diff --git a/RMC-AIDA-L_pour_tea/.gitattributes b/RMC-AIDA-L_pour_tea/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/RMC-AIDA-L_pour_tea/.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/RMC-AIDA-L_pour_tea/README.md b/RMC-AIDA-L_pour_tea/README.md new file mode 100644 index 0000000000000000000000000000000000000000..1587cd4acd7824b71186baaa2e59502d0918a6f1 --- /dev/null +++ b/RMC-AIDA-L_pour_tea/README.md @@ -0,0 +1,337 @@ +--- +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 +--- + +# RMC-AIDA-L_pour_tea + +## πŸ“‹ Overview + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +**Robot Type:** `realman_rmc_aidal` + | **Codebase Version:** `v2.1` +**End-Effector Type:** `two_finger_gripper` + +## 🏠 Scene Types + +This dataset covers the following scene types: +- `home` +- `restaurant` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` +- `place` +- `pick` +- `pour` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 790 | +| **Total Frames** | 547759 | +| **Total Tasks** | 2 | +| **Total Videos** | 2370 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 4.0GB | + + +## 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 handle of the teapot with one hand and pour tea into the teacup. +Grasp the handle of the teapot with one hand and pour tea into the teacup. + +### Sub-Tasks +This dataset includes 14 distinct subtasks: + +1. **Pour tea into the teacup with the light gripper** +2. **Pour tea into the teacup with the right gripper** +3. **end** +4. **abnormal** +5. **Pour tea into the teacup with the left gripper** +6. **Pick up the teacup with the right gripper** +7. **Put down the teapot with the left gripper** +8. **Pick up the teacup with the left gripper** +9. **Pick up the teapot with the right gripper** +10. **Place the teacup in the center of view with the left gripper** +11. **Pick up the teapot with the left gripper** +12. **Put down the teapot with the right gripper** +13. **Place the teacup in the center of view with the right gripper** +14. **null** + + +## πŸŽ₯ Camera Views + +This dataset includes 3 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 0:789 + + +## 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 + +#### 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": "realman_rmc_aidal", "total_episodes": 790, "total_frames": 547759, "total_tasks": 2, "total_videos": 2370, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:789"}, "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": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "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, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "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, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "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": [28], "names": ["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", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "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", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad"]}, "action": {"dtype": "float32", "shape": [28], "names": ["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", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "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", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad"]}, "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): + +``` +RMC-AIDA-L_pour_tea_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_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_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/RMC-AIDA-L_pour_tea/annotations/eef_acc_mag_annotation.jsonl b/RMC-AIDA-L_pour_tea/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/RMC-AIDA-L_pour_tea/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/RMC-AIDA-L_pour_tea/annotations/eef_direction_annotation.jsonl b/RMC-AIDA-L_pour_tea/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/RMC-AIDA-L_pour_tea/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/RMC-AIDA-L_pour_tea/annotations/eef_velocity_annotation.jsonl b/RMC-AIDA-L_pour_tea/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/RMC-AIDA-L_pour_tea/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/RMC-AIDA-L_pour_tea/annotations/gripper_activity_annotation.jsonl b/RMC-AIDA-L_pour_tea/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/RMC-AIDA-L_pour_tea/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/RMC-AIDA-L_pour_tea/annotations/gripper_mode_annotation.jsonl b/RMC-AIDA-L_pour_tea/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/RMC-AIDA-L_pour_tea/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/RMC-AIDA-L_pour_tea/annotations/scene_annotations.jsonl b/RMC-AIDA-L_pour_tea/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a67c39cbd6704a595fbbe32e689170c9e200b9e3 --- /dev/null +++ b/RMC-AIDA-L_pour_tea/annotations/scene_annotations.jsonl @@ -0,0 +1,823 @@ +{"scene_index": 0, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 1, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 2, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left."} +{"scene_index": 3, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 4, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 5, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 6, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 7, "scene": "The black tea pot is on the right, the black tea cup is on the left, and the tea is also on the right."} +{"scene_index": 8, "scene": "The black tea pot is positioned on the left, while the black tea cup is located on the right."} +{"scene_index": 9, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, establishing their spatial relationship within the scene."} +{"scene_index": 10, "scene": "The black tea pot is on the left, positioned at the same location as the black tea cup, which is also on the left."} +{"scene_index": 11, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 12, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 13, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 14, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 15, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 16, "scene": "The black tea pot is positioned on the left, while the black tea cup is located on the right."