diff --git a/AgiBot-g1_left_capture_part/.gitattributes b/AgiBot-g1_left_capture_part/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/AgiBot-g1_left_capture_part/.gitattributes @@ -0,0 +1,59 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text diff --git a/AgiBot-g1_left_capture_part/README.md b/AgiBot-g1_left_capture_part/README.md new file mode 100644 index 0000000000000000000000000000000000000000..b759cdf14631e99c88057d29828d01f11f5b2b85 --- /dev/null +++ b/AgiBot-g1_left_capture_part/README.md @@ -0,0 +1,366 @@ +--- +task_categories: + - robotics + +language: + - en + - zh + + +extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publicationsβ€”see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.' + + + +extra_gated_fields: + + Company/Organization: + type: 'text' + description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"' + + Country: + type: 'country' + description: 'e.g., "Germany", "China", "United States"' + + + +tags: + - RoboCOIN + - LeRobot + +frame_range: 100K-1M + +license: apache-2.0 + +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +# AgiBot-g1_left_capture_part + +## πŸ“‹ Overview + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +**Robot Type:** `ruantong_a2d` + | **Codebase Version:** `v2.1` +**End-Effector Type:** `two_finger_gripper` + +## 🏠 Scene Types + +This dataset covers the following scene types: +- `factory` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 464 | +| **Total Frames** | 174563 | +| **Total Tasks** | 1 | +| **Total Videos** | 3712 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 97.3GB | + + +## πŸ‘₯ Authors + +### Contributors +This dataset is contributed by: +- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team + + +## πŸ”— Links + +- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ“„ Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) +- **πŸ’» Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) +- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ› Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues) +- **πŸ“œ License:** apache-2.0 + +## 🏷️ Dataset Tags + +- `RoboCOIN` +- `LeRobot` + + +## 🎯 Task Descriptions + +### Primary Tasks +Grasp the part with one hand and place it on the black container. + +### Sub-Tasks +This dataset includes 3 distinct subtasks: + +1. **Pick up the front USB bracket from the feeding area.** +2. **Place the front USB bracket into the box.** +3. **null** + + +## πŸŽ₯ Camera Views + +This dataset includes 8 camera views. + +## 🏷️ Available Annotations + +This dataset includes rich annotations to support diverse learning approaches: + +### Subtask Annotations +- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling +### Scene Annotations +- **Scene-level Descriptions**: Semantic scene classifications and descriptions +### End-Effector Annotations +- **Direction**: Movement direction classifications for robot end-effectors +- **Velocity**: Velocity magnitude categorizations during manipulation +- **Acceleration**: Acceleration magnitude classifications for motion analysis + + +### Gripper Annotations +- **Gripper Mode**: Open/close state annotations for gripper control +- **Gripper Activity**: Activity state classifications (active/inactive) + + +### Additional Features +- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space + - Available for both state and action +- **Gripper Opening Scale**: Continuous gripper opening measurements + - Available for both state and action + + +## πŸ“‚ Data Splits + +The dataset is organized into the following splits: + +- **Training**: Episodes 0:463 + + +## πŸ“ Dataset Structure + +This dataset follows the LeRobot format and contains the following components: + +### Data Files +- **Videos**: Compressed video files containing RGB camera observations +- **State Data**: Robot joint positions, velocities, and other state information +- **Action Data**: Robot action commands and trajectories +- **Metadata**: Episode metadata, timestamps, and annotations + +### File Organization +- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet` +- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4` +- **Chunking**: Data is organized into 1 chunk(s) +of size 1000 + + +### Features Schema + +The dataset includes the following features: + +#### Visual Observations +- **observation.images.cam_high_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_left_wrist_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_right_wrist_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_high_center_fisheye_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_high_left_fisheye_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_high_right_fisheye_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_back_left_fisheye_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_back_right_fisheye_rgb**: video + - FPS: 30 + - Codec: av1 + +#### State and Action- **observation.state**: float32- **action**: float32 + +#### Temporal Information +- **timestamp**: float32 +- **frame_index**: int64 +- **episode_index**: int64 +- **index**: int64 +- **task_index**: int64 + + +#### Annotations +- **subtask_annotation**: int32 +- **scene_annotation**: int32 + + +#### Motion Features +- **eef_sim_pose_state**: float32 + - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z +- **eef_sim_pose_action**: float32 + - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z +- **eef_direction_state**: int32 + - Dimensions: left_eef_direction, right_eef_direction +- **eef_direction_action**: int32 + - Dimensions: left_eef_direction, right_eef_direction +- **eef_velocity_state**: int32 + - Dimensions: left_eef_velocity, right_eef_velocity +- **eef_velocity_action**: int32 + - Dimensions: left_eef_velocity, right_eef_velocity +- **eef_acc_mag_state**: int32 + - Dimensions: left_eef_acc_mag, right_eef_acc_mag +- **eef_acc_mag_action**: int32 + - Dimensions: left_eef_acc_mag, right_eef_acc_mag + + +#### Gripper Features +- **gripper_open_scale_state**: float32 + - Dimensions: left_gripper_open_scale, right_gripper_open_scale +- **gripper_open_scale_action**: float32 + - Dimensions: left_gripper_open_scale, right_gripper_open_scale +- **gripper_mode_state**: int32 + - Dimensions: left_gripper_mode, right_gripper_mode +- **gripper_mode_action**: int32 + - Dimensions: left_gripper_mode, right_gripper_mode +- **gripper_activity_state**: int32 + - Dimensions: left_gripper_activity, right_gripper_activity + + +### Meta Information + +The complete dataset metadata is available in [meta/info.json](meta/info.json): + +```json +{"codebase_version": "v2.1", "robot_type": "ruantong_a2d", "total_episodes": 464, "total_frames": 174563, "total_tasks": 1, "total_videos": 3712, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:463"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_high_center_fisheye_rgb": {"dtype": "video", "shape": [1536, 1920, 3], "names": ["height", "width", "channels"], "info": {"video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_high_left_fisheye_rgb": {"dtype": "video", "shape": [1536, 1920, 3], "names": ["height", "width", "channels"], "info": {"video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_high_right_fisheye_rgb": {"dtype": "video", "shape": [1536, 1920, 3], "names": ["height", "width", "channels"], "info": {"video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_back_left_fisheye_rgb": {"dtype": "video", "shape": [1536, 1920, 3], "names": ["height", "width", "channels"], "info": {"video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_back_right_fisheye_rgb": {"dtype": "video", "shape": [1536, 1920, 3], "names": ["height", "width", "channels"], "info": {"video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [41], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w"]}, "action": {"dtype": "float32", "shape": [34], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}} +``` + +### Directory Structure + +The dataset is