic bottle with colored label, one for the brown bottle.",
+    "One arm grabs the green bottle with white label; the other arm grabs the bottle holding liquid.",
+    "Lift the cylindrical liquid bottle with yellow top and the bottle with black label with separate arms.",
+    "Catch the bottle with glossy plastic finish, then grab the bottle holding liquid too.",
+    "Catch the plastic bottle with one arm, the hand-sized plastic bottle with another arm.",
+    "Use both arms to pick up the green bottle with white label and the bottle with white screw cap.",
+    "Pick up the cylindrical liquid bottle with yellow top and then pick up the plastic bottle.",
+    "Use one arm for the medium bottle with green body and the other for the brown bottle.",
+    "Use both arms to pick up the plastic bottle and the hand-sized plastic bottle.",
+    "Grab the green bottle with one arm, the plastic bottle with the other.",
+    "Grab the medium bottle with green body using one arm and the bottle holding liquid using the other.",
+    "Catch both the green bottle with black text label and the small bottle with decorative design quickly.",
+    "Lift the green bottle with white label, continue and pick up the bottle with white screw cap.",
+    "Take hold of the plastic bottle with colored label and the bottle with black label.",
+    "Hold onto the smooth green and yellow bottle, then pick up the bottle with white screw cap.",
+    "Each arm should pick up one: the cylindrical bottle with rounded cap, then the small bottle with decorative design.",
+    "Pick up both the cylindrical bottle with rounded cap and the plastic bottle together.",
+    "Assign one arm to each of the cylindrical liquid bottle with yellow top and the plastic bottle.",
+    "Catch the green bottle with white label, then take hold of the small bottle with decorative design.",
+    "Let each arm grab either the green bottle or the bottle holding liquid."
+  ],
+  "unseen": [
+    "Use each arm to lift a bottle: the medium-sized drink bottle, then the glossy brown bottle.",
+    "Pick up the medium-sized drink bottle and the brown bottle with glossy swirls together.",
+    "Lift the yellow-capped bottle with smooth surface using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Grab the medium-sized drink bottle and the brown bottle with glossy swirls at the same time.",
+    "Pick up both the medium-sized drink bottle and the glossy brown bottle together.",
+    "Use each arm to grab the medium-sized drink bottle and the glossy brown bottle.",
+    "Pick up the medium-sized drink bottle and take the brown bottle with glossy swirls together.",
+    "Grab the medium-sized drink bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Pick up the medium-sized drink bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Grab the yellow-capped bottle with smooth surface and grab the glossy brown bottle at once.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the cylindrical bottle with curved sides.",
+    "Pick up the medium-sized drink bottle and the brown bottle with glossy swirls together.",
+    "Lift the medium-sized drink bottle using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Grab the yellow-capped bottle with smooth surface and the brown bottle with glossy swirls at the same time.",
+    "Pick up both the yellow-capped bottle with smooth surface and the cylindrical bottle with curved sides together.",
+    "Use each arm to grab the bottle with green base and black prints and the glossy brown bottle.",
+    "Pick up the medium-sized drink bottle and take the cylindrical bottle with curved sides together.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the glossy brown bottle with the other.",
+    "Pick up the medium-sized drink bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Grab the medium-sized drink bottle and grab the glossy brown bottle at once.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the glossy brown bottle.",
+    "Pick up the bottle with green base and black prints and the cylindrical bottle with curved sides together.",
+    "Lift the medium-sized drink bottle using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Grab the yellow-capped bottle with smooth surface and the brown bottle with glossy swirls at the same time.",
+    "Pick up both the yellow-capped bottle with smooth surface and the brown bottle with glossy swirls together.",
+    "Use each arm to grab the bottle with green base and black prints and the brown bottle with glossy swirls.",
+    "Pick up the bottle with green base and black prints and take the glossy brown bottle together.",
+    "Grab the medium-sized drink bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Pick up the medium-sized drink bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Grab the bottle with green base and black prints and grab the glossy brown bottle at once.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the cylindrical bottle with curved sides.",
+    "Pick up the medium-sized drink bottle and the glossy brown bottle together.",
+    "Lift the yellow-capped bottle with smooth surface using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Grab the bottle with green base and black prints and the cylindrical bottle with curved sides at the same time.",
+    "Pick up both the yellow-capped bottle with smooth surface and the glossy brown bottle together.",
+    "Use each arm to grab the medium-sized drink bottle and the brown bottle with glossy swirls.",
+    "Pick up the yellow-capped bottle with smooth surface and take the brown bottle with glossy swirls together.",
+    "Grab the medium-sized drink bottle with one arm, grab the glossy brown bottle with the other.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Grab the bottle with green base and black prints and grab the brown bottle with glossy swirls at once.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the glossy brown bottle.",
+    "Pick up the medium-sized drink bottle and the cylindrical bottle with curved sides together.",
+    "Lift the medium-sized drink bottle using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Grab the medium-sized drink bottle and the glossy brown bottle at the same time.",
+    "Pick up both the bottle with green base and black prints and the glossy brown bottle together.",
+    "Use each arm to grab the bottle with green base and black prints and the glossy brown bottle.",
+    "Pick up the medium-sized drink bottle and take the glossy brown bottle together.",
+    "Grab the bottle with green base and black prints with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Pick up the medium-sized drink bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Grab the medium-sized drink bottle and grab the cylindrical bottle with curved sides at once.",
+    "Use each arm to lift a bottle: the medium-sized drink bottle, then the cylindrical bottle with curved sides.",
+    "Pick up the yellow-capped bottle with smooth surface and the brown bottle with glossy swirls together.",
+    "Lift the medium-sized drink bottle using one arm and lift the cylindrical bottle with curved sides using the other.",
+    "Grab the bottle with green base and black prints and the brown bottle with glossy swirls at the same time.",
+    "Pick up both the yellow-capped bottle with smooth surface and the cylindrical bottle with curved sides together.",
+    "Use each arm to grab the bottle with green base and black prints and the brown bottle with glossy swirls.",
+    "Pick up the bottle with green base and black prints and take the cylindrical bottle with curved sides together.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the glossy brown bottle with the other.",
+    "Pick up the bottle with green base and black prints with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Grab the yellow-capped bottle with smooth surface and grab the cylindrical bottle with curved sides at once.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the glossy brown bottle.",
+    "Pick up the bottle with green base and black prints and the brown bottle with glossy swirls together.",
+    "Lift the yellow-capped bottle with smooth surface using one arm and lift the glossy brown bottle using the other.",
+    "Grab the yellow-capped bottle with smooth surface and the glossy brown bottle at the same time.",
+    "Pick up both the yellow-capped bottle with smooth surface and the cylindrical bottle with curved sides together.",
+    "Use each arm to grab the medium-sized drink bottle and the brown bottle with glossy swirls.",
+    "Pick up the yellow-capped bottle with smooth surface and take the cylindrical bottle with curved sides together.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the glossy brown bottle with the other.",
+    "Pick up the bottle with green base and black prints with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Grab the medium-sized drink bottle and grab the cylindrical bottle with curved sides at once.",
+    "Use each arm to lift a bottle: the bottle with green base and black prints, then the brown bottle with glossy swirls.",
+    "Pick up the bottle with green base and black prints and the brown bottle with glossy swirls together.",
+    "Lift the bottle with green base and black prints using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Grab the medium-sized drink bottle and the brown bottle with glossy swirls at the same time.",
+    "Pick up both the bottle with green base and black prints and the brown bottle with glossy swirls together.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the cylindrical bottle with curved sides.",
+    "Pick up the yellow-capped bottle with smooth surface and take the glossy brown bottle together.",
+    "Grab the yellow-capped bottle with smooth surface with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Pick up the medium-sized drink bottle with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Grab the bottle with green base and black prints and grab the cylindrical bottle with curved sides at once.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the cylindrical bottle with curved sides.",
+    "Pick up the medium-sized drink bottle and the cylindrical bottle with curved sides together.",
+    "Lift the yellow-capped bottle with smooth surface using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Grab the bottle with green base and black prints and the glossy brown bottle at the same time.",
+    "Pick up both the medium-sized drink bottle and the brown bottle with glossy swirls together.",
+    "Use each arm to grab the bottle with green base and black prints and the glossy brown bottle.",
+    "Pick up the bottle with green base and black prints and take the glossy brown bottle together.",
+    "Grab the medium-sized drink bottle with one arm, grab the glossy brown bottle with the other.",
+    "Pick up the yellow-capped bottle with smooth surface with one arm, grab the brown bottle with glossy swirls with the other.",
+    "Grab the yellow-capped bottle with smooth surface and grab the cylindrical bottle with curved sides at once.",
+    "Use each arm to lift a bottle: the yellow-capped bottle with smooth surface, then the cylindrical bottle with curved sides.",
+    "Pick up the bottle with green base and black prints and the glossy brown bottle together.",
+    "Lift the bottle with green base and black prints using one arm and lift the brown bottle with glossy swirls using the other.",
+    "Grab the medium-sized drink bottle and the cylindrical bottle with curved sides at the same time.",
+    "Pick up both the medium-sized drink bottle and the glossy brown bottle together.",
+    "Use each arm to grab the yellow-capped bottle with smooth surface and the brown bottle with glossy swirls.",
+    "Pick up the yellow-capped bottle with smooth surface and take the brown bottle with glossy swirls together.",
+    "Grab the medium-sized drink bottle with one arm, grab the cylindrical bottle with curved sides with the other.",
+    "Pick up the medium-sized drink bottle with one arm, grab the glossy brown bottle with the other.",
+    "Grab the medium-sized drink bottle and grab the glossy brown bottle at once."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001330.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow bottle with dark label, continue and pick up the handheld white bottle with cap.",
+    "Secure the plastic bottle and the cylindrical bottle with red writing in succession.",
+    "Hold onto the medium plastic bottle with cap and then get the white bottle with red text.",
+    "Catch the yellow bottle with dark label with one arm, the bottle with tapering neck with another arm.",
+    "Secure both the yellow bottle and the white cylindrical bottle quickly.",
+    "Use both arms to pick up the yellow bottle with dark label and the white bottle with orange lid.",
+    "Catch the plastic bottle with curved sides, grab the white bottle for liquids next.",
+    "Assign one arm to each of the yellow bottle and the white bottle for liquids.",
+    "Hold the handheld curvy bottle in one arm, the white bottle with orange lid in the other.",
+    "With two arms, catch both the smooth plastic bottle and the plastic bottle.",
+    "Grab the bottle with screw cap, pick up the cylindrical bottle with red writing.",
+    "Catch the yellow bottle with dark label, then take hold of the white cylindrical bottle.",
+    "Pick up the plastic bottle with curved sides and then pick up the white bottle for liquids.",
+    "Let each arm grab either the medium plastic bottle with cap or the cylindrical bottle with red writing.",
+    "Grab the plastic bottle using an arm and the medium-sized bottle with the other arm.",
+    "Catch both the yellow bottle and the medium-sized bottle quickly.",
+    "Use one arm for the medium-sized bottle and the other for the cylindrical bottle with red writing.",
+    "Pick both the handheld curvy bottle and the handheld white bottle with cap one after another.",
+    "Use both arms to pick up the yellow bottle and the white cylindrical bottle.",
+    "Catch the yellow bottle, then grab the medium-sized bottle too.",
+    "One arm grabs the handheld curvy bottle; the other arm grabs the smooth bottle.",
+    "Lift both bottles, the bottle with screw cap with one arm, the cylindrical bottle with red writing with the other.",
+    "Grab and hold the medium plastic bottle with cap, then grab the medium-sized bottle.",
+    "Secure the yellow bottle with dark label, then secure the plastic bottle.",
+    "Lift the yellow bottle with blue label and also take hold of the white bottle with red text.",
+    "Hold onto the plastic bottle, then pick up the cylindrical bottle with red writing.",
+    "Grab the bottle with screw cap with one arm, the white bottle with red text with the other.",
+    "Hold the yellow bottle for liquid storage in one arm, catch the white bottle with the other arm.",
+    "Each arm should pick up one: the yellow bottle with blue label, then the plastic bottle.",
+    "With both arms, pick up the handheld curvy bottle, then the white cylindrical bottle.",
+    "Pick up both the medium-sized bottle and the white bottle with red text together.",
+    "Use each arm to lift the plastic bottle and the smooth bottle.",
+    "Assign one arm to catch the handheld curvy bottle, one for the bottle with tapering neck.",
+    "Use one arm for the smooth plastic bottle, the other for the plastic bottle.",
+    "Catch the yellow bottle with dark label, then catch the white bottle with red text.",
+    "Pick up the handheld curvy bottle, then pick up the white bottle for liquids.",
+    "Grab the bottle for liquid with one arm, the smooth bottle with the other.",
+    "Pick up both the bottle with screw cap and the bottle with tapering neck.",
+    "Lift both the medium plastic bottle with cap and the white cylindrical bottle simultaneously.",
+    "Grab the yellow bottle for liquid storage and pick up the white bottle for liquids.",
+    "Hold the yellow bottle with blue label with one arm, hold the white bottle for liquids with the other.",
+    "Use both arms to lift the medium-sized bottle and the white cylindrical bottle.",
+    "Lift the yellow bottle with blue label and the medium-sized bottle with separate arms.",
+    "Use one arm for the yellow bottle for liquid storage, another for the bottle with tapering neck.",
+    "Grasp the bottle for liquid first, then take the smooth bottle.",
+    "Catch the plastic bottle with curved sides in one arm and the white bottle in the other arm.",
+    "Collect the medium plastic bottle with cap, then pick up the smooth bottle.",
+    "Hold both the smooth plastic bottle and the smooth bottle.",
+    "Take hold of the yellow bottle with dark label and the cylindrical bottle with red writing.",
+    "Grab the handheld curvy bottle using one arm and the white bottle using the other.",
+    "Lift the medium-sized bottle, continue and pick up the cylindrical bottle with red writing.",
+    "Secure the yellow bottle with blue label and the white bottle with orange lid in succession.",
+    "Hold onto the yellow bottle with dark label and then get the white bottle.",
+    "Catch the medium-sized bottle with one arm, the medium-sized bottle with another arm.",
+    "Secure both the medium plastic bottle with cap and the white cylindrical bottle quickly.",
+    "Use both arms to pick up the handheld curvy bottle and the white bottle.",
+    "Catch the handheld curvy bottle, grab the white cylindrical bottle next.",
+    "Assign one arm to each of the handheld curvy bottle and the smooth bottle.",
+    "Hold the handheld curvy bottle in one arm, the white cylindrical bottle in the other.",
+    "With two arms, catch both the plastic bottle with curved sides and the medium-sized bottle.",
+    "Grab the handheld curvy bottle, pick up the bottle with orange screw cap.",
+    "Catch the bottle with screw cap, then take hold of the handheld white bottle with cap.",
+    "Pick up the yellow bottle and then pick up the white cylindrical bottle.",
+    "Let each arm grab either the yellow bottle for liquid storage or the handheld white bottle with cap.",
+    "Grab the yellow bottle for liquid storage using an arm and the smooth bottle with the other arm.",
+    "Catch both the smooth plastic bottle and the white cylindrical bottle quickly.",
+    "Use one arm for the handheld curvy bottle and the other for the white bottle with red text.",
+    "Pick both the bottle for liquid and the plastic bottle one after another.",
+    "Use both arms to pick up the medium plastic bottle with cap and the handheld white bottle with cap.",
+    "Catch the yellow bottle with dark label, then grab the bottle with orange screw cap too.",
+    "One arm grabs the bottle with screw cap; the other arm grabs the handheld white bottle with cap.",
+    "Lift both bottles, the yellow bottle with one arm, the bottle with tapering neck with the other.",
+    "Grab and hold the bottle with screw cap, then grab the smooth bottle.",
+    "Secure the bottle with screw cap, then secure the white bottle with orange lid.",
+    "Lift the medium-sized bottle and also take hold of the white bottle for liquids.",
+    "Hold onto the plastic bottle, then pick up the white bottle.",
+    "Grab the plastic bottle with curved sides with one arm, the cylindrical bottle with red writing with the other.",
+    "Hold the smooth plastic bottle in one arm, catch the plastic bottle with the other arm.",
+    "Each arm should pick up one: the plastic bottle with curved sides, then the bottle with orange screw cap.",
+    "With both arms, pick up the medium-sized bottle, then the medium-sized bottle.",
+    "Pick up both the smooth plastic bottle and the cylindrical bottle with red writing together.",
+    "Use each arm to lift the handheld curvy bottle and the medium-sized bottle.",
+    "Assign one arm to catch the yellow bottle, one for the bottle with tapering neck.",
+    "Use one arm for the medium plastic bottle with cap, the other for the plastic bottle.",
+    "Catch the yellow bottle with blue label, then catch the white cylindrical bottle.",
+    "Pick up the yellow bottle, then pick up the plastic bottle.",
+    "Grab the plastic bottle with one arm, the handheld white bottle with cap with the other.",
+    "Pick up both the bottle for liquid and the cylindrical bottle with red writing.",
+    "Lift both the plastic bottle and the bottle with tapering neck simultaneously.",
+    "Grab the yellow bottle for liquid storage and pick up the white bottle with red text.",
+    "Hold the yellow bottle for liquid storage with one arm, hold the medium-sized bottle with the other.",
+    "Use both arms to lift the medium plastic bottle with cap and the handheld white bottle with cap.",
+    "Lift the yellow bottle with blue label and the white bottle with orange lid with separate arms.",
+    "Use one arm for the yellow bottle, another for the white bottle with orange lid.",
+    "Grasp the handheld curvy bottle first, then take the bottle with tapering neck.",
+    "Catch the plastic bottle in one arm and the white bottle in the other arm.",
+    "Collect the bottle for liquid, then pick up the white cylindrical bottle.",
+    "Hold both the medium-sized bottle and the bottle with tapering neck.",
+    "Take hold of the bottle with screw cap and the white bottle with orange lid.",
+    "Grab the plastic bottle using one arm and the white cylindrical bottle using the other."