} +{"scene_index": 17, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 18, "scene": "The black tea pot is positioned to the right, and the black tea cup is positioned to the left."} +{"scene_index": 19, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 20, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 21, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 22, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 23, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 24, "scene": "The black tea pot is on the right, the black tea is on the left, and there are two black tea cups both on the right."} +{"scene_index": 25, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 26, "scene": "The black tea pot is on the right, while the black tea cup is located at the back left."} +{"scene_index": 27, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 28, "scene": "The black tea pot is at the front, the first black tea cup is on the left, and the second black tea cup is at the back left."} +{"scene_index": 29, "scene": "The black tea pot is positioned in front of the two black tea cups, one located at the back right and the other at the back left."} +{"scene_index": 30, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 31, "scene": "The black tea pot is positioned on the left, while the black tea cup is located on the right."} +{"scene_index": 32, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 33, "scene": "The black tea pot is front right, and the tea inside it is also front right, while the black tea cup is on the left."} +{"scene_index": 34, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 35, "scene": "The black tea pot is on the left, with three black tea cups also positioned to its left, each containing black tea."} +{"scene_index": 36, "scene": "The black tea pot is on the right, while the black tea cup is positioned in the front left."} +{"scene_index": 37, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 38, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 39, "scene": "The black tea pot is located at the front-left, while the black tea cup is positioned on the right side."} +{"scene_index": 40, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 41, "scene": "The black tea pot is positioned to the left, and the black tea cup is also positioned to the left, indicating their close proximity and relationship."} +{"scene_index": 42, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 43, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 44, "scene": "The black tea pot is positioned in the front right, while the two black tea cups are located on the left (front) and back left."} +{"scene_index": 45, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located at the left (front) and back left positions."} +{"scene_index": 46, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the back left."} +{"scene_index": 47, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned at the back left. The black tea is placed on the left side."} +{"scene_index": 48, "scene": "The black tea pot is positioned at front left, with the tea also at front left, and the black object located at the right side."} +{"scene_index": 49, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 50, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, both within close proximity to each other."} +{"scene_index": 51, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 52, "scene": "The black tea pot is positioned to the right, and the black tea cup is positioned to the left."} +{"scene_index": 53, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 54, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 55, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 56, "scene": "The black tea pot is positioned at the front right, while both black tea cups are located at the back left."} +{"scene_index": 57, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 58, "scene": "The black tea pot is on the right, and the black tea cup is in front and to the left of it."} +{"scene_index": 59, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 60, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 61, "scene": "The black tea pot is positioned in the front right, while the two black tea cups are located on the left (front) and back left."} +{"scene_index": 62, "scene": "The black tea pot is positioned at the front left, alongside a black tea cup also located at the front left. Another black tea cup is situated to the right of the arrangement."} +{"scene_index": 63, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, establishing their spatial relationship within the scene."} +{"scene_index": 64, "scene": "The black tea pot is centered, with two black tea cups positioned at the back left and back right."} +{"scene_index": 65, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 66, "scene": "The black tea pot is on the right, the first black tea cup is on the left, and the second black tea cup is at the back left."} +{"scene_index": 67, "scene": "The black tea pot is positioned in the front right, while the two black tea cups are located on the left (front) and back left."} +{"scene_index": 68, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 69, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, both within close proximity to each other."} +{"scene_index": 70, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 71, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 72, "scene": "The black tea pot is located at the front-left, while the black tea cup is positioned on the right side."} +{"scene_index": 73, "scene": "The black tea pot is positioned on the left, while the black tea cup is located on the right."} +{"scene_index": 74, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 75, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 76, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 77, "scene": "The black tea pot and black tea cup are both positioned on the left."} +{"scene_index": 78, "scene": "The black teapot is positioned at the front right, while the black tea cup is placed at the back left."} +{"scene_index": 79, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 80, "scene": "The black tea cup is on the left, and the black tea pot is on the right, with both positioned side by side."