organized as follows (showing leaf directories with first 5 files only): + +``` +AgiBot-g1_left_capture_part_qced_hardlink/ +β”œβ”€β”€ annotations/ +β”‚ β”œβ”€β”€ eef_acc_mag_annotation.jsonl +β”‚ β”œβ”€β”€ eef_direction_annotation.jsonl +β”‚ β”œβ”€β”€ eef_velocity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_activity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_mode_annotation.jsonl +β”‚ └── (...) +β”œβ”€β”€ data/ +β”‚ └── chunk-000/ +β”‚ β”œβ”€β”€ episode_000000.parquet +β”‚ β”œβ”€β”€ episode_000001.parquet +β”‚ β”œβ”€β”€ episode_000002.parquet +β”‚ β”œβ”€β”€ episode_000003.parquet +β”‚ β”œβ”€β”€ episode_000004.parquet +β”‚ └── (...) +β”œβ”€β”€ meta/ +β”‚ β”œβ”€β”€ episodes.jsonl +β”‚ β”œβ”€β”€ episodes_stats.jsonl +β”‚ β”œβ”€β”€ info.json +β”‚ └── tasks.jsonl +└── videos/ + └── chunk-000/ + β”œβ”€β”€ observation.images.cam_back_left_fisheye_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_back_right_fisheye_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_high_center_fisheye_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_high_left_fisheye_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_high_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_high_right_fisheye_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_left_wrist_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + └── observation.images.cam_right_wrist_rgb/ + β”œβ”€β”€ episode_000000.mp4 + β”œβ”€β”€ episode_000001.mp4 + β”œβ”€β”€ episode_000002.mp4 + β”œβ”€β”€ episode_000003.mp4 + β”œβ”€β”€ episode_000004.mp4 + └── (...) +``` + + +## πŸ“ž Contact and Support + +For questions, issues, or feedback regarding this dataset, please contact: +- **Email:** None +For questions, issues, or feedback regarding this dataset, please contact us. +### Support +For technical support, please open an issue on our GitHub repository. + +## πŸ“„ License + +This dataset is released under the **apache-2.0** license. + +Please refer to the LICENSE file for full license terms and conditions. + + +## πŸ“š Citation + +If you use this dataset in your research, please cite: + +```bibtex +@article{robocoin, + title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation}, + author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao}, + journal={arXiv preprint arXiv:2511.17441}, + url = {https://arxiv.org/abs/2511.17441}, + year={2025} + } +``` + +### Additional References + +If you use this dataset, please also consider citing: +- LeRobot Framework: https://github.com/huggingface/lerobot + +## πŸ“Œ Version Information + +## Version History +- v1.0.0 (2025-11): Initial release \ No newline at end of file diff --git a/AgiBot-g1_left_capture_part/annotations/eef_acc_mag_annotation.jsonl b/AgiBot-g1_left_capture_part/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/AgiBot-g1_left_capture_part/annotations/eef_acc_mag_annotation.jsonl @@ -0,0 +1,3 @@ +{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"} +{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"} +{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"} diff --git a/AgiBot-g1_left_capture_part/annotations/eef_direction_annotation.jsonl b/AgiBot-g1_left_capture_part/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/AgiBot-g1_left_capture_part/annotations/eef_direction_annotation.jsonl @@ -0,0 +1,7 @@ +{"eef_direction_index": 0, "eef_direction": "forward"} +{"eef_direction_index": 1, "eef_direction": "backward"} +{"eef_direction_index": 2, "eef_direction": "left"} +{"eef_direction_index": 3, "eef_direction": "right"} +{"eef_direction_index": 4, "eef_direction": "up"} +{"eef_direction_index": 5, "eef_direction": "down"} +{"eef_direction_index": 6, "eef_direction": "still"} diff --git a/AgiBot-g1_left_capture_part/annotations/eef_velocity_annotation.jsonl b/AgiBot-g1_left_capture_part/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/AgiBot-g1_left_capture_part/annotations/eef_velocity_annotation.jsonl @@ -0,0 +1,3 @@ +{"eef_velocity_index": 0, "eef_velocity": "still"} +{"eef_velocity_index": 1, "eef_velocity": "slow"} +{"eef_velocity_index": 2, "eef_velocity": "fast"} diff --git a/AgiBot-g1_left_capture_part/annotations/gripper_activity_annotation.jsonl b/AgiBot-g1_left_capture_part/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/AgiBot-g1_left_capture_part/annotations/gripper_activity_annotation.jsonl @@ -0,0 +1,4 @@ +{"gripper_activity_index": 0, "gripper_activity": "openning"} +{"gripper_activity_index": 1, "gripper_activity": "closing"} +{"gripper_activity_index": 2, "gripper_activity": "holding"} +{"gripper_activity_index": 3, "gripper_activity": "unknown"} diff --git a/AgiBot-g1_left_capture_part/annotations/gripper_mode_annotation.jsonl b/AgiBot-g1_left_capture_part/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/AgiBot-g1_left_capture_part/annotations/gripper_mode_annotation.jsonl @@ -0,0 +1,3 @@ +{"gripper_mode_index": 0, "gripper_mode": "open"} +{"gripper_mode_index": 1, "gripper_mode": "closed"} +{"gripper_mode_index": 2, "gripper_mode": "unknown"} diff --git a/AgiBot-g1_left_capture_part/annotations/scene_annotations.jsonl b/AgiBot-g1_left_capture_part/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37011d4d0a16cc21421408ce28ece15e76e73dbf --- /dev/null +++ b/AgiBot-g1_left_capture_part/annotations/scene_annotations.jsonl @@ -0,0 +1,465 @@ +{"scene_index": 0, "scene": "The plastic box is on the left, small rectangular parts are in the center, small rectangular parts are also on the left, additional small rectangular parts are in the center, and some are at the back."} +{"scene_index": 1, "scene": "The plastic box is on the left, with small rectangular parts placed in the center, back, and multiple centers."} +{"scene_index": 2, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 3, "scene": "The plastic box is at the center, with small rectangular parts also centered inside it."} +{"scene_index": 4, "scene": "The plastic box is on the left, with small rectangular parts placed in the center, another set of small rectangular parts also in the center, and a third set located at the back."} +{"scene_index": 5, "scene": "Plastic box is on the left, small rectangular parts are on the left, center, and back."} +{"scene_index": 6, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it and additional small rectangular parts positioned at the back."} +{"scene_index": 7, "scene": "The plastic box is on the left. Small rectangular parts are in the center, left, and back positions."} +{"scene_index": 8, "scene": "The plastic box is in the center, with small rectangular parts arranged around it on the left, center, and right positions."} +{"scene_index": 9, "scene": "A plastic box is at the center, with small rectangular parts positioned in the center, back, and front left."} +{"scene_index": 10, "scene": "The plastic box is at the center, with small rectangular parts positioned centrally inside it, likely indicating a contained relationship."} +{"scene_index": 11, "scene": "The plastic box is at the center, with small rectangular parts also in the center and positioned behind it."} +{"scene_index": 12, "scene": "The plastic box is at the center, with small rectangular parts arranged around it in the center, back, and front left positions, along with a smaller object also centered."} +{"scene_index": 13, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 14, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 15, "scene": "A plastic box is at the center, with multiple small rectangular parts arranged around it, some positioned centrally, others placed towards the back and left sides."} +{"scene_index": 16, "scene": "The plastic box is on the left, with small rectangular parts placed in the center and additional small rectangular parts located at the back."} +{"scene_index": 17, "scene": "The plastic box is at the center. Small rectangular parts are positioned at the back, center, and left. A small object is on the left."