+  ],
+  "unseen": [
+    "Use each arm to grab the curvy yellow plastic bottle and the plastic bottle with printed label.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the bottle with glossy surface with the other.",
+    "Grab the yellow bottle with white cap and the plastic bottle with printed label at the same time.",
+    "Grab the curvy yellow plastic bottle and grab the plastic bottle with printed label at once.",
+    "Pick up the yellow bottle with white cap and take the bottle with orange cap together.",
+    "Lift the yellow bottle with white cap using one arm and lift the plastic bottle with printed label using the other.",
+    "Use each arm to lift a bottle: the curvy yellow plastic bottle, then the bottle with orange cap.",
+    "Grab the yellow bottle with white cap with one arm, grab the bottle with orange cap with the other.",
+    "Pick up both the smooth bottle with blue text and the plastic bottle with printed label together.",
+    "Pick up the smooth bottle with blue text and the bottle with orange cap together.",
+    "Use each arm to grab the curvy yellow plastic bottle and the plastic bottle with printed label.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the bottle with orange cap with the other.",
+    "Grab the curvy yellow plastic bottle and the plastic bottle with printed label at the same time.",
+    "Grab the yellow bottle with white cap and grab the bottle with orange cap at once.",
+    "Pick up the smooth bottle with blue text and take the bottle with orange cap together.",
+    "Lift the smooth bottle with blue text using one arm and lift the bottle with orange cap using the other.",
+    "Use each arm to lift a bottle: the smooth bottle with blue text, then the bottle with glossy surface.",
+    "Grab the yellow bottle with white cap with one arm, grab the bottle with orange cap with the other.",
+    "Pick up both the smooth bottle with blue text and the bottle with orange cap together.",
+    "Pick up the smooth bottle with blue text and the plastic bottle with printed label together.",
+    "Use each arm to grab the curvy yellow plastic bottle and the bottle with glossy surface.",
+    "Pick up the yellow bottle with white cap with one arm, grab the bottle with orange cap with the other.",
+    "Grab the curvy yellow plastic bottle and the bottle with glossy surface at the same time.",
+    "Grab the smooth bottle with blue text and grab the bottle with glossy surface at once.",
+    "Pick up the smooth bottle with blue text and take the plastic bottle with printed label together.",
+    "Lift the curvy yellow plastic bottle using one arm and lift the bottle with orange cap using the other.",
+    "Use each arm to lift a bottle: the yellow bottle with white cap, then the plastic bottle with printed label.",
+    "Grab the curvy yellow plastic bottle with one arm, grab the bottle with glossy surface with the other.",
+    "Pick up both the smooth bottle with blue text and the plastic bottle with printed label together.",
+    "Pick up the yellow bottle with white cap and the plastic bottle with printed label together.",
+    "Use each arm to grab the yellow bottle with white cap and the bottle with orange cap.",
+    "Pick up the smooth bottle with blue text with one arm, grab the bottle with orange cap with the other.",
+    "Grab the smooth bottle with blue text and the bottle with glossy surface at the same time.",
+    "Grab the yellow bottle with white cap and grab the plastic bottle with printed label at once.",
+    "Pick up the curvy yellow plastic bottle and take the plastic bottle with printed label together.",
+    "Lift the smooth bottle with blue text using one arm and lift the bottle with glossy surface using the other.",
+    "Use each arm to lift a bottle: the smooth bottle with blue text, then the plastic bottle with printed label.",
+    "Grab the yellow bottle with white cap with one arm, grab the bottle with orange cap with the other.",
+    "Pick up both the yellow bottle with white cap and the bottle with glossy surface together.",
+    "Pick up the curvy yellow plastic bottle and the plastic bottle with printed label together.",
+    "Use each arm to grab the curvy yellow plastic bottle and the plastic bottle with printed label.",
+    "Pick up the curvy yellow plastic bottle with one arm, grab the bottle with glossy surface with the other.",
+    "Grab the yellow bottle with white cap and the bottle with glossy surface at the same time.",
+    "Grab the smooth bottle with blue text and grab the plastic bottle with printed label at once.",
+    "Pick up the smooth bottle with blue text and take the bottle with glossy surface together.",
+    "Lift the yellow bottle with white cap using one arm and lift the plastic bottle with printed label using the other.",
+    "Use each arm to lift a bottle: the yellow bottle with white cap, then the bottle with glossy surface.",
+    "Grab the smooth bottle with blue text with one arm, grab the plastic bottle with printed label with the other.",
+    "Pick up both the smooth bottle with blue text and the bottle with glossy surface together.",
+    "Pick up the yellow bottle with white cap and the plastic bottle with printed label together.",
+    "Use each arm to grab the curvy yellow plastic bottle and the bottle with orange cap.",
+    "Pick up the yellow bottle with white cap with one arm, grab the bottle with glossy surface with the other.",
+    "Grab the curvy yellow plastic bottle and the plastic bottle with printed label at the same time.",
+    "Grab the smooth bottle with blue text and grab the plastic bottle with printed label at once.",
+    "Pick up the curvy yellow plastic bottle and take the bottle with glossy surface together.",
+    "Lift the smooth bottle with blue text using one arm and lift the bottle with glossy surface using the other.",
+    "Use each arm to lift a bottle: the curvy yellow plastic bottle, then the bottle with orange cap.",
+    "Grab the yellow bottle with white cap with one arm, grab the plastic bottle with printed label with the other.",
+    "Pick up both the smooth bottle with blue text and the bottle with glossy surface together.",
+    "Pick up the curvy yellow plastic bottle and the bottle with glossy surface together.",
+    "Use each arm to grab the smooth bottle with blue text and the bottle with orange cap.",
+    "Pick up the smooth bottle with blue text with one arm, grab the bottle with glossy surface with the other.",
+    "Grab the smooth bottle with blue text and the plastic bottle with printed label at the same time.",
+    "Grab the curvy yellow plastic bottle and grab the bottle with orange cap at once.",
+    "Pick up the smooth bottle with blue text and take the bottle with glossy surface together.",
+    "Lift the curvy yellow plastic bottle using one arm and lift the bottle with glossy surface using the other.",
+    "Use each arm to lift a bottle: the smooth bottle with blue text, then the bottle with glossy surface.",
+    "Grab the curvy yellow plastic bottle with one arm, grab the plastic bottle with printed label with the other.",
+    "Pick up both the curvy yellow plastic bottle and the plastic bottle with printed label together.",
+    "Pick up the curvy yellow plastic bottle and the bottle with glossy surface together.",
+    "Use each arm to grab the smooth bottle with blue text and the bottle with glossy surface.",
+    "Pick up the yellow bottle with white cap with one arm, grab the bottle with glossy surface with the other.",
+    "Grab the smooth bottle with blue text and the bottle with orange cap at the same time.",
+    "Grab the yellow bottle with white cap and grab the bottle with glossy surface at once.",
+    "Pick up the curvy yellow plastic bottle and take the bottle with glossy surface together.",
+    "Lift the yellow bottle with white cap using one arm and lift the bottle with glossy surface using the other.",
+    "Use each arm to lift a bottle: the yellow bottle with white cap, then the bottle with orange cap.",
+    "Grab the smooth bottle with blue text with one arm, grab the bottle with orange cap with the other.",
+    "Pick up both the smooth bottle with blue text and the bottle with glossy surface together.",
+    "Pick up the curvy yellow plastic bottle and the plastic bottle with printed label together.",
+    "Use each arm to grab the curvy yellow plastic bottle and the bottle with orange cap.",
+    "Pick up the smooth bottle with blue text with one arm, grab the bottle with orange cap with the other.",
+    "Grab the curvy yellow plastic bottle and the bottle with orange cap at the same time.",
+    "Grab the curvy yellow plastic bottle and grab the bottle with orange cap at once.",
+    "Pick up the smooth bottle with blue text and take the bottle with glossy surface together.",
+    "Lift the yellow bottle with white cap using one arm and lift the bottle with glossy surface using the other.",
+    "Use each arm to lift a bottle: the smooth bottle with blue text, then the bottle with orange cap.",
+    "Grab the curvy yellow plastic bottle with one arm, grab the bottle with orange cap with the other.",
+    "Pick up both the curvy yellow plastic bottle and the plastic bottle with printed label together.",
+    "Pick up the smooth bottle with blue text and the plastic bottle with printed label together.",
+    "Use each arm to grab the smooth bottle with blue text and the bottle with orange cap.",
+    "Pick up the yellow bottle with white cap with one arm, grab the bottle with glossy surface with the other.",
+    "Grab the smooth bottle with blue text and the bottle with orange cap at the same time.",
+    "Grab the yellow bottle with white cap and grab the plastic bottle with printed label at once.",
+    "Pick up the curvy yellow plastic bottle and take the bottle with orange cap together.",
+    "Lift the smooth bottle with blue text using one arm and lift the bottle with orange cap using the other.",
+    "Use each arm to lift a bottle: the yellow bottle with white cap, then the bottle with glossy surface.",
+    "Grab the curvy yellow plastic bottle with one arm, grab the plastic bottle with printed label with the other.",
+    "Pick up both the smooth bottle with blue text and the plastic bottle with printed label together.",
+    "Pick up the smooth bottle with blue text and the bottle with orange cap together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001333.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to pick up the smooth red cylindrical bottle and the red-capped bottle.",
+    "With both arms, pick up the red bottle with screw cap, then the narrow-necked bottle.",
+    "Lift the handheld plastic bottle, continue and pick up the Coca-Cola bottle.",
+    "Use each arm to lift the red bottle with screw cap and the Coca-Cola bottle.",
+    "Pick up both the bottle with red cap and the brown bottle with red label together.",
+    "Use one arm for the handheld plastic bottle, another for the narrow-necked bottle.",
+    "Grab the yellow text bottle using one arm and the bottle with ridges on bottom using the other.",
+    "Collect the red bottle, then pick up the hand-sized soda bottle.",
+    "Hold the red bottle with curved grooves in one arm, the brown bottle with red label in the other.",
+    "Hold the red bottle with curved grooves in one arm, catch the hand-sized soda bottle with the other arm.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the plastic drink bottle.",
+    "Grab the red bottle with white bottom text, pick up the brown bottle with red label.",
+    "Catch both the plastic bottle and the bottle with white neck and red top quickly.",
+    "One arm grabs the red bottle with white bottom text; the other arm grabs the dark drink bottle with logo.",
+    "Assign one arm to each of the red bottle with screw cap and the long thin bottle.",
+    "Hold onto the red bottle, then pick up the hand-sized soda bottle.",
+    "Catch the bottle with red cap, grab the brown bottle with red label next.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the bottle with ridges on bottom.",
+    "Grab and hold the bottle with red cap, then grab the bottle with white neck and red top.",
+    "Let each arm grab either the smooth red cylindrical bottle or the dark drink bottle with logo.",
+    "Take hold of the red bottle and the Coca-Cola bottle.",
+    "Pick up the red bottle with white bottom text and then pick up the plastic drink bottle.",
+    "Catch the red bottle, then catch the long thin bottle.",
+    "Lift both bottles, the bottle with red cap with one arm, the bottle with white neck and red top with the other.",
+    "Secure the plastic bottle, then secure the long thin bottle.",
+    "Use both arms to pick up the red bottle and the dark drink bottle with logo.",
+    "Grab the red bottle with white bottom text using an arm and the medium dark brown bottle with the other arm.",
+    "Pick up both the red bottle with narrow neck and the narrow-necked bottle.",
+    "Grab the red bottle with screw cap with one arm, the bottle with white neck and red top with the other.",
+    "Grab the medium-size plastic bottle with one arm, the plastic drink bottle with the other.",
+    "Secure both the medium-size plastic bottle and the bottle with white neck and red top quickly.",
+    "Grasp the yellow text bottle first, then take the hand-sized soda bottle.",
+    "Use both arms to lift the smooth red cylindrical bottle and the bottle with ridges on bottom.",
+    "Pick both the red bottle with curved grooves and the plastic drink bottle one after another.",
+    "Hold onto the red bottle and then get the brown bottle with red label.",
+    "Grab the red bottle with screw cap and pick up the plastic drink bottle.",
+    "Use one arm for the yellow text bottle and the other for the dark drink bottle with logo.",
+    "Lift both the bottle with red cap and the red-capped bottle simultaneously.",
+    "Secure the handheld plastic bottle and the hand-sized soda bottle in succession.",
+    "Catch the red bottle with white bottom text with one arm, the bottle with ridges on bottom with another arm.",
+    "Pick up the bottle with red cap, then pick up the brown bottle with red label.",
+    "Use one arm for the plastic bottle, the other for the bottle with white neck and red top.",
+    "Catch the yellow text bottle, then grab the smooth bottle with red lid too.",
+    "Lift the red bottle with curved grooves and also take hold of the hand-sized soda bottle.",
+    "Hold the plastic bottle with one arm, hold the plastic drink bottle with the other.",
+    "With two arms, catch both the yellow text bottle and the Coca-Cola bottle.",
+    "Hold both the red bottle and the bottle with white neck and red top.",
+    "Catch the red bottle with curved grooves in one arm and the bottle with white neck and red top in the other arm.",
+    "Lift the medium-size plastic bottle and the smooth bottle with red lid with separate arms.",
+    "Catch the red bottle, then take hold of the medium dark brown bottle.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the red-capped bottle.",
+    "With both arms, pick up the medium-size plastic bottle, then the hand-sized soda bottle.",
+    "Lift the medium-size plastic bottle, continue and pick up the bottle with ridges on bottom.",
+    "Use each arm to lift the plastic bottle with bright red color and the plastic drink bottle.",
+    "Pick up both the red bottle with white bottom text and the hand-sized soda bottle together.",
+    "Use one arm for the red bottle with screw cap, another for the plastic drink bottle.",
+    "Grab the red bottle with screw cap using one arm and the red-capped bottle using the other.",
+    "Collect the yellow text bottle, then pick up the long thin bottle.",
+    "Hold the yellow text bottle in one arm, the red-capped bottle in the other.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the plastic drink bottle with the other arm.",
+    "Assign one arm to catch the yellow text bottle, one for the narrow-necked bottle.",
+    "Grab the plastic bottle with bright red color, pick up the red-capped bottle.",
+    "Catch both the plastic bottle and the brown bottle with red label quickly.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the dark drink bottle with logo.",
+    "Assign one arm to each of the yellow text bottle and the bottle with ridges on bottom.",
+    "Hold onto the red bottle with narrow neck, then pick up the Coca-Cola bottle.",
+    "Catch the red bottle with narrow neck, grab the bottle with white neck and red top next.",
+    "Each arm should pick up one: the red bottle with curved grooves, then the brown bottle with red label.",
+    "Grab and hold the bottle with red cap, then grab the red-capped bottle.",
+    "Let each arm grab either the plastic bottle or the dark drink bottle with logo.",
+    "Take hold of the red bottle with white bottom text and the long thin bottle.",
+    "Pick up the yellow text bottle and then pick up the medium dark brown bottle.",
+    "Catch the yellow text bottle, then catch the narrow-necked bottle.",
+    "Lift both bottles, the yellow text bottle with one arm, the plastic drink bottle with the other.",
+    "Secure the red bottle with screw cap, then secure the smooth bottle with red lid.",
+    "Use both arms to pick up the bottle with red cap and the narrow-necked bottle.",
+    "Grab the red bottle with curved grooves using an arm and the bottle with white neck and red top with the other arm.",
+    "Pick up both the red bottle with curved grooves and the dark drink bottle with logo.",
+    "Grab the red bottle with curved grooves with one arm, the dark drink bottle with logo with the other.",
+    "Grab the plastic bottle with bright red color with one arm, the long thin bottle with the other.",
+    "Secure both the plastic bottle and the plastic drink bottle quickly.",
+    "Grasp the red bottle with curved grooves first, then take the bottle with ridges on bottom.",
+    "Use both arms to lift the red bottle with white bottom text and the dark drink bottle with logo.",
+    "Pick both the red bottle with screw cap and the long thin bottle one after another.",
+    "Hold onto the red bottle with screw cap and then get the hand-sized soda bottle.",
+    "Grab the plastic bottle with bright red color and pick up the Coca-Cola bottle.",
+    "Use one arm for the yellow text bottle and the other for the Coca-Cola bottle.",
+    "Lift both the red bottle with screw cap and the brown bottle with red label simultaneously.",
+    "Secure the red bottle with narrow neck and the long thin bottle in succession.",
+    "Catch the red bottle with screw cap with one arm, the Coca-Cola bottle with another arm.",
+    "Pick up the plastic bottle, then pick up the narrow-necked bottle.",
+    "Use one arm for the smooth red cylindrical bottle, the other for the dark drink bottle with logo.",
+    "Catch the plastic bottle, then grab the red-capped bottle too.",
+    "Lift the red bottle and also take hold of the long thin bottle.",
+    "Hold the bottle with red cap with one arm, hold the brown bottle with red label with the other.",
+    "With two arms, catch both the plastic bottle with bright red color and the Coca-Cola bottle.",
+    "Hold both the red bottle and the bottle with ridges on bottom.",
+    "Catch the medium-size plastic bottle in one arm and the dark drink bottle with logo in the other arm.",
+    "Lift the red bottle with white bottom text and the brown bottle with red label with separate arms.",
+    "Catch the plastic bottle, then take hold of the smooth bottle with red lid."