} +{"scene_index": 81, "scene": "The black tea pot is at the front, while the black tea cup is positioned in front left relative to it."} +{"scene_index": 82, "scene": "The black tea pot is positioned on the right, while both black tea cups are placed on the left."} +{"scene_index": 83, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located at the back left and back right."} +{"scene_index": 84, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 85, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 86, "scene": "The black tea pot is positioned to the right, and the black tea cup is positioned to the left."} +{"scene_index": 87, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 88, "scene": "The black tea pot is at the front, the first black tea cup is on the left, and the second black tea cup is at the back left."} +{"scene_index": 89, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 90, "scene": "The black tea pot is located at the front left, while the black tea cup is positioned at the front right."} +{"scene_index": 91, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located at the left (front) and back left positions."} +{"scene_index": 92, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 93, "scene": "The black tea pot is on the right, positioned to the right, while the black tea cup is on the left, positioned to the left. The tea is located on the right, sharing the same position as the tea pot but not directly associated with it in terms of pouring or serving."} +{"scene_index": 94, "scene": "The black tea pot is positioned at front left, while the black tea cup is at front right. The tea is also located in the front left area."} +{"scene_index": 95, "scene": "The black tea cup is on the left, and the black tea pot is in front and to the right."} +{"scene_index": 96, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 97, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 98, "scene": "The black teapot is positioned at the front right, while the black teacup is located at the back left; additionally, there is a smaller black object placed on the left."} +{"scene_index": 99, "scene": "The black tea pot is positioned at the front, while the black tea cup is located to its left."} +{"scene_index": 100, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 101, "scene": "The black tea pot is on the right, positioned to the right of the black tea cup (which is on the left), and both together contain tea located at the back left."} +{"scene_index": 102, "scene": "The black tea pot is at the front, with two black tea cups positioned to its front left and back left."} +{"scene_index": 103, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 104, "scene": "The black tea pot is at the front right, while two black tea cups are positioned to its right and back left."} +{"scene_index": 105, "scene": "The black tea pot is positioned at the front left, while the black tea cup is placed at the front right, both within the same scene."} +{"scene_index": 106, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 107, "scene": "The black tea pot is on the right, and the black tea cup is positioned at the back left."} +{"scene_index": 108, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 109, "scene": "The black tea pot is positioned in the front right, while the two black tea cups are located on the left (front) and back left."} +{"scene_index": 110, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 111, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 112, "scene": "The black tea pot is at the front, with a black tea cup on its left and another black tea cup positioned behind it on the back left."} +{"scene_index": 113, "scene": "The black tea pot is positioned in the front, while a black tea cup is placed on the left. Another black tea cup is located at the back right, and a regular tea cup is situated at the back left."} +{"scene_index": 114, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 115, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 116, "scene": "The black tea pot is at the front, the first black tea cup is on the left, and the second black tea cup is at the back left."} +{"scene_index": 117, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 118, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 119, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 120, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 121, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 122, "scene": "The black tea pot is positioned at front right, the black tea cup is at left, and the color black is located at front left."} +{"scene_index": 123, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 124, "scene": "The black tea pot is located at the front left, while the black tea cup is positioned at the front right."} +{"scene_index": 125, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 126, "scene": "The black tea pot is in front-right, the front-left black tea cup is at front-left with another black tea cup to its left."} +{"scene_index": 127, "scene": "The black tea pot is on the right, positioned near the tea also on the right, while the black tea cup is on the left."} +{"scene_index": 128, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 129, "scene": "The black tea pot is centered while the black tea cup is placed to its left."} +{"scene_index": 130, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 131, "scene": "The black tea pot is at the front-left, the black tea cup is on the right, and the black tea shares the front-left position with the pot."} +{"scene_index": 132, "scene": "The black tea pot is at front left, and the tea inside it is also at front left; the black tea cup is on the right."} +{"scene_index": 133, "scene": "The black tea pot is positioned at the front, while the black tea cup is located to its left."} +{"scene_index": 134, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 135, "scene": "The black tea pot is at the front right, with two black tea cups positioned to its left (front left) and back left."