} +{"scene_index": 18, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it and additional small rectangular parts positioned at the back."} +{"scene_index": 19, "scene": "The plastic box is at the center, with small rectangular parts arranged around it in various positions including center, back, right, and left."} +{"scene_index": 20, "scene": "The plastic box is in the center, with small rectangular parts positioned at the back, center, and front left."} +{"scene_index": 21, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it and more small rectangular parts positioned behind."} +{"scene_index": 22, "scene": "The plastic box is at the center, and small rectangular parts are positioned in various locations: four at the center, two on the back, one on the right, and two on the left."} +{"scene_index": 23, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center, one at the back and another overlapping in the center."} +{"scene_index": 24, "scene": "The two small rectangular parts are both centered, alongside a plastic box also at the center."} +{"scene_index": 25, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center, center again, and positioned at the back."} +{"scene_index": 26, "scene": "The plastic box is at the center, with small rectangular parts positioned in the center, back, right, left, and other areas around it."} +{"scene_index": 27, "scene": "The plastic box is at the center, with small rectangular parts positioned centrally inside it, likely indicating a contained relationship."} +{"scene_index": 28, "scene": "The plastic box is at the center, with small rectangular parts arranged around it, including three in the center, one in the front left, and two on the left."} +{"scene_index": 29, "scene": "A plastic box is on the left; small rectangular parts are in the center and at the back; a small object is also in the center."} +{"scene_index": 30, "scene": "The plastic box is on the left, with small rectangular parts centered in front, another set of small rectangular parts also centered but further back."} +{"scene_index": 31, "scene": "The plastic box is on the left, and the small rectangular parts are on the left, center, and back."} +{"scene_index": 32, "scene": "The plastic box is on the left, with small, rectangular parts in the center and additional small, rectangular parts positioned at the back."} +{"scene_index": 33, "scene": "Plastic box is on the left Small rectangular parts are in front back and center Parts are also on the left."} +{"scene_index": 34, "scene": "The plastic box is at the center, with small rectangular parts arranged around it on the table."} +{"scene_index": 35, "scene": "The plastic box is on the left, with small rectangular parts arranged around it in the center and back positions."} +{"scene_index": 36, "scene": "The plastic box is at the center, with small rectangular parts also positioned centrally within it."} +{"scene_index": 37, "scene": "The plastic box is at the center, with multiple small rectangular parts arranged around it in various positions including front left, back, and left. Additionally, smaller items are positioned to the left of the main assembly."} +{"scene_index": 38, "scene": "The plastic box is at the center, with small rectangular parts arranged around it, three in the center and one on the left."} +{"scene_index": 39, "scene": "The plastic box is on the left, with small rectangular parts placed to its left and back, as well as centered in the middle."} +{"scene_index": 40, "scene": "The plastic box is at the center. The small rectangular parts are at the center (multiple instances), front left, and back positions. A small object is on the left."} +{"scene_index": 41, "scene": "The plastic box is at the center, with small rectangular parts positioned in the back, center (four times), and left. Additionally, a small object is located at the center."} +{"scene_index": 42, "scene": "Plastic box is positioned at center, and small rectangular parts are positioned at center, front left, and back."} +{"scene_index": 43, "scene": "The plastic box is at the center, with small rectangular parts positioned centrally inside it, likely indicating a contained relationship."} +{"scene_index": 44, "scene": "The plastic box is at the center, with small rectangular parts also centered, one in the front left, and another at the back."} +{"scene_index": 45, "scene": "The plastic box is at the center, with small rectangular parts located in front, back, and front left positions relative to it."} +{"scene_index": 46, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 47, "scene": "The plastic box is on the left, small rectangular parts are in the center, and additional small rectangular parts are positioned at the back."} +{"scene_index": 48, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left, center, and back."} +{"scene_index": 49, "scene": "A plastic box is at the center, with four small rectangular parts also centered, one positioned back, and four others located on the left."} +{"scene_index": 50, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 51, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 52, "scene": "The plastic box is positioned at the center, with small rectangular parts also located at the center, indicating they share the same central placement."} +{"scene_index": 53, "scene": "The plastic box is at the center, with small rectangular parts arranged around it on both sides."} +{"scene_index": 54, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left, centered, and at the back."} +{"scene_index": 55, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 56, "scene": "The plastic box is at the center, with small rectangular parts placed inside it, also centered."} +{"scene_index": 57, "scene": "The plastic box is on the left, with small rectangular parts placed in the center and others positioned at the back."} +{"scene_index": 58, "scene": "The plastic box is on the left, with small rectangular parts also positioned to its left and center, additional small rectangular parts in the center, and a larger rectangular object located at the back."} +{"scene_index": 59, "scene": "The plastic box is on the left. The small rectangular parts are in the center and at the back. There are additional small parts also in the center."} +{"scene_index": 60, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 61, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 62, "scene": "The plastic box is at the center, with small rectangular parts located at the center, back, and left positions."} +{"scene_index": 63, "scene": "The plastic box is at the center, with small rectangular parts also centered inside it."} +{"scene_index": 64, "scene": "The plastic box is at the center, with small rectangular parts positioned at the back, left, and three more in the center."} +{"scene_index": 65, "scene": "The plastic box is at the center. Small rectangular parts are clustered in the center, with some positioned towards the front left and left sides."} +{"scene_index": 66, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center, one at the back and another overlapping in the center."} +{"scene_index": 67, "scene": "A plastic box is at the center, with small rectangular parts located at the center, back, and front left positions."} +{"scene_index": 68, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 69, "scene": "The plastic box is on the left. Small rectangular parts are centered, also on the left, and at the back, with more in the center."} +{"scene_index": 70, "scene": "The plastic box is at the center, with small rectangular parts positioned in the center (multiple), back, and left, and a small object located on the left."} +{"scene_index": 71, "scene": "The plastic box is at the center. Small rectangular parts are also at the center, one behind, and another in the front-left position."