+  ],
+  "unseen": [
+    "Lift the shiny red bottle using one arm and lift the plastic soda bottle using the other.",
+    "Pick up both the shiny red bottle and the bottle with red screw cap together.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle with one arm, grab the bottle with red screw cap with the other.",
+    "Pick up the bottle with white and yellow label and take the plastic soda bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the plastic soda bottle.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the plastic soda bottle using the other.",
+    "Pick up both the bottle with yellow Chinese characters and the plastic soda bottle together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the shiny red bottle with one arm, grab the plastic soda bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the plastic soda bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the bottle with red screw cap together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the bottle with red screw cap.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the plastic soda bottle.",
+    "Grab the shiny red bottle and grab the bottle with red screw cap at once.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the plastic soda bottle using the other.",
+    "Pick up both the bottle with white and yellow label and the bottle with red screw cap together.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the plastic soda bottle with the other.",
+    "Pick up the shiny red bottle and take the bottle with red screw cap together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the plastic soda bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the bottle with red screw cap.",
+    "Grab the bottle with yellow Chinese characters and grab the plastic soda bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the bottle with red screw cap using the other.",
+    "Pick up both the shiny red bottle and the plastic soda bottle together.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the bottle with red screw cap.",
+    "Use each arm to grab the bottle with white and yellow label and the plastic soda bottle.",
+    "Grab the bottle with white and yellow label and grab the bottle with red screw cap at once.",
+    "Pick up the shiny red bottle and the bottle with red screw cap together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label and the bottle with red screw cap at the same time.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the bottle with red screw cap with the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the bottle with red screw cap with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the plastic soda bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the bottle with red screw cap.",
+    "Grab the bottle with white and yellow label and grab the plastic soda bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and the bottle with red screw cap together.",
+    "Lift the shiny red bottle using one arm and lift the bottle with red screw cap using the other.",
+    "Pick up both the bottle with white and yellow label and the bottle with red screw cap together.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the plastic soda bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and the plastic soda bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the bottle with red screw cap using the other.",
+    "Pick up both the bottle with yellow Chinese characters and the bottle with red screw cap together.",
+    "Grab the shiny red bottle and the bottle with red screw cap at the same time.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the plastic soda bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the plastic soda bottle with the other.",
+    "Pick up the shiny red bottle and take the plastic soda bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the bottle with red screw cap.",
+    "Use each arm to grab the shiny red bottle and the bottle with red screw cap.",
+    "Grab the shiny red bottle and grab the bottle with red screw cap at once.",
+    "Pick up the shiny red bottle and the plastic soda bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up both the bottle with white and yellow label and the plastic soda bottle together.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the plastic soda bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the bottle with red screw cap with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the bottle with red screw cap together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the bottle with red screw cap.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the plastic soda bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the plastic soda bottle at once.",
+    "Pick up the bottle with white and yellow label and the bottle with red screw cap together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up both the bottle with white and yellow label and the plastic soda bottle together.",
+    "Grab the bottle with white and yellow label and the bottle with red screw cap at the same time.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the plastic soda bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the bottle with red screw cap.",
+    "Use each arm to grab the shiny red bottle and the plastic soda bottle.",
+    "Grab the shiny red bottle and grab the bottle with red screw cap at once.",
+    "Pick up the shiny red bottle and the bottle with red screw cap together.",
+    "Lift the bottle with white and yellow label using one arm and lift the bottle with red screw cap using the other.",
+    "Pick up both the bottle with yellow Chinese characters and the plastic soda bottle together.",
+    "Grab the bottle with yellow Chinese characters and the plastic soda bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the plastic soda bottle with the other.",
+    "Grab the shiny red bottle with one arm, grab the plastic soda bottle with the other.",
+    "Pick up the shiny red bottle and take the bottle with red screw cap together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Use each arm to grab the shiny red bottle and the bottle with red screw cap.",
+    "Grab the bottle with yellow Chinese characters and grab the plastic soda bottle at once.",
+    "Pick up the shiny red bottle and the plastic soda bottle together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001335.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "One arm grabs the medium bottle with glossy surface; the other arm grabs the hand-sized soda bottle.",
+    "Assign one arm to each of the medium-sized brown plastic bottle and the brown bottle with red label.",
+    "Pick up the brown bottle with rounded rectangular shape, then pick up the Coca-Cola bottle.",
+    "Hold the brown bottle with rounded rectangular shape with one arm, hold the hand-sized soda bottle with the other.",
+    "Grab the medium bottle with glossy surface using one arm and the long thin bottle using the other.",
+    "Take hold of the medium-sized brown plastic bottle and the bottle with ridges on bottom.",
+    "Grab and hold the bottle with green cap, then grab the hand-sized soda bottle.",
+    "Assign one arm to catch the smooth brown bottle with green label, one for the smooth bottle with red lid.",
+    "Grab the bottle with flat sides and logo with one arm, the narrow-necked bottle with the other.",
+    "Grasp the rectangular brown body with white top first, then take the brown bottle with red label.",
+    "Catch the dark brown bottle with a squared body in one arm and the smooth bottle with red lid in the other arm.",
+    "Catch the medium bottle with glossy surface with one arm, the smooth bottle with red lid with another arm.",
+    "Pick up both the rectangular-shaped bottle with round cap and the smooth bottle with red lid together.",
+    "Lift both bottles, the bottle with green cap with one arm, the smooth bottle with red lid with the other.",
+    "Catch the medium bottle with glossy surface, then take hold of the bottle with white neck and red top.",
+    "Secure the brown bottle, then secure the long thin bottle.",
+    "Use both arms to pick up the brown bottle and the narrow-necked bottle.",
+    "Use one arm for the medium-sized brown plastic bottle, another for the hand-sized soda bottle.",
+    "Pick up the medium-sized brown plastic bottle and then pick up the medium dark brown bottle.",
+    "With both arms, pick up the bottle with green cap, then the red-capped bottle.",
+    "With two arms, catch both the rectangular brown body with white top and the brown bottle with red label.",
+    "Let each arm grab either the medium-sized brown plastic bottle or the hand-sized soda bottle.",
+    "Catch the smooth brown bottle with green label, then catch the dark drink bottle with logo.",
+    "Lift the bottle with flat sides and logo and also take hold of the hand-sized soda bottle.",
+    "Catch the brown bottle with rounded rectangular shape, grab the narrow-necked bottle next.",
+    "Use one arm for the medium bottle with glossy surface and the other for the narrow-necked bottle.",
+    "Hold onto the bottle with flat sides and logo and then get the red-capped bottle.",
+    "Pick both the medium bottle with glossy surface and the bottle with ridges on bottom one after another.",
+    "Hold onto the smooth plastic bottle with white cap, then pick up the bottle with white neck and red top.",
+    "Grab the bottle with green cap, pick up the narrow-necked bottle.",
+    "Secure both the brown bottle with rounded rectangular shape and the smooth bottle with red lid quickly.",
+    "Lift the dark brown bottle with a squared body and the hand-sized soda bottle with separate arms.",
+    "Grab the smooth plastic bottle with white cap using an arm and the medium dark brown bottle with the other arm.",
+    "Secure the bottle with flat sides and logo and the red-capped bottle in succession.",
+    "Catch both the rectangular-shaped bottle with round cap and the smooth bottle with red lid quickly.",
+    "Use one arm for the rectangular brown body with white top, the other for the plastic drink bottle.",
+    "Hold the medium-sized brown plastic bottle in one arm, catch the long thin bottle with the other arm.",
+    "Grab the medium bottle with glossy surface with one arm, the hand-sized soda bottle with the other.",
+    "Grab the medium bottle with glossy surface and pick up the hand-sized soda bottle.",
+    "Hold the medium-sized brown plastic bottle in one arm, the medium dark brown bottle in the other.",
+    "Hold both the medium bottle with glossy surface and the narrow-necked bottle.",
+    "Pick up both the rectangular-shaped bottle with round cap and the red-capped bottle.",
+    "Collect the medium bottle with glossy surface, then pick up the Coca-Cola bottle.",
+    "Use both arms to pick up the smooth brown bottle with green label and the plastic drink bottle.",
+    "Each arm should pick up one: the rectangular brown body with white top, then the narrow-necked bottle.",
+    "Lift both the plastic bottle and the bottle with ridges on bottom simultaneously.",
+    "Lift the medium-sized brown plastic bottle, continue and pick up the brown bottle with red label.",
+    "Use both arms to lift the medium bottle with glossy surface and the bottle with ridges on bottom.",
+    "Catch the rectangular-shaped bottle with round cap, then grab the long thin bottle too.",
+    "Use each arm to lift the medium-sized brown plastic bottle and the Coca-Cola bottle.",
+    "One arm grabs the rectangular-shaped bottle with round cap; the other arm grabs the red-capped bottle.",
+    "Assign one arm to each of the rectangular-shaped bottle with round cap and the Coca-Cola bottle.",
+    "Pick up the bottle with flat sides and logo, then pick up the long thin bottle.",
+    "Hold the dark brown bottle with a squared body with one arm, hold the dark drink bottle with logo with the other.",
+    "Grab the medium bottle with glossy surface using one arm and the hand-sized soda bottle using the other.",
+    "Take hold of the brown bottle and the narrow-necked bottle.",
+    "Grab and hold the smooth plastic bottle with white cap, then grab the brown bottle with red label.",
+    "Assign one arm to catch the rectangular brown body with white top, one for the smooth bottle with red lid.",
+    "Grab the plastic bottle with one arm, the medium dark brown bottle with the other.",
+    "Grasp the bottle with flat sides and logo first, then take the long thin bottle.",
+    "Catch the smooth plastic bottle with white cap in one arm and the Coca-Cola bottle in the other arm.",
+    "Catch the rectangular brown body with white top with one arm, the dark drink bottle with logo with another arm.",
+    "Pick up both the bottle with green cap and the Coca-Cola bottle together.",
+    "Lift both bottles, the smooth brown bottle with green label with one arm, the hand-sized soda bottle with the other.",
+    "Catch the brown bottle, then take hold of the brown bottle with red label.",
+    "Secure the bottle with flat sides and logo, then secure the bottle with white neck and red top.",
+    "Use both arms to pick up the bottle with green cap and the bottle with white neck and red top.",
+    "Use one arm for the smooth plastic bottle with white cap, another for the smooth bottle with red lid.",
+    "Pick up the smooth brown bottle with green label and then pick up the dark drink bottle with logo.",
+    "With both arms, pick up the smooth plastic bottle with white cap, then the medium dark brown bottle.",
+    "With two arms, catch both the medium bottle with glossy surface and the Coca-Cola bottle.",
+    "Let each arm grab either the brown bottle or the smooth bottle with red lid.",
+    "Catch the rectangular brown body with white top, then catch the hand-sized soda bottle.",
+    "Lift the medium-sized brown plastic bottle and also take hold of the narrow-necked bottle.",
+    "Catch the rectangular-shaped bottle with round cap, grab the bottle with white neck and red top next.",
+    "Use one arm for the rectangular brown body with white top and the other for the plastic drink bottle.",
+    "Hold onto the rectangular brown body with white top and then get the plastic drink bottle.",
+    "Pick both the plastic bottle and the smooth bottle with red lid one after another.",
+    "Hold onto the plastic bottle, then pick up the Coca-Cola bottle.",
+    "Grab the brown bottle, pick up the red-capped bottle.",
+    "Secure both the smooth plastic bottle with white cap and the bottle with white neck and red top quickly.",
+    "Lift the brown bottle with rounded rectangular shape and the narrow-necked bottle with separate arms.",
+    "Grab the bottle with green cap using an arm and the narrow-necked bottle with the other arm.",
+    "Secure the bottle with green cap and the red-capped bottle in succession.",
+    "Catch both the plastic bottle and the brown bottle with red label quickly.",
+    "Use one arm for the plastic bottle, the other for the bottle with white neck and red top.",
+    "Hold the rectangular brown body with white top in one arm, catch the dark drink bottle with logo with the other arm.",
+    "Grab the rectangular-shaped bottle with round cap with one arm, the hand-sized soda bottle with the other.",
+    "Grab the smooth plastic bottle with white cap and pick up the red-capped bottle.",
+    "Hold the plastic bottle in one arm, the plastic drink bottle in the other.",
+    "Hold both the rectangular-shaped bottle with round cap and the medium dark brown bottle.",
+    "Pick up both the medium bottle with glossy surface and the Coca-Cola bottle.",
+    "Collect the smooth brown bottle with green label, then pick up the dark drink bottle with logo.",
+    "Use both arms to pick up the brown bottle with rounded rectangular shape and the dark drink bottle with logo.",
+    "Each arm should pick up one: the smooth plastic bottle with white cap, then the bottle with ridges on bottom.",
+    "Lift both the smooth plastic bottle with white cap and the red-capped bottle simultaneously.",
+    "Lift the bottle with flat sides and logo, continue and pick up the bottle with ridges on bottom.",
+    "Use both arms to lift the medium bottle with glossy surface and the narrow-necked bottle.",
+    "Catch the plastic bottle, then grab the plastic drink bottle too.",
+    "Use each arm to lift the medium bottle with glossy surface and the brown bottle with red label."