} +{"scene_index": 136, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 137, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 138, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 139, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 140, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 141, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 142, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 143, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 144, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 145, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 146, "scene": "- Black tea pot is at the front right. - Black tea cups are on the left and back left. - Tea is at the back right."} +{"scene_index": 147, "scene": "The black tea cup is positioned on the left, while the black tea pot is located at the front right, establishing their spatial relationship within the scene."} +{"scene_index": 148, "scene": "The black tea pot and the tea are both located at the front left position."} +{"scene_index": 149, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 150, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 151, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 152, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 153, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 154, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 155, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 156, "scene": "The black tea pot is at front left, the black tea cup is also at front left, and the black tea is on the right."} +{"scene_index": 157, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 158, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 159, "scene": "The black tea pot is located at the front-left, while the black tea cup is positioned on the right side."} +{"scene_index": 160, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 161, "scene": "The black tea pot is located at the front left, while the black tea cup is positioned at the front right."} +{"scene_index": 162, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 163, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located at the left (front) and back left positions."} +{"scene_index": 164, "scene": "The black tea pot is on the right, the black tea cup is on the left, and the tea cup is at the front left."} +{"scene_index": 165, "scene": "The black tea pot is at the front right, the black tea is on the left, and two black tea cups are positioned at the back left and back right."} +{"scene_index": 166, "scene": "The black tea pot is located at the front-left, while the black tea cup is positioned on the right side."} +{"scene_index": 167, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 168, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 169, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 170, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 171, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 172, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 173, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the back left."} +{"scene_index": 174, "scene": "The black tea pot is located at the front-left, while the black tea cup is positioned on the right side."} +{"scene_index": 175, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 176, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 177, "scene": "The black tea pot is at the front right, with two black tea cups positioned to its left (front left) and back left."} +{"scene_index": 178, "scene": "The black tea pot is on the left, with two black tea cups also positioned to its left."} +{"scene_index": 179, "scene": "The black tea pot is positioned at front right, with four black tea cups located at front left, back left, and back right."} +{"scene_index": 180, "scene": "The black tea pot is positioned at the front right."} +{"scene_index": 181, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to its right."} +{"scene_index": 182, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, both within close proximity to each other."} +{"scene_index": 183, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 184, "scene": "The black tea pot is on the right, with two black tea cups positioned to its left and back left."} +{"scene_index": 185, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the back left, and the black tea is placed on the left side."} +{"scene_index": 186, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 187, "scene": "The black tea pot is positioned to the left, while the black tea cup is located to the right."} +{"scene_index": 188, "scene": "The black tea pot is located at the front left, while the black tea cup is positioned at the front right."} +{"scene_index": 189, "scene": "The black tea pot is positioned at the front right, the black tea is on the left, and the black tea cup is at the back left."} +{"scene_index": 190, "scene": "The black tea pot is located at the front left, while the black tea cup is positioned at the front right."} +{"scene_index": 191, "scene": "The black tea pot is located at the front left, with tea also positioned there, while the black tea cup is placed to the right."} +{"scene_index": 192, "scene": "- Black tea pot is positioned at front right. - First black tea cup is located at back left. - Second black tea cup is placed at back right."} +{"scene_index": 193, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 194, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 195, "scene": "The black tea pot is located at the front right, the black tea cup is positioned at the back left, and the cup is placed at the back right."} +{"scene_index": 196, "scene": "The black tea pot is at the front right, while the two black tea cups are positioned back left and back right."} +{"scene_index": 197, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 198, "scene": "The black tea pot is positioned to the right, and the black tea cup is positioned to the left."} +{"scene_index": 199, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 200, "scene": "The black tea pot is at the front right, the black tea cup is on the left, and the tea is located at the back left."} +{"scene_index": 201, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 202, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, both within close proximity to each other."