} +{"scene_index": 72, "scene": "The plastic box is at the center, with small rectangular parts arranged around it in various positions including center, left, and back."} +{"scene_index": 73, "scene": "The plastic box is at the center, with small rectangular parts placed inside it, also centered."} +{"scene_index": 74, "scene": "The plastic box is on the left, with small rectangular parts also on the left and others at the back."} +{"scene_index": 75, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 76, "scene": "The plastic box is at the center, with small rectangular parts also centered, some positioned to the left and one at the back. Additionally, a smaller object is located on the left side."} +{"scene_index": 77, "scene": "The plastic box is in the center, with small rectangular parts arranged around itβ€”some also in the center, one at the back, and another at the front left."} +{"scene_index": 78, "scene": "The plastic box is on the left. Small rectangular parts are placed to the left, center, and back of it."} +{"scene_index": 79, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 80, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 81, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center, one at the back and another overlapping in the center."} +{"scene_index": 82, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 83, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left, centered, and at the back."} +{"scene_index": 84, "scene": "The plastic box is at the center, with multiple small rectangular parts also centered, one in the front left, and others on the left."} +{"scene_index": 85, "scene": "The plastic box is on the left, small rectangular parts are centered in front, additional small rectangular parts are positioned at the back, and a smaller object is centrally located."} +{"scene_index": 86, "scene": "The plastic box is on the left, with small, rectangular parts in the center and additional small, rectangular parts positioned at the back."} +{"scene_index": 87, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center, one at the back and another overlapping in the center."} +{"scene_index": 88, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left, back, and centered."} +{"scene_index": 89, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 90, "scene": "The plastic box is on the left, small rectangular parts are in the center, additional small rectangular parts are positioned at the back, and there s a small object also located in the center."} +{"scene_index": 91, "scene": "The plastic box is at the center, and the small rectangular parts are positioned around it, with most in the center and some on the left."} +{"scene_index": 92, "scene": "The plastic box is on the left, with small rectangular parts placed both to its left and center."} +{"scene_index": 93, "scene": "The plastic box is at the center, with small rectangular parts placed inside it, also centered."} +{"scene_index": 94, "scene": "A plastic box is on the left, with small rectangular parts also positioned to its left and centered. Additionally, there are more small rectangular parts in the center and a larger rectangular object at the back."} +{"scene_index": 95, "scene": "The plastic box is on the left, with small rectangular parts placed in the center and at the back."} +{"scene_index": 96, "scene": "The plastic box is at the center, with small rectangular parts also centered, one in the front left, and another at the back."} +{"scene_index": 97, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 98, "scene": "The plastic box is in the center, with small rectangular parts also centered but one positioned to the left."} +{"scene_index": 99, "scene": "The plastic box is at the center, with small rectangular parts positioned in the center, front left, and back."} +{"scene_index": 100, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it and more small rectangular parts positioned behind."} +{"scene_index": 101, "scene": "The plastic box is at the center, while small rectangular parts are located at the back, center, and front left."} +{"scene_index": 102, "scene": "The plastic box is at the center. There are multiple small rectangular parts located in various positions: four are at the center, two on the left, one in the back, and one at the center again."} +{"scene_index": 103, "scene": "A plastic box is located at the center, with small rectangular parts positioned in the center, front left, back, and another center."} +{"scene_index": 104, "scene": "Plastic box positioned at center. Small rectangular parts positioned at center front left and back."} +{"scene_index": 105, "scene": "The plastic box is at the center, with small rectangular parts arranged around it in the center and on the left sides, while a larger rectangular object is positioned at the back."} +{"scene_index": 106, "scene": "The plastic box is at the center, with small rectangular parts also centered, one in front-left, and another centered."} +{"scene_index": 107, "scene": "The plastic box is on the left, and small rectangular parts are in the center, back, and center positions."} +{"scene_index": 108, "scene": "The plastic box is at the center, with small rectangular parts placed inside it, also centered."} +{"scene_index": 109, "scene": "A plastic box is at the center, with small rectangular parts arranged around it on the surface."} +{"scene_index": 110, "scene": "The plastic box is on the left, with small rectangular parts arranged centrally, one at the back."} +{"scene_index": 111, "scene": "The plastic box is at the center, with small rectangular parts also positioned centrally within it."} +{"scene_index": 112, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 113, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 114, "scene": "The plastic box is at the center, with small rectangular parts also positioned centrally. Additionally, a small object is located to the left."} +{"scene_index": 115, "scene": "Each object is placed in a specific location relative to the plastic box and each other."} +{"scene_index": 116, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 117, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 118, "scene": "The plastic box is at the center, with small rectangular parts positioned in the front left, also in the center, and at the back."} +{"scene_index": 119, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 120, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center, center again, and positioned at the back."} +{"scene_index": 121, "scene": "The plastic box is at the center, with small rectangular and other small parts arranged around it in various positions."} +{"scene_index": 122, "scene": "The plastic box is on the left, small rectangular parts are in the center and at the back."} +{"scene_index": 123, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 124, "scene": "The plastic box is on the left, small rectangular parts are at the center, and another set of small rectangular parts are positioned at the back."} +{"scene_index": 125, "scene": "The plastic box is on the left, with small rectangular parts placed to its left and centered in the image."} +{"scene_index": 126, "scene": "The plastic box is on the left, and small rectangular parts are in the center, left, and back positions."} +{"scene_index": 127, "scene": "The plastic box is positioned at the center, and the small rectangular parts are positioned at the center, front left, and back."} +{"scene_index": 128, "scene": "A plastic box is at the center, with small rectangular parts arranged around it in the center, one positioned slightly back, another to the left, and a smaller object also placed centrally."} +{"scene_index": 129, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 130, "scene": "The plastic box is on the left, small rectangular parts are centered in front, additional small rectangular parts are positioned at the back, and a smaller object is centrally located."