+  ],
+  "unseen": [
+    "Grab the liquid container dark brown plastic and the bottle with red screw cap at the same time.",
+    "Grab the bottle with green label and white lid with one arm, grab the plastic soda bottle with the other.",
+    "Pick up the liquid container dark brown plastic with one arm, grab the plastic soda bottle with the other.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the brown bottle.",
+    "Pick up both the bottle with green label and white lid and the brown bottle together.",
+    "Grab the liquid container dark brown plastic and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with green label and white lid, then the plastic soda bottle.",
+    "Pick up the medium-sized plastic bottle with capped top and take the brown bottle together.",
+    "Lift the medium-sized plastic bottle with capped top using one arm and lift the plastic soda bottle using the other.",
+    "Pick up the bottle with green label and white lid and the plastic soda bottle together.",
+    "Grab the bottle with green label and white lid and the bottle with red screw cap at the same time.",
+    "Grab the liquid container dark brown plastic with one arm, grab the brown bottle with the other.",
+    "Pick up the liquid container dark brown plastic with one arm, grab the bottle with red screw cap with the other.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the brown bottle.",
+    "Pick up both the medium-sized plastic bottle with capped top and the plastic soda bottle together.",
+    "Grab the medium-sized plastic bottle with capped top and grab the plastic soda bottle at once.",
+    "Use each arm to lift a bottle: the bottle with green label and white lid, then the brown bottle.",
+    "Pick up the medium-sized plastic bottle with capped top and take the brown bottle together.",
+    "Lift the medium-sized plastic bottle with capped top using one arm and lift the plastic soda bottle using the other.",
+    "Pick up the liquid container dark brown plastic and the plastic soda bottle together.",
+    "Grab the medium-sized plastic bottle with capped top and the bottle with red screw cap at the same time.",
+    "Grab the medium-sized plastic bottle with capped top with one arm, grab the plastic soda bottle with the other.",
+    "Pick up the liquid container dark brown plastic with one arm, grab the plastic soda bottle with the other.",
+    "Use each arm to grab the bottle with green label and white lid and the bottle with red screw cap.",
+    "Pick up both the bottle with green label and white lid and the brown bottle together.",
+    "Grab the liquid container dark brown plastic and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the medium-sized plastic bottle with capped top, then the plastic soda bottle.",
+    "Pick up the medium-sized plastic bottle with capped top and take the plastic soda bottle together.",
+    "Lift the medium-sized plastic bottle with capped top using one arm and lift the plastic soda bottle using the other.",
+    "Pick up the bottle with green label and white lid and the bottle with red screw cap together.",
+    "Grab the liquid container dark brown plastic and the bottle with red screw cap at the same time.",
+    "Grab the liquid container dark brown plastic with one arm, grab the bottle with red screw cap with the other.",
+    "Pick up the bottle with green label and white lid with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the liquid container dark brown plastic and the brown bottle.",
+    "Pick up both the liquid container dark brown plastic and the bottle with red screw cap together.",
+    "Grab the medium-sized plastic bottle with capped top and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with green label and white lid, then the brown bottle.",
+    "Pick up the liquid container dark brown plastic and take the bottle with red screw cap together.",
+    "Lift the medium-sized plastic bottle with capped top using one arm and lift the plastic soda bottle using the other.",
+    "Pick up the medium-sized plastic bottle with capped top and the bottle with red screw cap together.",
+    "Grab the medium-sized plastic bottle with capped top and the plastic soda bottle at the same time.",
+    "Grab the medium-sized plastic bottle with capped top with one arm, grab the brown bottle with the other.",
+    "Pick up the medium-sized plastic bottle with capped top with one arm, grab the bottle with red screw cap with the other.",
+    "Use each arm to grab the medium-sized plastic bottle with capped top and the plastic soda bottle.",
+    "Pick up both the medium-sized plastic bottle with capped top and the bottle with red screw cap together.",
+    "Grab the liquid container dark brown plastic and grab the bottle with red screw cap at once.",
+    "Use each arm to lift a bottle: the liquid container dark brown plastic, then the plastic soda bottle.",
+    "Pick up the bottle with green label and white lid and take the plastic soda bottle together.",
+    "Lift the liquid container dark brown plastic using one arm and lift the brown bottle using the other.",
+    "Pick up the liquid container dark brown plastic and the bottle with red screw cap together.",
+    "Grab the medium-sized plastic bottle with capped top and the bottle with red screw cap at the same time.",
+    "Grab the liquid container dark brown plastic with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with green label and white lid with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the liquid container dark brown plastic and the brown bottle.",
+    "Pick up both the medium-sized plastic bottle with capped top and the bottle with red screw cap together.",
+    "Grab the liquid container dark brown plastic and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the medium-sized plastic bottle with capped top, then the brown bottle.",
+    "Pick up the medium-sized plastic bottle with capped top and take the bottle with red screw cap together.",
+    "Lift the medium-sized plastic bottle with capped top using one arm and lift the brown bottle using the other.",
+    "Pick up the liquid container dark brown plastic and the bottle with red screw cap together.",
+    "Grab the liquid container dark brown plastic and the brown bottle at the same time.",
+    "Grab the liquid container dark brown plastic with one arm, grab the brown bottle with the other.",
+    "Pick up the medium-sized plastic bottle with capped top with one arm, grab the bottle with red screw cap with the other.",
+    "Use each arm to grab the bottle with green label and white lid and the bottle with red screw cap.",
+    "Pick up both the liquid container dark brown plastic and the bottle with red screw cap together.",
+    "Grab the liquid container dark brown plastic and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the medium-sized plastic bottle with capped top, then the plastic soda bottle.",
+    "Pick up the medium-sized plastic bottle with capped top and take the plastic soda bottle together.",
+    "Lift the bottle with green label and white lid using one arm and lift the plastic soda bottle using the other.",
+    "Pick up the liquid container dark brown plastic and the bottle with red screw cap together.",
+    "Grab the medium-sized plastic bottle with capped top and the plastic soda bottle at the same time.",
+    "Grab the bottle with green label and white lid with one arm, grab the plastic soda bottle with the other.",
+    "Pick up the liquid container dark brown plastic with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with green label and white lid and the bottle with red screw cap.",
+    "Pick up both the medium-sized plastic bottle with capped top and the brown bottle together.",
+    "Grab the liquid container dark brown plastic and grab the bottle with red screw cap at once.",
+    "Use each arm to lift a bottle: the bottle with green label and white lid, then the brown bottle.",
+    "Pick up the liquid container dark brown plastic and take the bottle with red screw cap together.",
+    "Lift the liquid container dark brown plastic using one arm and lift the bottle with red screw cap using the other.",
+    "Pick up the liquid container dark brown plastic and the brown bottle together.",
+    "Grab the bottle with green label and white lid and the bottle with red screw cap at the same time.",
+    "Grab the bottle with green label and white lid with one arm, grab the bottle with red screw cap with the other.",
+    "Pick up the bottle with green label and white lid with one arm, grab the bottle with red screw cap with the other.",
+    "Use each arm to grab the liquid container dark brown plastic and the bottle with red screw cap.",
+    "Pick up both the medium-sized plastic bottle with capped top and the brown bottle together.",
+    "Grab the liquid container dark brown plastic and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with green label and white lid, then the bottle with red screw cap.",
+    "Pick up the medium-sized plastic bottle with capped top and take the bottle with red screw cap together.",
+    "Lift the bottle with green label and white lid using one arm and lift the bottle with red screw cap using the other.",
+    "Pick up the bottle with green label and white lid and the bottle with red screw cap together.",
+    "Grab the bottle with green label and white lid and the plastic soda bottle at the same time.",
+    "Grab the liquid container dark brown plastic with one arm, grab the bottle with red screw cap with the other.",
+    "Pick up the medium-sized plastic bottle with capped top with one arm, grab the plastic soda bottle with the other.",
+    "Use each arm to grab the bottle with green label and white lid and the brown bottle.",
+    "Pick up both the bottle with green label and white lid and the bottle with red screw cap together.",
+    "Grab the liquid container dark brown plastic and grab the bottle with red screw cap at once.",
+    "Use each arm to lift a bottle: the liquid container dark brown plastic, then the bottle with red screw cap.",
+    "Pick up the medium-sized plastic bottle with capped top and take the brown bottle together.",
+    "Lift the liquid container dark brown plastic using one arm and lift the plastic soda bottle using the other.",
+    "Pick up the liquid container dark brown plastic and the plastic soda bottle together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001339.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the plastic bottle, another for the smooth orange cylindrical bottle.",
+    "Hold both the orange bottle and the smooth orange cylindrical bottle.",
+    "Assign one arm to catch the white and orange plastic bottle, one for the yellow-capped orange plastic bottle.",
+    "Assign one arm to each of the cylindrical orange and white bottle and the rounded bottom orange plastic bottle.",
+    "Use one arm for the orange and white bottle with cap, the other for the rounded bottom orange plastic bottle.",
+    "Pick both the cylindrical orange and white bottle and the orange bottle one after another.",
+    "Lift both the yellow label bottle and the cylindrical orange bottle with smooth surface simultaneously.",
+    "Grab the drinking bottle with yellow label with one arm, the small bottle with bright yellow lid with the other.",
+    "Let each arm grab either the bottle with orange cap or the rounded bottom orange plastic bottle.",
+    "Use each arm to lift the medium orange bottle and the orange bottle with bold labeling.",
+    "Catch the cylindrical orange and white bottle with one arm, the bottle with yellow cap with another arm.",
+    "Grab the medium orange bottle with one arm, the orange bottle with bold labeling with the other.",
+    "Grab the medium orange bottle using one arm and the cylindrical orange bottle with smooth surface using the other.",
+    "Use both arms to pick up the orange bottle and the smooth orange cylindrical bottle.",
+    "Grab and hold the medium orange bottle, then grab the small bottle with bright yellow lid.",
+    "Catch the bottle with orange cap, then catch the yellow-capped bottle for beverages.",
+    "Grasp the plastic bottle first, then take the bottle with yellow cap.",
+    "Hold the bottle with orange cap in one arm, catch the bottle with yellow cap with the other arm.",
+    "Take hold of the orange and white bottle with cap and the bottle with yellow cap.",
+    "Catch the drinking bottle with yellow label, then take hold of the yellow-capped orange plastic bottle.",
+    "Hold onto the plastic bottle, then pick up the small bottle with bright yellow lid.",
+    "Use both arms to lift the orange and white bottle with cap and the smooth orange cylindrical bottle.",
+    "With both arms, pick up the yellow label bottle, then the handheld medium-sized liquid bottle.",
+    "Pick up the cylindrical orange and white bottle and then pick up the yellow-capped bottle for beverages.",
+    "Hold the medium bottle with orange lid with one arm, hold the yellow-capped orange plastic bottle with the other.",
+    "Secure both the drinking bottle with yellow label and the yellow-capped orange plastic bottle quickly.",
+    "Grab the bottle with ribbed orange bottom using an arm and the rounded bottom orange plastic bottle with the other arm.",
+    "Lift the orange and white bottle with cap, continue and pick up the yellow-capped bottle for beverages.",
+    "Grab the medium orange bottle, pick up the rounded bottom orange plastic bottle.",
+    "Hold the cylindrical orange and white bottle in one arm, the orange bottle with bold labeling in the other.",
+    "Pick up both the orange bottle and the orange bottle with bold labeling.",
+    "Use one arm for the orange bottle and the other for the rounded bottom orange plastic bottle.",
+    "Grab the white and orange plastic bottle and pick up the rounded orange bottle with yellow top.",
+    "Hold onto the medium bottle with orange lid and then get the rounded bottom orange plastic bottle.",
+    "Secure the orange and white bottle with cap and the yellow-capped orange plastic bottle in succession.",
+    "Lift the orange and white bottle with cap and the rounded orange bottle with yellow top with separate arms.",
+    "Catch the medium bottle with orange lid in one arm and the yellow-capped bottle for beverages in the other arm.",
+    "Catch the medium bottle with orange lid, then grab the smooth orange cylindrical bottle too.",
+    "Each arm should pick up one: the orange and white bottle with cap, then the yellow-capped bottle for beverages.",
+    "Use both arms to pick up the medium orange bottle and the orange bottle with bold labeling.",
+    "Lift both bottles, the smooth plastic bottle with one arm, the bottle with yellow cap with the other.",
+    "Collect the medium orange bottle, then pick up the rounded bottom orange plastic bottle.",
+    "Catch the orange bottle, grab the rounded bottom orange plastic bottle next.",
+    "Lift the medium bottle with orange lid and also take hold of the cylindrical orange bottle with smooth surface.",
+    "Secure the bottle with orange cap, then secure the yellow-capped bottle for beverages.",
+    "Pick up both the orange and white bottle with cap and the bottle with yellow cap together.",
+    "One arm grabs the drinking bottle with yellow label; the other arm grabs the yellow-capped bottle for beverages.",
+    "Pick up the drinking bottle with yellow label, then pick up the orange bottle with bold labeling.",
+    "With two arms, catch both the plastic bottle and the rounded bottom orange plastic bottle.",
+    "Catch both the yellow label bottle and the liquid container with orange body quickly.",
+    "Use one arm for the bottle with ribbed orange bottom, another for the yellow-capped orange plastic bottle.",
+    "Hold both the orange and white bottle with cap and the cylindrical orange bottle with smooth surface.",
+    "Assign one arm to catch the bottle with orange cap, one for the orange bottle with bold labeling.",
+    "Assign one arm to each of the cylindrical orange and white bottle and the orange bottle.",
+    "Use one arm for the bottle with ribbed orange bottom, the other for the orange bottle.",
+    "Pick both the yellow label bottle and the orange bottle with bold labeling one after another.",
+    "Lift both the orange bottle and the smooth orange cylindrical bottle simultaneously.",
+    "Grab the yellow label bottle with one arm, the rounded orange bottle with yellow top with the other.",
+    "Let each arm grab either the bottle with orange cap or the handheld medium-sized liquid bottle.",
+    "Use each arm to lift the bottle with orange cap and the cylindrical orange bottle with smooth surface.",
+    "Catch the yellow label bottle with one arm, the handheld medium-sized liquid bottle with another arm.",
+    "Grab the smooth plastic bottle with one arm, the bottle with yellow cap with the other.",
+    "Grab the bottle with ribbed orange bottom using one arm and the cylindrical orange bottle with smooth surface using the other.",
+    "Use both arms to pick up the medium bottle with orange lid and the cylindrical orange bottle with smooth surface.",
+    "Grab and hold the plastic bottle, then grab the rounded orange bottle with yellow top.",
+    "Catch the white and orange plastic bottle, then catch the rounded bottom orange plastic bottle.",
+    "Grasp the medium bottle with orange lid first, then take the small bottle with bright yellow lid.",
+    "Hold the smooth plastic bottle in one arm, catch the rounded bottom orange plastic bottle with the other arm.",
+    "Take hold of the white and orange plastic bottle and the rounded orange bottle with yellow top.",
+    "Catch the medium orange bottle, then take hold of the handheld medium-sized liquid bottle.",
+    "Hold onto the drinking bottle with yellow label, then pick up the orange bottle.",
+    "Use both arms to lift the orange bottle and the small bottle with bright yellow lid.",
+    "With both arms, pick up the bottle with ribbed orange bottom, then the orange bottle.",
+    "Pick up the smooth plastic bottle and then pick up the bottle with yellow cap.",
+    "Hold the plastic bottle with one arm, hold the rounded orange bottle with yellow top with the other.",
+    "Secure both the drinking bottle with yellow label and the cylindrical orange bottle with smooth surface quickly.",
+    "Grab the medium orange bottle using an arm and the rounded orange bottle with yellow top with the other arm.",
+    "Lift the drinking bottle with yellow label, continue and pick up the bottle with yellow cap.",
+    "Grab the white and orange plastic bottle, pick up the cylindrical orange bottle with smooth surface.",
+    "Hold the bottle with orange cap in one arm, the smooth orange cylindrical bottle in the other.",
+    "Pick up both the white and orange plastic bottle and the orange bottle with bold labeling.",
+    "Use one arm for the orange and white bottle with cap and the other for the rounded bottom orange plastic bottle.",
+    "Grab the medium bottle with orange lid and pick up the rounded orange bottle with yellow top.",
+    "Hold onto the drinking bottle with yellow label and then get the rounded orange bottle with yellow top.",
+    "Secure the orange and white bottle with cap and the liquid container with orange body in succession.",
+    "Lift the orange and white bottle with cap and the handheld medium-sized liquid bottle with separate arms.",
+    "Catch the bottle with ribbed orange bottom in one arm and the rounded bottom orange plastic bottle in the other arm.",
+    "Catch the medium orange bottle, then grab the smooth orange cylindrical bottle too.",
+    "Each arm should pick up one: the bottle with ribbed orange bottom, then the bottle with yellow cap.",
+    "Use both arms to pick up the white and orange plastic bottle and the rounded orange bottle with yellow top.",
+    "Lift both bottles, the medium bottle with orange lid with one arm, the small bottle with bright yellow lid with the other.",
+    "Collect the medium orange bottle, then pick up the smooth orange cylindrical bottle.",
+    "Catch the white and orange plastic bottle, grab the cylindrical orange bottle with smooth surface next.",
+    "Lift the cylindrical orange and white bottle and also take hold of the liquid container with orange body.",
+    "Secure the medium orange bottle, then secure the orange bottle with bold labeling.",
+    "Pick up both the bottle with orange cap and the orange bottle together.",
+    "One arm grabs the drinking bottle with yellow label; the other arm grabs the rounded bottom orange plastic bottle.",
+    "Pick up the orange and white bottle with cap, then pick up the handheld medium-sized liquid bottle.",
+    "With two arms, catch both the cylindrical orange and white bottle and the handheld medium-sized liquid bottle.",
+    "Catch both the drinking bottle with yellow label and the orange bottle with bold labeling quickly."