} +{"scene_index": 203, "scene": "The black tea pot is positioned to the left, while the black tea cup is located to the right."} +{"scene_index": 204, "scene": "The black tea pot is positioned at the front right, while the black tea is located at the front left."} +{"scene_index": 205, "scene": "The black tea pot is at the center, while the black tea cup is positioned at the back left relative to it."} +{"scene_index": 206, "scene": "The black tea pot is positioned in front and to the right, while there are two black tea cupsβ€”one located on the left side and another at the back left."} +{"scene_index": 207, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 208, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 209, "scene": "The black tea pot is at the front right, the black tea cup is on the left, and the tea cup is at the back left."} +{"scene_index": 210, "scene": "The black tea pot is at the front right, while the two black tea cups are located at the back left and back right."} +{"scene_index": 211, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 212, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to its right."} +{"scene_index": 213, "scene": "The black tea pot is on the right, while the three black teas are positioned to the left and right."} +{"scene_index": 214, "scene": "The black tea pot is positioned on the left, while the black tea cup is located on the right."} +{"scene_index": 215, "scene": "The black tea pot and the black tea are both located at the front left, with the tea pot positioned slightly ahead of the tea."} +{"scene_index": 216, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 217, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 218, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 219, "scene": "The black tea pot is positioned at the front right, while the black tea is located to the left."} +{"scene_index": 220, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 221, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 222, "scene": "The black tea pot is positioned at the front left, with the black tea cup placed in the front right. The tea is located in the front left alongside the tea pot."} +{"scene_index": 223, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 224, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 225, "scene": "The black tea pot is located at the front-left, while the black tea cup is positioned on the right side."} +{"scene_index": 226, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 227, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 228, "scene": "The black tea pot and black tea cup are both located at the front left, positioned closely together in that area."} +{"scene_index": 229, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 230, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 231, "scene": "The black tea pot is positioned on the left, while the black tea cup is located on the right."} +{"scene_index": 232, "scene": "The black tea pot is on the left, the black tea cup is on the right, and the tea is also on the left."} +{"scene_index": 233, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 234, "scene": "The black tea pot is at the front right, positioned with the tea also in the same area, while the black tea cup is located to the left."} +{"scene_index": 235, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 236, "scene": "The black tea pot is positioned at the front, while the two black tea cups are located to the left (one closer to the front and one further back)."} +{"scene_index": 237, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 238, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 239, "scene": "The black tea pot is positioned at the front, while the black tea cup is placed to its left."} +{"scene_index": 240, "scene": "The black tea pot is at front right, the first black tea cup is at front left, and the second black tea cup is on the left."} +{"scene_index": 241, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 242, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, both within close proximity to each other."} +{"scene_index": 243, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 244, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 245, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 246, "scene": "The black tea pot is positioned at front right, next to the black tea cup and the tea."} +{"scene_index": 247, "scene": "The black tea pot is positioned at the front right, while two black tea cups are located on the left (front) and back left."} +{"scene_index": 248, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 249, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 250, "scene": "The black tea pot is at the front right, with a black tea cup on the left, another black tea cup at the back left, and tea positioned at the back right."} +{"scene_index": 251, "scene": "- Black tea pot is at the front right. - Black is at the front left. - Black tea cup is at the right. - Another black tea cup is at the back left."} +{"scene_index": 252, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 253, "scene": "The black tea pot is located at front left, the black tea cup is at front right, and the tea is also in front left."} +{"scene_index": 254, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 255, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 256, "scene": "The black tea pot is at the front right, the black tea is on the left, and the black tea cup is at the back left."} +{"scene_index": 257, "scene": "The black tea pot is positioned at the front, while the black tea cup is located at the back left relative to the tea pot."} +{"scene_index": 258, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 259, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 260, "scene": "The black tea pot is positioned at the front right, while two black tea cups are placed symmetrically on either side of a central black objectβ€”one at the back right and another at the back left."} +{"scene_index": 261, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to its right."