} +{"scene_index": 131, "scene": "The plastic box is at the center, with small rectangular parts positioned in the center and distributed across left, center, and right sides."} +{"scene_index": 132, "scene": "plastic box is on the left small rectangular parts are in the center back and center positions."} +{"scene_index": 133, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 134, "scene": "The plastic box is at the center, with small rectangular parts arranged around it."} +{"scene_index": 135, "scene": "The plastic box is on the left, small rectangular parts are centered and also on the left, another set of small rectangular parts are in the center, rectangular parts are at the back."} +{"scene_index": 136, "scene": "The plastic box is on the left, small rectangular parts are in the center, additional small rectangular parts are positioned at the back, and there s a small object also located in the center."} +{"scene_index": 137, "scene": "The plastic box is on the left, with small rectangular parts in the center and at the back, and additional small parts also in the center."} +{"scene_index": 138, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 139, "scene": "The plastic box is at the center, with small rectangular parts also positioned centrally within it."} +{"scene_index": 140, "scene": "The plastic box is on the left, with small rectangular parts in the center and additional small rectangular parts positioned at the back."} +{"scene_index": 141, "scene": "The plastic box is at the center, with small rectangular parts also centered inside it."} +{"scene_index": 142, "scene": "The plastic box is on the left. On its left are small rectangular parts. In the center are more small rectangular parts. At the back are additional small rectangular parts."} +{"scene_index": 143, "scene": "A plastic box is at the center. Five small rectangular parts are also in the center. Two small rectangular parts are on the left side of the center. One small rectangular part is positioned at the back, slightly behind the center."} +{"scene_index": 144, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left, center, and back."} +{"scene_index": 145, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 146, "scene": "The plastic box is at the center, with small rectangular parts also in the center, front left, and back positions."} +{"scene_index": 147, "scene": "The plastic box is on the left, with small rectangular parts centered in front, another set of small rectangular parts also centered but further back."} +{"scene_index": 148, "scene": "The plastic box is on the left, small rectangular parts are in the center and at the back."} +{"scene_index": 149, "scene": "The plastic box is at the center, with small rectangular parts also centered, one in the front left, and another at the back."} +{"scene_index": 150, "scene": "The plastic box is at the center, small rectangular parts are positioned at the back and front left, and small parts are in the center."} +{"scene_index": 151, "scene": "A plastic box is on the left. Small rectangular parts are in the center, another set of small rectangular parts are also on the left, and more small rectangular parts are at the back and center."} +{"scene_index": 152, "scene": "The plastic box is at the center, with small rectangular parts placed inside it, also centered."} +{"scene_index": 153, "scene": "The plastic box is on the left, with small rectangular parts also on the left, center, and back."} +{"scene_index": 154, "scene": "The plastic box is on the left, with small rectangular parts located at the back, center, and center positions."} +{"scene_index": 155, "scene": "The plastic box is on the left. Small rectangular parts are positioned at the back and in the center of the scene. Additionally, small objects are placed in the center of the composition."} +{"scene_index": 156, "scene": "The plastic box is positioned at the center, while the small rectangular parts are located at the back."} +{"scene_index": 157, "scene": "The plastic box is at the center. Small rectangular parts are located at the center, back, center, and left positions relative to it."} +{"scene_index": 158, "scene": "The plastic box is at the center, with small rectangular parts positioned in the center, front left, and back."} +{"scene_index": 159, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 160, "scene": "The plastic box is at the center, with small rectangular parts positioned at the center, left, and right."} +{"scene_index": 161, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left, centered, and at the back."} +{"scene_index": 162, "scene": "The plastic box is at the center, with small rectangular parts also in the center, and other parts positioned at the front."} +{"scene_index": 163, "scene": "The plastic box is on the left, with small rectangular parts positioned in the center and at the back."} +{"scene_index": 164, "scene": "The plastic box is on the left. Small rectangular parts are centered, another small rectangular part is also on the left, and two more small rectangular parts are at the back and center."} +{"scene_index": 165, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 166, "scene": "The plastic box is at the center. Small rectangular parts are in the center (three of them), one is on the front left, and another is at the back. Additionally, there are small parts on the left and a small object at the center."} +{"scene_index": 167, "scene": "The plastic box is at the center, with small rectangular parts also in the center, back, and front left positions."} +{"scene_index": 168, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 169, "scene": "The plastic box is in the center, with small rectangular parts positioned at the back, center, and front left."} +{"scene_index": 170, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it and additional small rectangular parts positioned at the back."} +{"scene_index": 171, "scene": "The plastic box is at the center, with small rectangular parts positioned around it in the center, front left, and back areas."} +{"scene_index": 172, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it, additional small rectangular parts positioned behind it, and smaller parts also centered."} +{"scene_index": 173, "scene": "A plastic box is at the center. Inside it, small rectangular parts are located in the center, back, and front-left positions relative to the box."} +{"scene_index": 174, "scene": "The plastic box is at the center. The small rectangular parts are placed in the center, front-left, and left positions. A small object is located on the left."} +{"scene_index": 175, "scene": "The plastic box is at the center, with small rectangular parts positioned in the center, front left, and back."} +{"scene_index": 176, "scene": "The plastic box is on the left, and the small rectangular parts are in the center, back, and center positions."} +{"scene_index": 177, "scene": "The plastic box is at the center, with small rectangular parts also positioned centrally nearby."} +{"scene_index": 178, "scene": "The plastic box is on the left, small rectangular parts are in the center (multiple instances), another set of small rectangular parts is at the back, and a small object is also centered."} +{"scene_index": 179, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left, center, and back."} +{"scene_index": 180, "scene": "The plastic box is at the center, with small rectangular parts surrounding it in various positions (center, back, and left)."} +{"scene_index": 181, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center, one at the back and another overlapping in the center."} +{"scene_index": 182, "scene": "The plastic box is at the center, with small rectangular parts arranged around it in the center, some positioned slightly to the front left and others towards the back."