+  ],
+  "unseen": [
+    "Pick up the bottle with yellow sticker label and take the medium plastic bottle together.",
+    "Lift the bottle with yellow sticker label using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up both the bottle with curved body and the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with yellow sticker label and the medium bottle for liquids together.",
+    "Pick up the curvy orange bottle with white section with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to grab the curvy orange bottle with white section and the medium plastic bottle.",
+    "Grab the curvy orange bottle with white section and the medium bottle for liquids at the same time.",
+    "Grab the bottle with yellow sticker label and grab the medium bottle for liquids at once.",
+    "Grab the bottle with curved body with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the medium plastic bottle.",
+    "Pick up the bottle with yellow sticker label and take the plastic orange bottle with rounded base together.",
+    "Lift the curvy orange bottle with white section using one arm and lift the medium plastic bottle using the other.",
+    "Pick up both the bottle with curved body and the medium bottle for liquids together.",
+    "Pick up the curvy orange bottle with white section and the medium plastic bottle together.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to grab the bottle with yellow sticker label and the medium plastic bottle.",
+    "Grab the bottle with yellow sticker label and the plastic orange bottle with rounded base at the same time.",
+    "Grab the bottle with yellow sticker label and grab the plastic orange bottle with rounded base at once.",
+    "Grab the bottle with yellow sticker label with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the medium bottle for liquids.",
+    "Pick up the curvy orange bottle with white section and take the medium plastic bottle together.",
+    "Lift the bottle with yellow sticker label using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up both the curvy orange bottle with white section and the medium plastic bottle together.",
+    "Pick up the curvy orange bottle with white section and the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with curved body with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to grab the bottle with curved body and the plastic orange bottle with rounded base.",
+    "Grab the bottle with yellow sticker label and the medium plastic bottle at the same time.",
+    "Grab the curvy orange bottle with white section and grab the plastic orange bottle with rounded base at once.",
+    "Grab the bottle with yellow sticker label with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the curvy orange bottle with white section, then the medium bottle for liquids.",
+    "Pick up the bottle with curved body and take the medium bottle for liquids together.",
+    "Lift the bottle with curved body using one arm and lift the medium plastic bottle using the other.",
+    "Pick up both the bottle with yellow sticker label and the medium bottle for liquids together.",
+    "Pick up the bottle with curved body and the medium plastic bottle together.",
+    "Pick up the curvy orange bottle with white section with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to grab the bottle with curved body and the medium plastic bottle.",
+    "Grab the curvy orange bottle with white section and the plastic orange bottle with rounded base at the same time.",
+    "Grab the bottle with curved body and grab the plastic orange bottle with rounded base at once.",
+    "Grab the bottle with curved body with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the plastic orange bottle with rounded base.",
+    "Pick up the curvy orange bottle with white section and take the medium plastic bottle together.",
+    "Lift the curvy orange bottle with white section using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up both the bottle with yellow sticker label and the plastic orange bottle with rounded base together.",
+    "Pick up the curvy orange bottle with white section and the medium bottle for liquids together.",
+    "Pick up the bottle with curved body with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to grab the curvy orange bottle with white section and the medium bottle for liquids.",
+    "Grab the bottle with yellow sticker label and the medium plastic bottle at the same time.",
+    "Grab the bottle with yellow sticker label and grab the medium bottle for liquids at once.",
+    "Grab the bottle with yellow sticker label with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the curvy orange bottle with white section, then the medium plastic bottle.",
+    "Pick up the bottle with curved body and take the plastic orange bottle with rounded base together.",
+    "Lift the curvy orange bottle with white section using one arm and lift the medium bottle for liquids using the other.",
+    "Pick up both the bottle with yellow sticker label and the medium plastic bottle together.",
+    "Pick up the bottle with curved body and the medium bottle for liquids together.",
+    "Pick up the bottle with curved body with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to grab the bottle with curved body and the medium bottle for liquids.",
+    "Grab the curvy orange bottle with white section and the plastic orange bottle with rounded base at the same time.",
+    "Grab the bottle with curved body and grab the medium bottle for liquids at once.",
+    "Grab the curvy orange bottle with white section with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the curvy orange bottle with white section, then the plastic orange bottle with rounded base.",
+    "Pick up the bottle with curved body and take the medium plastic bottle together.",
+    "Lift the bottle with curved body using one arm and lift the medium plastic bottle using the other.",
+    "Pick up both the bottle with yellow sticker label and the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with curved body and the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with yellow sticker label with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to grab the bottle with yellow sticker label and the medium bottle for liquids.",
+    "Grab the curvy orange bottle with white section and the medium plastic bottle at the same time.",
+    "Grab the bottle with curved body and grab the medium bottle for liquids at once.",
+    "Grab the bottle with yellow sticker label with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to lift a bottle: the curvy orange bottle with white section, then the plastic orange bottle with rounded base.",
+    "Pick up the bottle with yellow sticker label and take the medium bottle for liquids together.",
+    "Lift the bottle with curved body using one arm and lift the medium plastic bottle using the other.",
+    "Pick up both the bottle with curved body and the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with curved body and the medium plastic bottle together.",
+    "Pick up the curvy orange bottle with white section with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to grab the curvy orange bottle with white section and the medium plastic bottle.",
+    "Grab the curvy orange bottle with white section and the medium plastic bottle at the same time.",
+    "Grab the bottle with yellow sticker label and grab the medium plastic bottle at once.",
+    "Grab the bottle with curved body with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the medium bottle for liquids.",
+    "Pick up the curvy orange bottle with white section and take the medium bottle for liquids together.",
+    "Lift the curvy orange bottle with white section using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up both the bottle with curved body and the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with yellow sticker label and the medium plastic bottle together.",
+    "Pick up the curvy orange bottle with white section with one arm, grab the medium bottle for liquids with the other.",
+    "Use each arm to grab the curvy orange bottle with white section and the medium bottle for liquids.",
+    "Grab the bottle with curved body and the plastic orange bottle with rounded base at the same time.",
+    "Grab the bottle with yellow sticker label and grab the medium plastic bottle at once.",
+    "Grab the curvy orange bottle with white section with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the bottle with curved body, then the medium plastic bottle.",
+    "Pick up the curvy orange bottle with white section and take the medium bottle for liquids together.",
+    "Lift the curvy orange bottle with white section using one arm and lift the plastic orange bottle with rounded base using the other.",
+    "Pick up both the curvy orange bottle with white section and the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with curved body and the medium bottle for liquids together.",
+    "Pick up the bottle with curved body with one arm, grab the medium plastic bottle with the other.",
+    "Use each arm to grab the bottle with curved body and the plastic orange bottle with rounded base.",
+    "Grab the bottle with yellow sticker label and the medium bottle for liquids at the same time.",
+    "Grab the curvy orange bottle with white section and grab the medium bottle for liquids at once.",
+    "Grab the bottle with yellow sticker label with one arm, grab the plastic orange bottle with rounded base with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow sticker label, then the plastic orange bottle with rounded base."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001346.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth bottle with rounded edges and pick up the yellow capped drink bottle.",
+    "Collect the plastic bottle, then pick up the beverage bottle with black body.",
+    "Lift both bottles, the yellow bottle with a green design with one arm, the medium bottle with yellow cap with the other.",
+    "Lift both the medium rectangular yellow bottle and the black cylindrical bottle with ridges simultaneously.",
+    "Hold both the plastic bottle and the medium bottle with yellow cap.",
+    "Each arm should pick up one: the bottle with a smooth plastic body, then the smooth black bottle with ridges.",
+    "Secure the smooth bottle with rounded edges and the yellow capped drink bottle in succession.",
+    "Hold the yellow bottle in one arm, the medium bottle with yellow cap in the other.",
+    "Pick up both the bottle with a smooth plastic body and the black bottle together.",
+    "Catch the yellow bottle with a green design, then catch the bottle with blue and yellow print.",
+    "Hold the yellow bottle with one arm, hold the beverage bottle with black body with the other.",
+    "Catch the smooth bottle with rounded edges, then take hold of the beverage bottle with black body.",
+    "Hold onto the bottle with green and white labels, then pick up the yellow-capped cylindrical bottle.",
+    "Pick up both the bottle with green label and the bottle with blue and yellow print.",
+    "Grab the bottle with white cap using an arm and the yellow-capped cylindrical bottle with the other arm.",
+    "One arm grabs the bottle with green and white labels; the other arm grabs the bottle with blue and yellow print.",
+    "Catch the bottle with white cap with one arm, the drink bottle with rounded yellow lid with another arm.",
+    "Use both arms to pick up the bottle with white cap and the black cylindrical bottle with ridges.",
+    "Secure the yellow container with rounded edges, then secure the black bottle.",
+    "Lift the yellow plastic bottle with white top, continue and pick up the bottle with blue and yellow print.",
+    "Assign one arm to catch the bottle with green label, one for the medium bottle with yellow cap.",
+    "Use one arm for the bottle with green and white labels, another for the smooth black bottle with ridges.",
+    "Catch both the bottle with green and white labels and the plastic bottle with colorful label quickly.",
+    "Pick both the medium rectangular yellow bottle and the smooth black bottle with ridges one after another.",
+    "Hold the yellow plastic bottle with white top in one arm, catch the yellow capped drink bottle with the other arm.",
+    "Grab and hold the bottle with green label, then grab the beverage bottle with black body.",
+    "Use one arm for the bottle with white cap and the other for the yellow-capped cylindrical bottle.",
+    "Let each arm grab either the yellow bottle or the black cylindrical bottle with ridges.",
+    "Grasp the bottle with green label first, then take the yellow-capped cylindrical bottle.",
+    "Pick up the bottle with white cap and then pick up the beverage bottle with black body.",
+    "Grab the bottle with green and white labels, pick up the bottle with blue and yellow print.",
+    "Grab the bottle with white cap using one arm and the bottle with blue and yellow print using the other.",
+    "Secure both the rectangular bottle with cylindrical neck and the medium black bottle with printed label quickly.",
+    "With two arms, catch both the bottle with white cap and the yellow capped drink bottle.",
+    "With both arms, pick up the bottle with white cap, then the yellow-capped cylindrical bottle.",
+    "Catch the plastic bottle in one arm and the medium black bottle with printed label in the other arm.",
+    "Pick up the bottle with green label, then pick up the yellow capped drink bottle.",
+    "Hold onto the bottle with green and white labels and then get the black cylindrical bottle with ridges.",
+    "Lift the plastic bottle and the plastic bottle with colorful label with separate arms.",
+    "Catch the yellow bottle, grab the yellow capped drink bottle next.",
+    "Use both arms to lift the yellow container with rounded edges and the black cylindrical bottle with ridges.",
+    "Use one arm for the bottle with white cap, the other for the yellow-capped cylindrical bottle.",
+    "Grab the yellow bottle with a green design with one arm, the plastic bottle with colorful label with the other.",
+    "Assign one arm to each of the bottle with white cap and the plastic bottle with colorful label.",
+    "Take hold of the plastic bottle and the yellow capped drink bottle.",
+    "Use each arm to lift the bottle with green and white labels and the yellow-capped cylindrical bottle.",
+    "Lift the yellow bottle and also take hold of the yellow capped drink bottle.",
+    "Catch the yellow bottle with a green design, then grab the beverage bottle with black body too.",
+    "Grab the bottle with green and white labels with one arm, the smooth black bottle with ridges with the other.",
+    "Use both arms to pick up the yellow bottle and the black cylindrical bottle with ridges.",
+    "Grab the yellow bottle with a green design and pick up the yellow capped drink bottle.",
+    "Collect the bottle with a smooth plastic body, then pick up the black cylindrical bottle with ridges.",
+    "Lift both bottles, the yellow container with rounded edges with one arm, the yellow-capped cylindrical bottle with the other.",
+    "Lift both the bottle with green label and the medium bottle with yellow cap simultaneously.",
+    "Hold both the yellow plastic bottle with white top and the black bottle.",
+    "Each arm should pick up one: the yellow bottle, then the yellow-capped cylindrical bottle.",
+    "Secure the bottle with green and white labels and the black cylindrical bottle with ridges in succession.",
+    "Hold the rectangular bottle with cylindrical neck in one arm, the medium bottle with yellow cap in the other.",
+    "Pick up both the yellow bottle and the plastic bottle with colorful label together.",
+    "Catch the rectangular bottle with cylindrical neck, then catch the yellow-capped cylindrical bottle.",
+    "Hold the rectangular bottle with cylindrical neck with one arm, hold the beverage bottle with black body with the other.",
+    "Catch the yellow bottle, then take hold of the yellow-capped cylindrical bottle.",
+    "Hold onto the plastic bottle, then pick up the smooth black bottle with ridges.",
+    "Pick up both the rectangular bottle with cylindrical neck and the beverage bottle with black body.",
+    "Grab the rectangular bottle with cylindrical neck using an arm and the yellow capped drink bottle with the other arm.",
+    "One arm grabs the plastic bottle; the other arm grabs the black cylindrical bottle with ridges.",
+    "Catch the bottle with a smooth plastic body with one arm, the plastic bottle with colorful label with another arm.",
+    "Use both arms to pick up the bottle with a smooth plastic body and the medium black bottle with printed label.",
+    "Secure the bottle with green and white labels, then secure the black cylindrical bottle with ridges.",
+    "Lift the plastic bottle, continue and pick up the medium bottle with yellow cap.",
+    "Assign one arm to catch the medium rectangular yellow bottle, one for the yellow capped drink bottle.",
+    "Use one arm for the yellow container with rounded edges, another for the black bottle.",
+    "Catch both the yellow container with rounded edges and the medium bottle with yellow cap quickly.",
+    "Pick both the yellow bottle and the black bottle one after another.",
+    "Hold the bottle with green and white labels in one arm, catch the medium black bottle with printed label with the other arm.",
+    "Grab and hold the rectangular bottle with cylindrical neck, then grab the black cylindrical bottle with ridges.",
+    "Use one arm for the bottle with green and white labels and the other for the yellow capped drink bottle.",
+    "Let each arm grab either the bottle with white cap or the medium bottle with yellow cap.",
+    "Grasp the smooth bottle with rounded edges first, then take the plastic bottle with colorful label.",
+    "Pick up the yellow bottle and then pick up the black plastic bottle with Pepsi logo.",
+    "Grab the bottle with green and white labels, pick up the drink bottle with rounded yellow lid.",
+    "Grab the bottle with green label using one arm and the medium bottle with yellow cap using the other.",
+    "Secure both the medium rectangular yellow bottle and the bottle with blue and yellow print quickly.",
+    "With two arms, catch both the yellow container with rounded edges and the drink bottle with rounded yellow lid.",
+    "With both arms, pick up the bottle with green label, then the bottle with blue and yellow print.",
+    "Catch the medium rectangular yellow bottle in one arm and the medium black bottle with printed label in the other arm.",
+    "Pick up the plastic bottle, then pick up the black plastic bottle with Pepsi logo.",
+    "Hold onto the bottle with a smooth plastic body and then get the medium black bottle with printed label.",
+    "Lift the yellow plastic bottle with white top and the black cylindrical bottle with ridges with separate arms.",
+    "Catch the yellow bottle, grab the black bottle next.",
+    "Use both arms to lift the yellow bottle and the black cylindrical bottle with ridges.",
+    "Use one arm for the medium rectangular yellow bottle, the other for the yellow capped drink bottle.",
+    "Grab the yellow container with rounded edges with one arm, the smooth black bottle with ridges with the other.",
+    "Assign one arm to each of the bottle with white cap and the medium black bottle with printed label.",
+    "Take hold of the bottle with green and white labels and the black plastic bottle with Pepsi logo.",
+    "Use each arm to lift the bottle with green label and the medium bottle with yellow cap.",
+    "Lift the bottle with white cap and also take hold of the medium black bottle with printed label.",
+    "Catch the yellow bottle with a green design, then grab the black cylindrical bottle with ridges too.",
+    "Grab the yellow bottle with a green design with one arm, the medium black bottle with printed label with the other.",
+    "Use both arms to pick up the yellow plastic bottle with white top and the bottle with blue and yellow print."