} +{"scene_index": 262, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 263, "scene": "The black tea pot is positioned to the left, while the black tea cup is located to the right."} +{"scene_index": 264, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 265, "scene": "The black tea pot is positioned at the front right, while two black tea cups are located on the left (front) and back left."} +{"scene_index": 266, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 267, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 268, "scene": "Black tea pot is at the front, with a black tea cup on its left and another black tea cup positioned behind it to the left."} +{"scene_index": 269, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 270, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 271, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 272, "scene": "The black tea pot is positioned to the right, and the black tea cup is positioned to the left."} +{"scene_index": 273, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 274, "scene": "The black tea pot is positioned at the front left, while the black tea cup is placed at the front right, both within the same scene."} +{"scene_index": 275, "scene": "The black tea pot is at the front left, the black tea cup is also at the front left, and the black object is on the right."} +{"scene_index": 276, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 277, "scene": "The black tea pot is positioned at the front right, while both black tea cups are placed to the left."} +{"scene_index": 278, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 279, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 280, "scene": "The black tea pot is at the front, positioned slightly ahead of the black tea cup, which is located in the front right area."} +{"scene_index": 281, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 282, "scene": "The black tea pot is in the front-right position, while the other black objectsβ€”a tea cup on the back-right and another tea cup on the back-leftβ€”are also present."} +{"scene_index": 283, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 284, "scene": "The black tea pot is positioned at the front, while the black tea cup is located to its left."} +{"scene_index": 285, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 286, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 287, "scene": "The black tea pot is at the front-right, the black tea cup is at the back-left, and the object labeled black is on the left."} +{"scene_index": 288, "scene": "The black tea pot is on the right side, while the black tea cup is positioned at the back left."} +{"scene_index": 289, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 290, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 291, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 292, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, establishing their spatial relationship within the scene."} +{"scene_index": 293, "scene": "The black tea pot is positioned at the front right, while the black tea cup is on the left; the tea cup is placed at the back left."} +{"scene_index": 294, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 295, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 296, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 297, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 298, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 299, "scene": "The black tea pot is at the front, the black tea cup is on the left, and the cup is positioned at the back left."} +{"scene_index": 300, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, establishing their spatial relationship within the scene."} +{"scene_index": 301, "scene": "The black tea pot is at the front right, the black tea cup is on the left, and the tea cup is at the back left."} +{"scene_index": 302, "scene": "The black tea pot is on the left, and the black tea cup is in front and to the right of it."} +{"scene_index": 303, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 304, "scene": "The black tea pot is positioned on the left, while the black tea cup is located on the right."} +{"scene_index": 305, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 306, "scene": "The black tea pot is positioned at the front right, while the black tea cup is centered in relation to it."} +{"scene_index": 307, "scene": "The black tea pot is positioned to the left, while the black tea cup is located to the right."} +{"scene_index": 308, "scene": "The black tea pot is positioned on the left, while the black tea cup is located on the right."} +{"scene_index": 309, "scene": "The black tea pot is at the front right, with two black tea cups positioned to its left (front left) and back left."} +{"scene_index": 310, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 311, "scene": "The black tea pot is positioned at the front right, while two black tea cups are located on the left (front) and back left."} +{"scene_index": 312, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 313, "scene": "The black tea pot is positioned at front left, with the tea also at front left; the black tea cup is at front right."} +{"scene_index": 314, "scene": "The black tea pot is positioned at front left, the black tea cup is at front right, and the tea is also located at front left."} +{"scene_index": 315, "scene": "The black tea pot is positioned to the left, while the black tea cup is located to the right."} +{"scene_index": 316, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 317, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 318, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 319, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 320, "scene": "The black tea pot is on the right, and the black tea cup is at the back left."} +{"scene_index": 321, "scene": "The black tea pot is positioned at the front, while the black tea cup is located at the back left."} +{"scene_index": 322, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 323, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 324, "scene": "The black tea pot is at the front, with a black tea cup positioned at the back left and another at the back right."