} +{"scene_index": 183, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 184, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it and more small rectangular parts positioned behind."} +{"scene_index": 185, "scene": "The plastic box is positioned at the center, and the small rectangular parts are positioned at the center, front left, and back."} +{"scene_index": 186, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 187, "scene": "The plastic box is at the center. Small rectangular parts are centered, one on the left, and some at the back. Additional small parts are in the center, along with more small rectangular pieces. A smaller item is on the left."} +{"scene_index": 188, "scene": "The plastic box is at the center, with small rectangular parts also in the center, back, and front left positions."} +{"scene_index": 189, "scene": "The plastic box is at the center, with small rectangular parts also centered inside it."} +{"scene_index": 190, "scene": "The plastic box is at the center, with small rectangular parts positioned in the center, front left, and back."} +{"scene_index": 191, "scene": "The plastic box is at the center, with small rectangular parts positioned in the center, front left, and back."} +{"scene_index": 192, "scene": "A plastic box is on the left; small rectangular parts are in the center and at the back, with a smaller object also in the center."} +{"scene_index": 193, "scene": "The plastic box is on the left, with small rectangular parts placed both to its left and center."} +{"scene_index": 194, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it, another set of small rectangular parts also centered but positioned slightly behind."} +{"scene_index": 195, "scene": "The plastic box is in the center. The small rectangular parts are positioned at the back, center, left, and another part is also at the center."} +{"scene_index": 196, "scene": "A plastic box is on the left, with small rectangular parts positioned in front, behind, and centered relative to it."} +{"scene_index": 197, "scene": "The plastic box is at the center, with small rectangular parts also centered inside it."} +{"scene_index": 198, "scene": "The plastic box is at the center, with small rectangular parts also centered, positioned at the back and front left."} +{"scene_index": 199, "scene": "The plastic box is on the left, with small rectangular parts placed both to its left and center."} +{"scene_index": 200, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center, one at the back and another overlapping in the center."} +{"scene_index": 201, "scene": "The plastic box is on the left, with small rectangular parts also on the left and centered. Additionally, there are larger rectangular parts at the back, positioned either to the left or center."} +{"scene_index": 202, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 203, "scene": "The plastic box is on the left, with small rectangular parts centered in front, another set of small rectangular parts also centered but further back."} +{"scene_index": 204, "scene": "The plastic box is at the center, with small rectangular parts located in the front left, back, and center positions."} +{"scene_index": 205, "scene": "1. Plastic box is on the left. 2. Small rectangular parts are in the center and at the back. 3. Small parts are also in the center."} +{"scene_index": 206, "scene": "The plastic box is at the center, with small rectangular parts also centered inside it."} +{"scene_index": 207, "scene": "The plastic box is at the center, with small rectangular parts placed inside it, also centered."} +{"scene_index": 208, "scene": "The plastic box is at the center, with small rectangular parts also in the center, front left, and back positions."} +{"scene_index": 209, "scene": "The plastic box is at the center, with small rectangular parts and other small parts also positioned centrally within it."} +{"scene_index": 210, "scene": "A plastic box is on the left, with small rectangular parts positioned both to its left and center."} +{"scene_index": 211, "scene": "The plastic box is at the center, with small rectangular parts positioned centrally inside it, likely indicating a contained relationship."} +{"scene_index": 212, "scene": "The plastic box is on the left, with small rectangular parts placed in the center and at the back."} +{"scene_index": 213, "scene": "The plastic box is at the center, with small rectangular parts placed inside it, also centered."} +{"scene_index": 214, "scene": "The plastic box is on the left, with small rectangular parts positioned at the back, center, and another at the center."} +{"scene_index": 215, "scene": "The plastic box is at the center, with small rectangular parts located in front, front-left, and back positions."} +{"scene_index": 216, "scene": "The plastic box is on the left. Small rectangular parts are at the back and center. Additional small rectangular parts are also at the center. Parts are located on the left."} +{"scene_index": 217, "scene": "The plastic box is at center and small rectangular parts are at center front left and back."} +{"scene_index": 218, "scene": "The plastic box is at the center, with small rectangular parts also in the center, front left, and back positions."} +{"scene_index": 219, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center, some positioned further back and others clustered together."} +{"scene_index": 220, "scene": "The plastic box is at the center, with small rectangular parts located in front, behind it on the back, and on its left."} +{"scene_index": 221, "scene": "The plastic box is at the center, with small rectangular parts positioned in the center (multiple), back, and left locations."} +{"scene_index": 222, "scene": "The plastic box is on the left, with small rectangular parts placed both to its left and center."} +{"scene_index": 223, "scene": "Plastic box is at center. Small rectangular parts are at center front left and back."} +{"scene_index": 224, "scene": "The plastic box is on the left, small rectangular parts are at the back and center, and a smaller object is centered."} +{"scene_index": 225, "scene": "The plastic box is at the center, with small rectangular parts also centered inside it."} +{"scene_index": 226, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center, one at the back and another overlapping in the center."} +{"scene_index": 227, "scene": "The plastic box is in the center, with small rectangular parts also centered around it, and additional small parts positioned to the left."} +{"scene_index": 228, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 229, "scene": "A plastic box is at the center, with small rectangular parts arranged around it in the center, back, and left positions, as well as additional smaller parts located on the left."} +{"scene_index": 230, "scene": "A plastic box is on the left, with small rectangular parts placed to its left and centered."} +{"scene_index": 231, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it, another set positioned behind the box, and a third set also centered but placed further back."} +{"scene_index": 232, "scene": "The plastic box is at the center, with small rectangular parts also centered inside it."} +{"scene_index": 233, "scene": "The plastic box is at the center, with small rectangular parts also centered inside it."} +{"scene_index": 234, "scene": "A plastic box is on the left. Small rectangular parts are centered and also positioned to the left, while another set of small rectangular parts is centered. A rectangular object is at the back."} +{"scene_index": 235, "scene": "The plastic box is at the center, with small rectangular parts also centered, positioned at the back and front left."} +{"scene_index": 236, "scene": "The plastic box is on the left, with small rectangular parts positioned at the back, center, and another at the center."