+  ],
+  "unseen": [
+    "Grab the hand-sized yellow plastic bottle and the bottle with ridges near base at the same time.",
+    "Grab the hand-sized yellow plastic bottle with one arm, grab the bottle with ridges near base with the other.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the bottle with ridges near base using the other.",
+    "Pick up the hand-sized yellow plastic bottle and the plastic bottle with blue label together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the hand-sized bottle with ridged bottom.",
+    "Grab the hand-sized yellow plastic bottle and grab the hand-sized bottle with ridged bottom at once.",
+    "Pick up the yellow rectangular bottle with one arm, grab the bottle with ridges near base with the other.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the plastic bottle with blue label.",
+    "Pick up the hand-sized yellow plastic bottle and take the hand-sized bottle with ridged bottom together.",
+    "Pick up both the yellow bottle for liquid storage and the bottle with ridges near base together.",
+    "Grab the yellow rectangular bottle and the hand-sized bottle with ridged bottom at the same time.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the plastic bottle with blue label with the other.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the bottle with ridges near base using the other.",
+    "Pick up the yellow rectangular bottle and the hand-sized bottle with ridged bottom together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the hand-sized bottle with ridged bottom.",
+    "Grab the yellow rectangular bottle and grab the bottle with ridges near base at once.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the plastic bottle with blue label.",
+    "Pick up the yellow bottle for liquid storage and take the hand-sized bottle with ridged bottom together.",
+    "Pick up both the hand-sized yellow plastic bottle and the hand-sized bottle with ridged bottom together.",
+    "Grab the yellow rectangular bottle and the bottle with ridges near base at the same time.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Lift the yellow rectangular bottle using one arm and lift the plastic bottle with blue label using the other.",
+    "Pick up the hand-sized yellow plastic bottle and the hand-sized bottle with ridged bottom together.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the plastic bottle with blue label.",
+    "Grab the yellow bottle for liquid storage and grab the plastic bottle with blue label at once.",
+    "Pick up the hand-sized yellow plastic bottle with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Use each arm to grab the yellow rectangular bottle and the hand-sized bottle with ridged bottom.",
+    "Pick up the yellow rectangular bottle and take the bottle with ridges near base together.",
+    "Pick up both the yellow bottle for liquid storage and the hand-sized bottle with ridged bottom together.",
+    "Grab the yellow rectangular bottle and the hand-sized bottle with ridged bottom at the same time.",
+    "Grab the hand-sized yellow plastic bottle with one arm, grab the bottle with ridges near base with the other.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the plastic bottle with blue label using the other.",
+    "Pick up the yellow rectangular bottle and the hand-sized bottle with ridged bottom together.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the plastic bottle with blue label.",
+    "Grab the yellow bottle for liquid storage and grab the plastic bottle with blue label at once.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the bottle with ridges near base with the other.",
+    "Use each arm to grab the yellow rectangular bottle and the plastic bottle with blue label.",
+    "Pick up the yellow rectangular bottle and take the plastic bottle with blue label together.",
+    "Pick up both the yellow rectangular bottle and the hand-sized bottle with ridged bottom together.",
+    "Grab the hand-sized yellow plastic bottle and the bottle with ridges near base at the same time.",
+    "Grab the yellow rectangular bottle with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the hand-sized bottle with ridged bottom using the other.",
+    "Pick up the yellow rectangular bottle and the bottle with ridges near base together.",
+    "Use each arm to lift a bottle: the yellow bottle for liquid storage, then the plastic bottle with blue label.",
+    "Grab the yellow bottle for liquid storage and grab the plastic bottle with blue label at once.",
+    "Pick up the yellow rectangular bottle with one arm, grab the bottle with ridges near base with the other.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the hand-sized bottle with ridged bottom.",
+    "Pick up the hand-sized yellow plastic bottle and take the bottle with ridges near base together.",
+    "Pick up both the yellow bottle for liquid storage and the hand-sized bottle with ridged bottom together.",
+    "Grab the hand-sized yellow plastic bottle and the plastic bottle with blue label at the same time.",
+    "Grab the hand-sized yellow plastic bottle with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Lift the yellow rectangular bottle using one arm and lift the hand-sized bottle with ridged bottom using the other.",
+    "Pick up the hand-sized yellow plastic bottle and the hand-sized bottle with ridged bottom together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the bottle with ridges near base.",
+    "Grab the yellow rectangular bottle and grab the hand-sized bottle with ridged bottom at once.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the plastic bottle with blue label with the other.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the hand-sized bottle with ridged bottom.",
+    "Pick up the yellow rectangular bottle and take the hand-sized bottle with ridged bottom together.",
+    "Pick up both the yellow bottle for liquid storage and the hand-sized bottle with ridged bottom together.",
+    "Grab the yellow rectangular bottle and the plastic bottle with blue label at the same time.",
+    "Grab the yellow rectangular bottle with one arm, grab the bottle with ridges near base with the other.",
+    "Lift the yellow rectangular bottle using one arm and lift the plastic bottle with blue label using the other.",
+    "Pick up the yellow rectangular bottle and the plastic bottle with blue label together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the plastic bottle with blue label.",
+    "Grab the yellow rectangular bottle and grab the hand-sized bottle with ridged bottom at once.",
+    "Pick up the yellow rectangular bottle with one arm, grab the plastic bottle with blue label with the other.",
+    "Use each arm to grab the hand-sized yellow plastic bottle and the hand-sized bottle with ridged bottom.",
+    "Pick up the yellow bottle for liquid storage and take the hand-sized bottle with ridged bottom together.",
+    "Pick up both the hand-sized yellow plastic bottle and the plastic bottle with blue label together.",
+    "Grab the yellow rectangular bottle and the plastic bottle with blue label at the same time.",
+    "Grab the yellow rectangular bottle with one arm, grab the plastic bottle with blue label with the other.",
+    "Lift the yellow bottle for liquid storage using one arm and lift the bottle with ridges near base using the other.",
+    "Pick up the hand-sized yellow plastic bottle and the plastic bottle with blue label together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the hand-sized bottle with ridged bottom.",
+    "Grab the yellow bottle for liquid storage and grab the hand-sized bottle with ridged bottom at once.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the hand-sized bottle with ridged bottom with the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the plastic bottle with blue label.",
+    "Pick up the hand-sized yellow plastic bottle and take the plastic bottle with blue label together.",
+    "Pick up both the yellow bottle for liquid storage and the bottle with ridges near base together.",
+    "Grab the yellow bottle for liquid storage and the plastic bottle with blue label at the same time.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the bottle with ridges near base with the other.",
+    "Lift the hand-sized yellow plastic bottle using one arm and lift the bottle with ridges near base using the other.",
+    "Pick up the yellow rectangular bottle and the hand-sized bottle with ridged bottom together.",
+    "Use each arm to lift a bottle: the hand-sized yellow plastic bottle, then the hand-sized bottle with ridged bottom.",
+    "Grab the yellow bottle for liquid storage and grab the hand-sized bottle with ridged bottom at once.",
+    "Pick up the yellow bottle for liquid storage with one arm, grab the plastic bottle with blue label with the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the plastic bottle with blue label.",
+    "Pick up the yellow bottle for liquid storage and take the plastic bottle with blue label together.",
+    "Pick up both the hand-sized yellow plastic bottle and the bottle with ridges near base together.",
+    "Grab the yellow bottle for liquid storage and the hand-sized bottle with ridged bottom at the same time.",
+    "Grab the yellow bottle for liquid storage with one arm, grab the plastic bottle with blue label with the other.",
+    "Lift the yellow rectangular bottle using one arm and lift the plastic bottle with blue label using the other.",
+    "Pick up the yellow rectangular bottle and the plastic bottle with blue label together.",
+    "Use each arm to lift a bottle: the yellow rectangular bottle, then the hand-sized bottle with ridged bottom.",
+    "Grab the yellow bottle for liquid storage and grab the plastic bottle with blue label at once.",
+    "Pick up the yellow rectangular bottle with one arm, grab the bottle with ridges near base with the other.",
+    "Use each arm to grab the yellow bottle for liquid storage and the bottle with ridges near base.",
+    "Pick up the yellow rectangular bottle and take the hand-sized bottle with ridged bottom together.",
+    "Pick up both the yellow bottle for liquid storage and the hand-sized bottle with ridged bottom together."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001354.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the handheld bottle, then pick up the dark brown bottle with a squared body.",
+    "Hold both the smooth plastic bottle and the dark brown bottle with a squared body.",
+    "Catch both the blue bottle and the rectangular-shaped bottle with round cap quickly.",
+    "Use both arms to pick up the plastic bottle and the brown bottle with rounded rectangular shape.",
+    "Use both arms to pick up the white bottle with blue accents and the brown bottle.",
+    "Grab the white and blue bottle with one arm, the brown bottle with rounded rectangular shape with the other.",
+    "Lift the bottle with blue cap, continue and pick up the dark brown bottle with a squared body.",
+    "Each arm should pick up one: the bottle with blue cap, then the brown bottle with rounded rectangular shape.",
+    "One arm grabs the smooth plastic bottle; the other arm grabs the dark brown bottle with a squared body.",
+    "Hold the cylindrical bottle in one arm, catch the rectangular brown body with white top with the other arm.",
+    "Catch the bottle with blue cap, then catch the bottle with flat sides and logo.",
+    "Collect the medium-sized bottle, then pick up the rectangular brown body with white top.",
+    "Use both arms to lift the cylindrical bottle and the rectangular-shaped bottle with round cap.",
+    "Pick up both the smooth plastic bottle and the plastic bottle.",
+    "Hold onto the smooth plastic bottle, then pick up the rectangular brown body with white top.",
+    "Let each arm grab either the white bottle with blue accents or the medium bottle with glossy surface.",
+    "Use one arm for the smooth plastic bottle and the other for the bottle with flat sides and logo.",
+    "Catch the bottle for liquids in one arm and the smooth brown bottle with green label in the other arm.",
+    "Secure the blue bottle with label and the medium bottle with glossy surface in succession.",
+    "Catch the white bottle with blue accents, grab the smooth plastic bottle with white cap next.",
+    "Grab the medium-sized bottle using one arm and the brown bottle with rounded rectangular shape using the other.",
+    "Grab and hold the medium-sized bottle, then grab the rectangular brown body with white top.",
+    "With two arms, catch both the blue bottle and the bottle with green cap.",
+    "Hold the smooth plastic bottle in one arm, the bottle with green cap in the other.",
+    "Use each arm to lift the white and blue bottle and the medium bottle with glossy surface.",
+    "Lift both bottles, the blue bottle with one arm, the rectangular-shaped bottle with round cap with the other.",
+    "Catch the medium bottle for beverages, then take hold of the medium bottle with glossy surface.",
+    "Secure both the smooth plastic bottle and the medium bottle with glossy surface quickly.",
+    "Secure the plastic bottle, then secure the brown bottle with rounded rectangular shape.",
+    "Catch the blue bottle with one arm, the medium-sized brown plastic bottle with another arm.",
+    "Assign one arm to catch the cylindrical bottle, one for the medium-sized brown plastic bottle.",
+    "Pick both the blue bottle with label and the medium-sized brown plastic bottle one after another.",
+    "Grab the blue bottle with label with one arm, the bottle with flat sides and logo with the other.",
+    "Use one arm for the cylindrical bottle, another for the rectangular-shaped bottle with round cap.",
+    "Lift the medium-sized bottle and also take hold of the plastic bottle.",
+    "Grab the medium bottle for beverages and pick up the smooth brown bottle with green label.",
+    "Grasp the smooth plastic bottle first, then take the brown bottle with rounded rectangular shape.",
+    "Grab the medium bottle for beverages, pick up the brown bottle.",
+    "Pick up the blue bottle with label and then pick up the brown bottle with rounded rectangular shape.",
+    "Hold onto the bottle for liquids and then get the rectangular-shaped bottle with round cap.",
+    "Hold the medium-sized bottle with one arm, hold the medium bottle with glossy surface with the other.",
+    "Take hold of the white bottle with blue accents and the smooth plastic bottle with white cap.",
+    "Catch the white bottle with blue accents, then grab the plastic bottle too.",
+    "Grab the cylindrical bottle using an arm and the smooth brown bottle with green label with the other arm.",
+    "Lift both the handheld bottle and the medium bottle with glossy surface simultaneously.",
+    "Lift the blue bottle and the brown bottle with separate arms.",
+    "Pick up both the bottle for liquids and the medium-sized brown plastic bottle together.",
+    "With both arms, pick up the white and blue bottle, then the medium-sized brown plastic bottle.",
+    "Assign one arm to each of the cylindrical bottle and the smooth brown bottle with green label.",
+    "Use one arm for the bottle with blue cap, the other for the smooth plastic bottle with white cap.",
+    "Pick up the blue bottle with label, then pick up the plastic bottle.",
+    "Hold both the blue bottle with label and the rectangular brown body with white top.",
+    "Catch both the blue bottle with label and the smooth plastic bottle with white cap quickly.",
+    "Use both arms to pick up the white and blue bottle and the bottle with green cap.",
+    "Use both arms to pick up the medium-sized bottle and the bottle with green cap.",
+    "Grab the blue bottle with one arm, the smooth brown bottle with green label with the other.",
+    "Lift the blue bottle, continue and pick up the bottle with flat sides and logo.",
+    "Each arm should pick up one: the medium bottle for beverages, then the bottle with flat sides and logo.",
+    "One arm grabs the smooth plastic bottle; the other arm grabs the dark brown bottle with a squared body.",
+    "Hold the smooth plastic bottle in one arm, catch the brown bottle with the other arm.",
+    "Catch the medium bottle for beverages, then catch the medium-sized brown plastic bottle.",
+    "Collect the plastic bottle, then pick up the bottle with flat sides and logo.",
+    "Use both arms to lift the bottle for liquids and the smooth plastic bottle with white cap.",
+    "Pick up both the blue bottle and the rectangular-shaped bottle with round cap.",
+    "Hold onto the white and blue bottle, then pick up the rectangular brown body with white top.",
+    "Let each arm grab either the bottle for liquids or the smooth plastic bottle with white cap.",
+    "Use one arm for the white bottle with blue accents and the other for the bottle with flat sides and logo.",