} +{"scene_index": 325, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 326, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 327, "scene": "The black tea pot is at the front left, the tea is also in the front left, and the black tea cup is on the right."} +{"scene_index": 328, "scene": "The black tea pot is at the front, with two black tea cups positioned to its left (one closer and one further back)."} +{"scene_index": 329, "scene": "The black tea pot is positioned to the left, while the black tea cup is located to the right."} +{"scene_index": 330, "scene": "The black tea pot is at the front right, with two black tea cups positioned to its left (front left) and back left."} +{"scene_index": 331, "scene": "The black tea pot is positioned in the front right, while the two black tea cups are located on the left (front) and back left."} +{"scene_index": 332, "scene": "The black tea pot is positioned at the front right, with the black tea placed to its left and the black tea cup located at the back left."} +{"scene_index": 333, "scene": "The black tea pot is positioned to the left, while the black tea cup is located to the right."} +{"scene_index": 334, "scene": "The black tea pot is on the right, with the first black tea cup positioned to its left and the second black tea cup placed behind it on the back left."} +{"scene_index": 335, "scene": "The black tea pot is in front left, the tea is also in front left, and the black tea cup is on the right."} +{"scene_index": 336, "scene": "The black tea pot is positioned to the right, and the black tea cup is positioned to the left."} +{"scene_index": 337, "scene": "The black tea pot, black tea cup, and black tea are all positioned in the front left area."} +{"scene_index": 338, "scene": "The black tea pot is positioned in front of the room on the right side. There s a black tea cup placed at the back left and another one at the back right. Additionally, there s a plain black object located on the left side."} +{"scene_index": 339, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 340, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 341, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 342, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 343, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 344, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 345, "scene": "The black tea pot is at the front, the black tea cup is on the left, and the regular tea cup is behind it on the back left."} +{"scene_index": 346, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to its right."} +{"scene_index": 347, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 348, "scene": "The black tea pot is at the front, the first black tea cup is on the left, and the second black tea cup is at the back left."} +{"scene_index": 349, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 350, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 351, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 352, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 353, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 354, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 355, "scene": "The black tea cup is located at the front right, while the black tea pot is positioned at the front left."} +{"scene_index": 356, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 357, "scene": "The black tea pot and black tea cup are both located on the left side."} +{"scene_index": 358, "scene": "The black tea pot is positioned in front right, while the two black tea cups are located at back left and back right."} +{"scene_index": 359, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 360, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 361, "scene": "The black tea pot is positioned at the front, while the black tea cup is located to its left."} +{"scene_index": 362, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 363, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, establishing their spatial relationship within the scene."} +{"scene_index": 364, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 365, "scene": "The black tea pot is positioned at the front, with three black tea cups placed respectively to its left, back left, and back right."} +{"scene_index": 366, "scene": "The black tea pot is located at the front-right, while the black tea cup is positioned at the back-left."} +{"scene_index": 367, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 368, "scene": "The black tea pot is positioned in the front, while the two black tea cups are located at the back left and back right positions."} +{"scene_index": 369, "scene": "The black tea pot is positioned at the front, while the black tea cup is located to its left."} +{"scene_index": 370, "scene": "The black tea pot is in the front-left position, the first black tea cup is also in the front-left, and the second black tea cup is in the front-right."} +{"scene_index": 371, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 372, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 373, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 374, "scene": "Black tea pot is at the front, with a black tea cup on its left and another black tea cup positioned behind it to the left."} +{"scene_index": 375, "scene": "The black tea pot is on the right, and there is black tea on the left; additionally, there is tea on the right."} +{"scene_index": 376, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the back left. The black tea itself is placed on the left side, and there s also a regular tea cup situated at the back right."} +{"scene_index": 377, "scene": "All three objectsβ€”a black tea pot, a black tea cup, and black teaβ€”are positioned to the left."} +{"scene_index": 378, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 379, "scene": "The black tea pot is positioned at the front right, while two black tea cups are located on the left (front) and back left."} +{"scene_index": 380, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 381, "scene": "The black tea pot is positioned on the right, while the two black tea cups are located on the left and front left positions."} +{"scene_index": 382, "scene": "The black tea pot is positioned at the front left, while the two black tea cups are located to the right and front right."