} +{"scene_index": 237, "scene": "plastic box is on the left small rectangular parts are in the center back and center positions"} +{"scene_index": 238, "scene": "The plastic box is at the center, with small rectangular parts positioned around itβ€”four in the center and one each on the right and left sides."} +{"scene_index": 239, "scene": "The plastic box is on the left, while small rectangular parts are centrally located, with additional small rectangular parts positioned at the back and another set in the center."} +{"scene_index": 240, "scene": "A plastic box is at the center, with multiple small rectangular parts also located in the center and one positioned at the back."} +{"scene_index": 241, "scene": "The plastic box is at the center, with small rectangular parts positioned centrally inside it, likely indicating a contained relationship."} +{"scene_index": 242, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 243, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 244, "scene": "The plastic box is at the center, with small rectangular parts positioned centrally inside it, likely indicating a contained relationship."} +{"scene_index": 245, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 246, "scene": "The plastic box is on the left, and small rectangular parts are in the center, back, and center positions."} +{"scene_index": 247, "scene": "The plastic box is at the center, with small rectangular parts positioned in the center, left, back, and additional centers and left positions."} +{"scene_index": 248, "scene": "The plastic box is on the left, while small rectangular parts are centrally located, with additional small rectangular parts positioned at the back and another set in the center."} +{"scene_index": 249, "scene": "The plastic box is on the left. Small rectangular parts are in the center, left, and back positions."} +{"scene_index": 250, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center (multiple pieces), one positioned at the back of the center area."} +{"scene_index": 251, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 252, "scene": "The plastic box is at the center, with small rectangular parts also positioned at the center, alongside a small object placed centrally."} +{"scene_index": 253, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 254, "scene": "The plastic box is at the center, with small rectangular parts placed inside it, also centered."} +{"scene_index": 255, "scene": "The plastic box is positioned at the center, with small rectangular parts also located at the center, indicating they share the same central placement."} +{"scene_index": 256, "scene": "The plastic box is on the left, small rectangular parts are in the center and at the back, additional small parts are also in the center."} +{"scene_index": 257, "scene": "The plastic box is at the center, with small rectangular parts arranged around it on the table."} +{"scene_index": 258, "scene": "The plastic box is on the left, while small rectangular parts are centrally located, with additional small rectangular parts positioned at the back and another set in the center."} +{"scene_index": 259, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it, additional small rectangular parts positioned at the back, and smaller parts also centered nearby."} +{"scene_index": 260, "scene": "The plastic box is at the center, with small rectangular parts positioned centrally inside it, likely indicating a contained relationship."} +{"scene_index": 261, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 262, "scene": "A plastic box is in the center. There are small rectangular parts at the back, center, left, and another at center; a small object is also in the center."} +{"scene_index": 263, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 264, "scene": "The plastic box is in the center, with small rectangular parts also centered and one on the left."} +{"scene_index": 265, "scene": "The plastic box is in the center. Small rectangular parts are at the front and back of the setup, with some positioned to the front-left and a smaller object on the left side."} +{"scene_index": 266, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it and additional small rectangular parts positioned behind them."} +{"scene_index": 267, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 268, "scene": "The plastic box is on the left, small rectangular parts are in the center and at the back, and additional parts are also on the left."} +{"scene_index": 269, "scene": "The plastic box is at the center, with small rectangular parts also centered, one in the front left, and another at the back."} +{"scene_index": 270, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left, center, and back."} +{"scene_index": 271, "scene": "A plastic box is at the center, with small rectangular parts positioned in the center, back, and front left."} +{"scene_index": 272, "scene": "plastic box is on the left small rectangular parts are in the center back and center positions"} +{"scene_index": 273, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it, another set positioned behind the box, and a third set also centered but placed further back."} +{"scene_index": 274, "scene": "The plastic box is on the left, with small rectangular parts centered in front, another set of small rectangular parts also centered but further back."} +{"scene_index": 275, "scene": "The plastic box is at the center, with small rectangular parts positioned in the center, back, and front-left areas, as well as a smaller object located centrally."} +{"scene_index": 276, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it, another set positioned behind the box, and a third set also centered but placed further back."} +{"scene_index": 277, "scene": "The plastic box is at the center, with small rectangular parts also positioned in the center."} +{"scene_index": 278, "scene": "The plastic box is at the center, with small rectangular parts also centered inside it."} +{"scene_index": 279, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center, center again, and positioned at the back."} +{"scene_index": 280, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left, centered, and at the back."} +{"scene_index": 281, "scene": "The plastic box is on the left, with small rectangular parts placed in the center and at the back."} +{"scene_index": 282, "scene": "The plastic box is at the center. There are small rectangular parts in the center, two on the left, and one on the right. Additionally, there are small parts located on the left."} +{"scene_index": 283, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 284, "scene": "A plastic box is at the center, with small rectangular parts positioned in the center, back, and front left."} +{"scene_index": 285, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 286, "scene": "The plastic box is at the center, with small rectangular parts also centered inside it."} +{"scene_index": 287, "scene": "The plastic box is on the left, with small rectangular parts located at the back, center, and another center."} +{"scene_index": 288, "scene": "Plastic box positioned at center Small rectangular parts positioned at center front left and back"} +{"scene_index": 289, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it, another set positioned behind the box, and a third set also centered but placed further back."} +{"scene_index": 290, "scene": "The plastic box is on the left, with small rectangular parts arranged in the center, some positioned at the back."} +{"scene_index": 291, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it, another set of small rectangular parts also centered but positioned slightly behind."} +{"scene_index": 292, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it, additional small rectangular parts positioned behind it, and smaller parts also centered."