+    "Catch the medium-sized bottle in one arm and the bottle with flat sides and logo in the other arm.",
+    "Secure the medium-sized bottle and the dark brown bottle with a squared body in succession.",
+    "Catch the blue bottle, grab the plastic bottle next.",
+    "Grab the handheld bottle using one arm and the brown bottle using the other.",
+    "Grab and hold the blue bottle, then grab the medium-sized brown plastic bottle.",
+    "With two arms, catch both the blue bottle and the medium bottle with glossy surface.",
+    "Hold the blue bottle in one arm, the brown bottle in the other.",
+    "Use each arm to lift the white and blue bottle and the smooth plastic bottle with white cap.",
+    "Lift both bottles, the bottle with blue cap with one arm, the rectangular-shaped bottle with round cap with the other.",
+    "Catch the cylindrical bottle, then take hold of the bottle with flat sides and logo.",
+    "Secure both the smooth plastic bottle and the bottle with green cap quickly.",
+    "Secure the handheld bottle, then secure the medium-sized brown plastic bottle.",
+    "Catch the bottle for liquids with one arm, the medium bottle with glossy surface with another arm.",
+    "Assign one arm to catch the smooth plastic bottle, one for the medium bottle with glossy surface.",
+    "Pick both the bottle with blue cap and the medium bottle with glossy surface one after another.",
+    "Grab the plastic bottle with one arm, the rectangular-shaped bottle with round cap with the other.",
+    "Use one arm for the medium-sized bottle, another for the brown bottle.",
+    "Lift the handheld bottle and also take hold of the rectangular brown body with white top.",
+    "Grab the blue bottle and pick up the smooth plastic bottle with white cap.",
+    "Grasp the blue bottle first, then take the rectangular brown body with white top.",
+    "Grab the cylindrical bottle, pick up the bottle with flat sides and logo.",
+    "Pick up the smooth plastic bottle and then pick up the dark brown bottle with a squared body.",
+    "Hold onto the blue bottle with label and then get the rectangular-shaped bottle with round cap.",
+    "Hold the medium bottle for beverages with one arm, hold the smooth plastic bottle with white cap with the other.",
+    "Take hold of the blue bottle with label and the smooth plastic bottle with white cap.",
+    "Catch the white bottle with blue accents, then grab the bottle with green cap too.",
+    "Grab the cylindrical bottle using an arm and the dark brown bottle with a squared body with the other arm.",
+    "Lift both the cylindrical bottle and the plastic bottle simultaneously.",
+    "Lift the smooth plastic bottle and the bottle with flat sides and logo with separate arms.",
+    "Pick up both the medium-sized bottle and the smooth plastic bottle with white cap together.",
+    "With both arms, pick up the cylindrical bottle, then the brown bottle.",
+    "Assign one arm to each of the medium-sized bottle and the bottle with flat sides and logo.",
+    "Use one arm for the smooth plastic bottle, the other for the plastic bottle."
+  ],
+  "unseen": [
+    "Pick up the bottle with curved neck design and the bottle with green label and white lid together.",
+    "Lift the blue-capped plastic bottle using one arm and lift the liquid container dark brown plastic using the other.",
+    "Grab the bottle with ridged neck and the medium-sized plastic bottle with capped top at the same time.",
+    "Pick up both the bottle with ridged neck and the bottle with green label and white lid together.",
+    "Use each arm to grab the bottle with curved neck design and the medium-sized plastic bottle with capped top.",
+    "Pick up the bottle with ridged neck with one arm, grab the liquid container dark brown plastic with the other.",
+    "Pick up the blue-capped plastic bottle and take the liquid container dark brown plastic together.",
+    "Grab the bottle with curved neck design and grab the liquid container dark brown plastic at once.",
+    "Grab the bottle with curved neck design with one arm, grab the bottle with green label and white lid with the other.",
+    "Use each arm to lift a bottle: the blue-capped plastic bottle, then the liquid container dark brown plastic.",
+    "Pick up the blue-capped plastic bottle and the medium-sized plastic bottle with capped top together.",
+    "Lift the bottle with curved neck design using one arm and lift the medium-sized plastic bottle with capped top using the other.",
+    "Grab the bottle with ridged neck and the liquid container dark brown plastic at the same time.",
+    "Pick up both the bottle with curved neck design and the bottle with green label and white lid together.",
+    "Use each arm to grab the blue-capped plastic bottle and the bottle with green label and white lid.",
+    "Pick up the bottle with ridged neck with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Pick up the bottle with curved neck design and take the liquid container dark brown plastic together.",
+    "Grab the bottle with curved neck design and grab the liquid container dark brown plastic at once.",
+    "Grab the bottle with curved neck design with one arm, grab the liquid container dark brown plastic with the other.",
+    "Use each arm to lift a bottle: the bottle with ridged neck, then the bottle with green label and white lid.",
+    "Pick up the blue-capped plastic bottle and the bottle with green label and white lid together.",
+    "Lift the blue-capped plastic bottle using one arm and lift the bottle with green label and white lid using the other.",
+    "Grab the blue-capped plastic bottle and the bottle with green label and white lid at the same time.",
+    "Pick up both the blue-capped plastic bottle and the bottle with green label and white lid together.",
+    "Use each arm to grab the blue-capped plastic bottle and the bottle with green label and white lid.",
+    "Pick up the bottle with ridged neck with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the bottle with ridged neck and take the bottle with green label and white lid together.",
+    "Grab the blue-capped plastic bottle and grab the liquid container dark brown plastic at once.",
+    "Grab the bottle with ridged neck with one arm, grab the liquid container dark brown plastic with the other.",
+    "Use each arm to lift a bottle: the bottle with curved neck design, then the liquid container dark brown plastic.",
+    "Pick up the blue-capped plastic bottle and the liquid container dark brown plastic together.",
+    "Lift the bottle with ridged neck using one arm and lift the bottle with green label and white lid using the other.",
+    "Grab the blue-capped plastic bottle and the liquid container dark brown plastic at the same time.",
+    "Pick up both the bottle with curved neck design and the liquid container dark brown plastic together.",
+    "Use each arm to grab the bottle with curved neck design and the liquid container dark brown plastic.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the bottle with ridged neck and take the liquid container dark brown plastic together.",
+    "Grab the bottle with ridged neck and grab the medium-sized plastic bottle with capped top at once.",
+    "Grab the bottle with ridged neck with one arm, grab the liquid container dark brown plastic with the other.",
+    "Use each arm to lift a bottle: the bottle with curved neck design, then the medium-sized plastic bottle with capped top.",
+    "Pick up the bottle with ridged neck and the liquid container dark brown plastic together.",
+    "Lift the blue-capped plastic bottle using one arm and lift the medium-sized plastic bottle with capped top using the other.",
+    "Grab the bottle with curved neck design and the liquid container dark brown plastic at the same time.",
+    "Pick up both the bottle with ridged neck and the bottle with green label and white lid together.",
+    "Use each arm to grab the bottle with ridged neck and the bottle with green label and white lid.",
+    "Pick up the bottle with ridged neck with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Pick up the bottle with ridged neck and take the medium-sized plastic bottle with capped top together.",
+    "Grab the bottle with ridged neck and grab the liquid container dark brown plastic at once.",
+    "Grab the blue-capped plastic bottle with one arm, grab the liquid container dark brown plastic with the other.",
+    "Use each arm to lift a bottle: the bottle with curved neck design, then the liquid container dark brown plastic.",
+    "Pick up the blue-capped plastic bottle and the bottle with green label and white lid together.",
+    "Lift the bottle with curved neck design using one arm and lift the liquid container dark brown plastic using the other.",
+    "Grab the blue-capped plastic bottle and the medium-sized plastic bottle with capped top at the same time.",
+    "Pick up both the bottle with ridged neck and the medium-sized plastic bottle with capped top together.",
+    "Use each arm to grab the blue-capped plastic bottle and the liquid container dark brown plastic.",
+    "Pick up the bottle with ridged neck with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the blue-capped plastic bottle and take the liquid container dark brown plastic together.",
+    "Grab the bottle with curved neck design and grab the medium-sized plastic bottle with capped top at once.",
+    "Grab the bottle with ridged neck with one arm, grab the bottle with green label and white lid with the other.",
+    "Use each arm to lift a bottle: the blue-capped plastic bottle, then the medium-sized plastic bottle with capped top.",
+    "Pick up the blue-capped plastic bottle and the medium-sized plastic bottle with capped top together.",
+    "Lift the bottle with ridged neck using one arm and lift the liquid container dark brown plastic using the other.",
+    "Grab the bottle with curved neck design and the medium-sized plastic bottle with capped top at the same time.",
+    "Pick up both the bottle with curved neck design and the liquid container dark brown plastic together.",
+    "Use each arm to grab the blue-capped plastic bottle and the bottle with green label and white lid.",
+    "Pick up the bottle with curved neck design with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the bottle with ridged neck and take the liquid container dark brown plastic together.",
+    "Grab the blue-capped plastic bottle and grab the liquid container dark brown plastic at once.",
+    "Grab the blue-capped plastic bottle with one arm, grab the liquid container dark brown plastic with the other.",
+    "Use each arm to lift a bottle: the blue-capped plastic bottle, then the bottle with green label and white lid.",
+    "Pick up the blue-capped plastic bottle and the medium-sized plastic bottle with capped top together.",
+    "Lift the blue-capped plastic bottle using one arm and lift the bottle with green label and white lid using the other.",
+    "Grab the bottle with ridged neck and the liquid container dark brown plastic at the same time.",
+    "Pick up both the bottle with curved neck design and the medium-sized plastic bottle with capped top together.",
+    "Use each arm to grab the bottle with curved neck design and the bottle with green label and white lid.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the liquid container dark brown plastic with the other.",
+    "Pick up the blue-capped plastic bottle and take the liquid container dark brown plastic together.",
+    "Grab the blue-capped plastic bottle and grab the bottle with green label and white lid at once.",
+    "Grab the blue-capped plastic bottle with one arm, grab the liquid container dark brown plastic with the other.",
+    "Use each arm to lift a bottle: the blue-capped plastic bottle, then the liquid container dark brown plastic.",
+    "Pick up the bottle with curved neck design and the medium-sized plastic bottle with capped top together.",
+    "Lift the bottle with ridged neck using one arm and lift the liquid container dark brown plastic using the other.",
+    "Grab the blue-capped plastic bottle and the liquid container dark brown plastic at the same time.",
+    "Pick up both the bottle with curved neck design and the medium-sized plastic bottle with capped top together.",
+    "Use each arm to grab the bottle with ridged neck and the liquid container dark brown plastic.",
+    "Pick up the blue-capped plastic bottle with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Pick up the bottle with ridged neck and take the liquid container dark brown plastic together.",
+    "Grab the bottle with curved neck design and grab the medium-sized plastic bottle with capped top at once.",
+    "Grab the bottle with curved neck design with one arm, grab the medium-sized plastic bottle with capped top with the other.",
+    "Use each arm to lift a bottle: the bottle with curved neck design, then the bottle with green label and white lid.",
+    "Pick up the bottle with curved neck design and the bottle with green label and white lid together.",
+    "Lift the bottle with curved neck design using one arm and lift the liquid container dark brown plastic using the other.",
+    "Grab the bottle with curved neck design and the liquid container dark brown plastic at the same time.",
+    "Pick up both the bottle with curved neck design and the bottle with green label and white lid together.",
+    "Use each arm to grab the bottle with curved neck design and the bottle with green label and white lid.",
+    "Pick up the bottle with curved neck design with one arm, grab the bottle with green label and white lid with the other.",
+    "Pick up the bottle with ridged neck and take the liquid container dark brown plastic together.",
+    "Grab the bottle with curved neck design and grab the medium-sized plastic bottle with capped top at once.",
+    "Grab the bottle with ridged neck with one arm, grab the liquid container dark brown plastic with the other.",
+    "Use each arm to lift a bottle: the bottle with ridged neck, then the bottle with green label and white lid."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/pick_diverse_bottles/episode10001358.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With two arms, catch both the yellow-capped bottle for beverages and the blue bottle.",
+    "Assign one arm to each of the cylindrical orange bottle with smooth surface and the blue bottle.",
+    "Lift the small bottle with bright yellow lid and the bottle with blue cap with separate arms.",
+    "Grab the handheld medium-sized liquid bottle with one arm, the handheld bottle with the other.",
+    "Hold onto the yellow-capped orange plastic bottle and then get the smooth plastic bottle.",
+    "Catch the rounded bottom orange plastic bottle, grab the bottle for liquids next.",
+    "Each arm should pick up one: the cylindrical orange bottle with smooth surface, then the cylindrical bottle.",
+    "Lift both bottles, the bottle with yellow cap with one arm, the bottle with blue cap with the other.",
+    "Hold the handheld medium-sized liquid bottle with one arm, hold the blue bottle with label with the other.",
+    "Lift both the small bottle with bright yellow lid and the smooth plastic bottle simultaneously.",
+    "Lift the bottle with yellow cap, continue and pick up the bottle with blue cap.",
+    "Catch both the bottle with yellow cap and the bottle for liquids quickly.",
+    "With both arms, pick up the liquid container with orange body, then the medium-sized bottle.",
+    "Catch the liquid container with orange body in one arm and the handheld bottle in the other arm.",
+    "Grab and hold the bottle with yellow cap, then grab the white bottle with blue accents.",
+    "Catch the handheld medium-sized liquid bottle, then grab the medium-sized bottle too.",
+    "Assign one arm to catch the small bottle with bright yellow lid, one for the plastic bottle.",
+    "Grab the rounded bottom orange plastic bottle with one arm, the smooth plastic bottle with the other.",
+    "Pick up both the handheld medium-sized liquid bottle and the white bottle with blue accents together.",
+    "Pick both the cylindrical orange bottle with smooth surface and the blue bottle one after another.",
+    "Grab the yellow-capped bottle for beverages using an arm and the smooth plastic bottle with the other arm.",
+    "Use each arm to lift the rounded bottom orange plastic bottle and the plastic bottle.",
+    "Hold the liquid container with orange body in one arm, the bottle with blue cap in the other.",
+    "Use one arm for the handheld medium-sized liquid bottle, the other for the white bottle with blue accents.",
+    "Lift the cylindrical orange bottle with smooth surface and also take hold of the blue bottle.",
+    "One arm grabs the yellow-capped orange plastic bottle; the other arm grabs the smooth plastic bottle.",
+    "Grab the yellow-capped bottle for beverages and pick up the medium bottle for beverages.",
+    "Catch the liquid container with orange body with one arm, the bottle for liquids with another arm.",
+    "Use one arm for the liquid container with orange body, another for the white and blue bottle.",
+    "Secure the smooth orange cylindrical bottle and the plastic bottle in succession.",
+    "Use both arms to lift the orange bottle and the blue bottle.",
+    "Catch the smooth orange cylindrical bottle, then take hold of the white and blue bottle.",
+    "Use both arms to pick up the liquid container with orange body and the white and blue bottle.",
+    "Pick up the yellow-capped orange plastic bottle and then pick up the bottle for liquids.",
+    "Grasp the bottle with yellow cap first, then take the cylindrical bottle.",
+    "Secure the bottle with yellow cap, then secure the white and blue bottle.",
+    "Grab the cylindrical orange bottle with smooth surface using one arm and the blue bottle with label using the other.",
+    "Use both arms to pick up the orange bottle with bold labeling and the smooth plastic bottle.",
+    "Take hold of the rounded bottom orange plastic bottle and the medium bottle for beverages.",
+    "Collect the small bottle with bright yellow lid, then pick up the medium bottle for beverages.",
+    "Hold both the rounded orange bottle with yellow top and the white bottle with blue accents.",
+    "Use one arm for the liquid container with orange body and the other for the white bottle with blue accents.",
+    "Secure both the handheld medium-sized liquid bottle and the white and blue bottle quickly.",
+    "Pick up both the handheld medium-sized liquid bottle and the blue bottle.",
+    "Hold the small bottle with bright yellow lid in one arm, catch the white bottle with blue accents with the other arm.",
+    "Grab the liquid container with orange body, pick up the blue bottle with label.",
+    "Hold onto the smooth orange cylindrical bottle, then pick up the medium bottle for beverages.",
+    "Pick up the rounded bottom orange plastic bottle, then pick up the medium-sized bottle.",
+    "Let each arm grab either the handheld medium-sized liquid bottle or the white and blue bottle.",
+    "Catch the rounded bottom orange plastic bottle, then catch the medium-sized bottle.",
+    "With two arms, catch both the smooth orange cylindrical bottle and the white bottle with blue accents.",
+    "Assign one arm to each of the bottle with yellow cap and the white and blue bottle.",
+    "Lift the bottle with yellow cap and the white bottle with blue accents with separate arms.",
+    "Grab the rounded orange bottle with yellow top with one arm, the handheld bottle with the other.",
+    "Hold onto the orange bottle and then get the medium-sized bottle.",
+    "Catch the cylindrical orange bottle with smooth surface, grab the plastic bottle next.",
+    "Each arm should pick up one: the rounded orange bottle with yellow top, then the blue bottle with label.",
+    "Lift both bottles, the liquid container with orange body with one arm, the medium-sized bottle with the other.",
+    "Hold the rounded orange bottle with yellow top with one arm, hold the smooth plastic bottle with the other.",
+    "Lift both the rounded bottom orange plastic bottle and the medium bottle for beverages simultaneously.",
+    "Lift the handheld medium-sized liquid bottle, continue and pick up the cylindrical bottle.",
+    "Catch both the liquid container with orange body and the blue bottle with label quickly.",
+    "With both arms, pick up the small bottle with bright yellow lid, then the plastic bottle.",
+    "Catch the rounded bottom orange plastic bottle in one arm and the blue bottle in the other arm.",
+    "Grab and hold the bottle with yellow cap, then grab the handheld bottle.",
+    "Catch the liquid container with orange body, then grab the medium bottle for beverages too.",
+    "Assign one arm to catch the smooth orange cylindrical bottle, one for the blue bottle with label.",
+    "Grab the handheld medium-sized liquid bottle with one arm, the cylindrical bottle with the other.",
+    "Pick up both the bottle with yellow cap and the cylindrical bottle together.",
+    "Pick both the smooth orange cylindrical bottle and the cylindrical bottle one after another.",
+    "Grab the orange bottle using an arm and the smooth plastic bottle with the other arm.",
+    "Use each arm to lift the yellow-capped orange plastic bottle and the bottle for liquids.",
+    "Hold the liquid container with orange body in one arm, the smooth plastic bottle in the other.",
+    "Use one arm for the rounded bottom orange plastic bottle, the other for the blue bottle with label.",
+    "Lift the yellow-capped bottle for beverages and also take hold of the bottle for liquids.",
+    "One arm grabs the yellow-capped orange plastic bottle; the other arm grabs the cylindrical bottle.",
+    "Grab the cylindrical orange bottle with smooth surface and pick up the blue bottle.",
+    "Catch the orange bottle with one arm, the bottle for liquids with another arm.",
+    "Use one arm for the yellow-capped orange plastic bottle, another for the medium bottle for beverages.",
+    "Secure the small bottle with bright yellow lid and the blue bottle with label in succession.",
+    "Use both arms to lift the rounded bottom orange plastic bottle and the plastic bottle.",
+    "Catch the smooth orange cylindrical bottle, then take hold of the blue bottle with label.",
+    "Use both arms to pick up the smooth orange cylindrical bottle and the smooth plastic bottle.",
+    "Pick up the orange bottle and then pick up the blue bottle.",
+    "Grasp the smooth orange cylindrical bottle first, then take the smooth plastic bottle.",
+    "Secure the yellow-capped bottle for beverages, then secure the bottle for liquids.",
+    "Grab the yellow-capped bottle for beverages using one arm and the medium bottle for beverages using the other.",
+    "Use both arms to pick up the yellow-capped orange plastic bottle and the plastic bottle.",
+    "Take hold of the orange bottle with bold labeling and the medium bottle for beverages.",
+    "Collect the yellow-capped orange plastic bottle, then pick up the bottle for liquids.",
+    "Hold both the orange bottle with bold labeling and the bottle with blue cap.",
+    "Use one arm for the handheld medium-sized liquid bottle and the other for the blue bottle with label.",
+    "Secure both the rounded bottom orange plastic bottle and the white bottle with blue accents quickly.",
+    "Pick up both the liquid container with orange body and the blue bottle with label.",
+    "Hold the yellow-capped orange plastic bottle in one arm, catch the blue bottle with the other arm.",
+    "Grab the smooth orange cylindrical bottle, pick up the blue bottle with label.",
+    "Hold onto the bottle with yellow cap, then pick up the smooth plastic bottle.",
+    "Pick up the liquid container with orange body, then pick up the blue bottle with label.",
+    "Let each arm grab either the liquid container with orange body or the bottle with blue cap.",
+    "Catch the smooth orange cylindrical bottle, then catch the bottle for liquids."
+  ],
+  "unseen": [
+    "Pick up the medium bottle for liquids and take the bottle with ridged neck together.",
+    "Pick up both the medium plastic bottle and the bottle with ridged neck together.",
+    "Grab the plastic orange bottle with rounded base and the bottle with ridged neck at the same time.",
+    "Grab the medium plastic bottle and grab the blue-capped plastic bottle at once.",
+    "Pick up the medium plastic bottle with one arm, grab the blue-capped plastic bottle with the other.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the bottle with curved neck design.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the blue-capped plastic bottle with the other.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with ridged neck.",
+    "Lift the medium bottle for liquids using one arm and lift the bottle with ridged neck using the other.",
+    "Pick up the plastic orange bottle with rounded base and the bottle with ridged neck together.",
+    "Pick up the medium bottle for liquids and take the bottle with ridged neck together.",
+    "Pick up both the medium bottle for liquids and the bottle with curved neck design together.",
+    "Grab the medium plastic bottle and the bottle with ridged neck at the same time.",
+    "Grab the plastic orange bottle with rounded base and grab the bottle with curved neck design at once.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the bottle with curved neck design with the other.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the blue-capped plastic bottle.",
+    "Grab the medium plastic bottle with one arm, grab the blue-capped plastic bottle with the other.",
+    "Use each arm to grab the medium plastic bottle and the blue-capped plastic bottle.",
+    "Lift the medium bottle for liquids using one arm and lift the blue-capped plastic bottle using the other.",
+    "Pick up the medium bottle for liquids and the bottle with curved neck design together.",
+    "Pick up the medium bottle for liquids and take the bottle with ridged neck together.",
+    "Pick up both the medium bottle for liquids and the bottle with curved neck design together.",
+    "Grab the plastic orange bottle with rounded base and the bottle with curved neck design at the same time.",
+    "Grab the medium plastic bottle and grab the blue-capped plastic bottle at once.",
+    "Pick up the medium bottle for liquids with one arm, grab the bottle with ridged neck with the other.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the bottle with curved neck design.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the blue-capped plastic bottle with the other.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with ridged neck.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the blue-capped plastic bottle using the other.",
+    "Pick up the medium plastic bottle and the bottle with ridged neck together.",
+    "Pick up the medium plastic bottle and take the bottle with curved neck design together.",
+    "Pick up both the medium bottle for liquids and the bottle with ridged neck together.",
+    "Grab the medium plastic bottle and the bottle with curved neck design at the same time.",
+    "Grab the medium bottle for liquids and grab the blue-capped plastic bottle at once.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the blue-capped plastic bottle with the other.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the bottle with ridged neck.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the bottle with ridged neck with the other.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with curved neck design.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the bottle with ridged neck using the other.",
+    "Pick up the medium bottle for liquids and the bottle with ridged neck together.",
+    "Pick up the medium bottle for liquids and take the bottle with curved neck design together.",
+    "Pick up both the medium plastic bottle and the bottle with ridged neck together.",
+    "Grab the medium bottle for liquids and the bottle with curved neck design at the same time.",
+    "Grab the plastic orange bottle with rounded base and grab the bottle with ridged neck at once.",
+    "Pick up the medium bottle for liquids with one arm, grab the bottle with curved neck design with the other.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the bottle with curved neck design.",
+    "Grab the medium plastic bottle with one arm, grab the bottle with ridged neck with the other.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with ridged neck.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the bottle with ridged neck using the other.",
+    "Pick up the medium plastic bottle and the bottle with curved neck design together.",
+    "Pick up the plastic orange bottle with rounded base and take the blue-capped plastic bottle together.",
+    "Pick up both the medium bottle for liquids and the blue-capped plastic bottle together.",
+    "Grab the plastic orange bottle with rounded base and the bottle with curved neck design at the same time.",
+    "Grab the medium bottle for liquids and grab the bottle with ridged neck at once.",
+    "Pick up the medium bottle for liquids with one arm, grab the blue-capped plastic bottle with the other.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the blue-capped plastic bottle.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the bottle with ridged neck with the other.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the blue-capped plastic bottle.",
+    "Lift the medium bottle for liquids using one arm and lift the bottle with ridged neck using the other.",
+    "Pick up the medium plastic bottle and the bottle with ridged neck together.",
+    "Pick up the plastic orange bottle with rounded base and take the bottle with ridged neck together.",
+    "Pick up both the plastic orange bottle with rounded base and the blue-capped plastic bottle together.",
+    "Grab the medium bottle for liquids and the bottle with curved neck design at the same time.",
+    "Grab the medium bottle for liquids and grab the bottle with ridged neck at once.",
+    "Pick up the medium plastic bottle with one arm, grab the bottle with ridged neck with the other.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the bottle with ridged neck.",
+    "Grab the medium bottle for liquids with one arm, grab the bottle with curved neck design with the other.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with ridged neck.",
+    "Lift the medium bottle for liquids using one arm and lift the bottle with curved neck design using the other.",
+    "Pick up the medium plastic bottle and the blue-capped plastic bottle together.",
+    "Pick up the medium plastic bottle and take the blue-capped plastic bottle together.",
+    "Pick up both the plastic orange bottle with rounded base and the bottle with ridged neck together.",
+    "Grab the medium bottle for liquids and the bottle with ridged neck at the same time.",
+    "Grab the medium bottle for liquids and grab the bottle with ridged neck at once.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the bottle with ridged neck with the other.",
+    "Use each arm to lift a bottle: the medium plastic bottle, then the bottle with curved neck design.",
+    "Grab the medium plastic bottle with one arm, grab the bottle with curved neck design with the other.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with curved neck design.",
+    "Lift the plastic orange bottle with rounded base using one arm and lift the blue-capped plastic bottle using the other.",
+    "Pick up the medium bottle for liquids and the blue-capped plastic bottle together.",
+    "Pick up the medium bottle for liquids and take the bottle with ridged neck together.",
+    "Pick up both the plastic orange bottle with rounded base and the blue-capped plastic bottle together.",
+    "Grab the medium bottle for liquids and the bottle with curved neck design at the same time.",
+    "Grab the medium bottle for liquids and grab the bottle with curved neck design at once.",
+    "Pick up the plastic orange bottle with rounded base with one arm, grab the blue-capped plastic bottle with the other.",
+    "Use each arm to lift a bottle: the medium bottle for liquids, then the bottle with ridged neck.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the bottle with curved neck design with the other.",
+    "Use each arm to grab the plastic orange bottle with rounded base and the bottle with curved neck design.",
+    "Lift the medium bottle for liquids using one arm and lift the bottle with curved neck design using the other.",
+    "Pick up the medium plastic bottle and the bottle with ridged neck together.",
+    "Pick up the plastic orange bottle with rounded base and take the bottle with curved neck design together.",
+    "Pick up both the medium bottle for liquids and the blue-capped plastic bottle together.",
+    "Grab the medium plastic bottle and the bottle with ridged neck at the same time.",
+    "Grab the medium plastic bottle and grab the bottle with curved neck design at once.",
+    "Pick up the medium plastic bottle with one arm, grab the bottle with curved neck design with the other.",
+    "Use each arm to lift a bottle: the plastic orange bottle with rounded base, then the bottle with ridged neck.",
+    "Grab the plastic orange bottle with rounded base with one arm, grab the bottle with curved neck design with the other.",
+    "Use each arm to grab the medium plastic bottle and the blue-capped plastic bottle.",
+    "Lift the medium plastic bottle using one arm and lift the bottle with ridged neck using the other.",
+    "Pick up the medium bottle for liquids and the bottle with curved neck design together."
+  ]
+}