} +{"scene_index": 293, "scene": "A plastic box is on the left, small rectangular parts are in the center and at the back, while other small parts are also in the center."} +{"scene_index": 294, "scene": "The plastic box is on the left, small rectangular parts are in the center, another set of small rectangular parts are at the back, and a small object is also in the center."} +{"scene_index": 295, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left, at the center, and towards the back."} +{"scene_index": 296, "scene": "A plastic box is at the center. Inside it, small rectangular parts are located in the center, back, and front-left positions relative to the box."} +{"scene_index": 297, "scene": "Plastic Box is positioned on the left, small rectangular parts are positioned in the center, small rectangular parts are positioned at the back, and small items are positioned in the center."} +{"scene_index": 298, "scene": "The plastic box is at the center, with small rectangular parts positioned centrally inside it, likely indicating a contained relationship."} +{"scene_index": 299, "scene": "The plastic box is on the left, while small rectangular parts are centrally located, with additional small rectangular parts positioned at the back and another set in the center."} +{"scene_index": 300, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 301, "scene": "The plastic box is at the center. Small rectangular parts are also in the center and front left, with additional small parts on the left."} +{"scene_index": 302, "scene": "The plastic box is on the left, with small rectangular parts in front and back positions."} +{"scene_index": 303, "scene": "The plastic box is on the left, with small rectangular parts in the center and additional small rectangular parts positioned at the back."} +{"scene_index": 304, "scene": "The plastic box is on the left, while small rectangular parts are centrally located, with additional small rectangular parts positioned at the back and another set in the center."} +{"scene_index": 305, "scene": "The plastic box is at the center, with small rectangular parts also placed centrally around it."} +{"scene_index": 306, "scene": "The plastic box is at the center, with small rectangular parts also centered inside it."} +{"scene_index": 307, "scene": "The plastic box is on the left, with small rectangular parts placed in the center and at the back."} +{"scene_index": 308, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 309, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it and additional small rectangular parts positioned at the back."} +{"scene_index": 310, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 311, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it and additional small rectangular parts positioned at the back."} +{"scene_index": 312, "scene": "The plastic box is at the center, with small rectangular parts arranged around it on the center, right, and left positions."} +{"scene_index": 313, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it, another set positioned behind the box, and a third set also centered but placed further back."} +{"scene_index": 314, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left, center, and back."} +{"scene_index": 315, "scene": "The plastic box is on the left, with small rectangular parts in the center and back positions. Additionally, there are small parts located in the center as well."} +{"scene_index": 316, "scene": "The plastic box is on the left, small rectangular parts are centered in front, additional small rectangular parts are positioned at the back, and a smaller object is centrally located."} +{"scene_index": 317, "scene": "The plastic box is on the left, with small rectangular parts centered in front of it, another set positioned behind the box, and a third set also centered but placed further back."} +{"scene_index": 318, "scene": "The plastic box is on the left. Small rectangular parts are also on the left, some in the center, and one at the back."} +{"scene_index": 319, "scene": "The plastic box is on the left, with small rectangular parts centered between it and the other set of small rectangular parts, which are also on the left. Behind these, there s a larger rectangular object positioned at the back."} +{"scene_index": 320, "scene": "A plastic box is at the center, with small rectangular parts positioned both in front and at the back, and a smaller object located on the left."} +{"scene_index": 321, "scene": "small rectangular parts located at center small rectangular parts located at center plastic box located at center"} +{"scene_index": 322, "scene": "The plastic box is on the left, while small rectangular parts are centrally located, with additional small rectangular parts positioned at the back and another set in the center."} +{"scene_index": 323, "scene": "The plastic box is in the center, with small rectangular parts arranged around itβ€”some also in the center, one at the back, and another at the front left."} +{"scene_index": 324, "scene": "The plastic box is at the center, with small rectangular parts placed inside it, also centered."} +{"scene_index": 325, "scene": "The plastic box is at the center, with four small rectangular parts also in the center, one on the right, and one on the left."} +{"scene_index": 326, "scene": "The plastic box is on the left. 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Small rectangular parts are in the center, another set of small rectangular parts are also on the left, and more small rectangular parts are at the back and center."} +{"scene_index": 424, "scene": "The plastic box is on the left, with small rectangular parts centered in front, additional small rectangular parts at the back, and smaller parts also centered."} +{"scene_index": 425, "scene": "Plastic Box is positioned on the left. Small Rectangular Parts are positioned in the center. Small Rectangular Parts are positioned at the back. Small items are positioned in the center."} +{"scene_index": 426, "scene": "The plastic box is at the center, with small rectangular parts arranged around it on the table."} +{"scene_index": 427, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left, center, and back."} +{"scene_index": 428, "scene": "The plastic box is at the center, with small rectangular parts positioned in the front left, center, and back."} +{"scene_index": 429, "scene": "The plastic box is on the left, with small rectangular parts positioned to its left and center."} +{"scene_index": 430, "scene": "A plastic box is positioned on the left, with small rectangular parts located at the back and center positions."} +{"scene_index": 431, "scene": "The plastic box is on the left. There are small rectangular parts in the center, back, and center positions."} +{"scene_index": 432, "scene": "The plastic box is in the center, along with two small rectangular parts also in the center. On the left, there are additional small parts positioned there."} +{"scene_index": 433, "scene": "The plastic box is on the left, small rectangular parts are at the back and left, and a small object is in the center."} +{"scene_index": 434, "scene": "plastic box is on the left small rectangular parts are in the center back and center positions"} +{"scene_index": 435, "scene": "The plastic box is on the left, with small rectangular parts positioned in front and back relative to it."} +{"scene_index": 436, "scene": "The plastic box is at the center, with small rectangular parts also placed in the center alongside it."} +{"scene_index": 437, "scene": "The plastic box is at the center, with small rectangular parts placed in its center."} +{"scene_index": 438, "scene": "The plastic box is at the center, with small rectangular parts also centered. 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The small rectangular parts are positioned in the center. The small rectangular parts are positioned at the back. 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