} +{"scene_index": 383, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 384, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 385, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 386, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 387, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 388, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 389, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 390, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 391, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 392, "scene": "The black tea pot is on the right, the first black tea cup is on the left, the second black tea cup is at the back left, and the tea is located at the back right."} +{"scene_index": 393, "scene": "The black tea pot is at the front, and the black tea cup is to its left."} +{"scene_index": 394, "scene": "The black tea pot is positioned in the front right, while the two black tea cups are located on the left (front) and back left."} +{"scene_index": 395, "scene": "The black tea pot is on the right, while there are two black teas, one on the left and one on the right, and a tea on the right."} +{"scene_index": 396, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 397, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 398, "scene": "The black tea pot, black tea cup, and black tea are all positioned on the left side."} +{"scene_index": 399, "scene": "The black tea pot is positioned in front and to the right, while there are two black tea cupsβ€”one located on the left side and another at the back left."} +{"scene_index": 400, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 401, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 402, "scene": "The black tea pot is located at the front left, the black tea cup is positioned at the front right, and the tea is placed in the front left as well."} +{"scene_index": 403, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 404, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 405, "scene": "The black tea pot is located at the front-right, while the black tea cup is positioned at the back-left."} +{"scene_index": 406, "scene": "The black tea pot is positioned at the front, while the black tea cup is located at the back left."} +{"scene_index": 407, "scene": "The black tea pot is at the front right, the black tea cup is at the back left, and the tea is at the back right."} +{"scene_index": 408, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 409, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 410, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 411, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 412, "scene": "The black tea pot is positioned at the front right, while the black cup is located to the left."} +{"scene_index": 413, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 414, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 415, "scene": "The black tea pot is on the left, with a black tea cup also positioned to its left, while the black tea is placed on the right."} +{"scene_index": 416, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 417, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 418, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 419, "scene": "The black tea pot is positioned to the right, and the black tea cup is positioned to the left."} +{"scene_index": 420, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 421, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to its right."} +{"scene_index": 422, "scene": "The black tea pot is at the front, with the black tea positioned to its front left. The tea cup is located at the back right, while the black tea cup is placed at the back left."} +{"scene_index": 423, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned at the back left."} +{"scene_index": 424, "scene": "The black tea pot is at the front, with the black tea cup on its left, and another black tea cup positioned at the back left."} +{"scene_index": 425, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 426, "scene": "The black tea pot is at front right, the black tea cup is at left, and the cup is at back left."} +{"scene_index": 427, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 428, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located at the left (front) and back left positions."} +{"scene_index": 429, "scene": "The black tea pot is positioned in front, while the two black tea cups are located at the back, one on the left and the other on the right."} +{"scene_index": 430, "scene": "The black tea pot is located at the front-left, while the black tea cup is positioned on the right side."} +{"scene_index": 431, "scene": "The black tea pot is located at the front left, while the black tea cup is positioned at the front right."} +{"scene_index": 432, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 433, "scene": "The black tea pot is positioned at the front, while the black tea cup is located to its left."} +{"scene_index": 434, "scene": "The black tea pot is positioned on the right, while the two black tea cups are located to the left and back left."} +{"scene_index": 435, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 436, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 437, "scene": "The black tea pot is positioned to the right, while the black tea cup is located at the front-left."} +{"scene_index": 438, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 439, "scene": "The black tea pot is positioned at the front right, the black tea cup is located at the back left, and the object labeled black is on the left."} +{"scene_index": 440, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 441, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 442, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 443, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 444, "scene": "The black tea pot is on the right, and the black tea cup is on the left. There is tea in both the pot and the cup on the right side."} +{"scene_index": 445, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 446, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 447, "scene": "The black tea pot is positioned to the right, and the black tea cup is positioned to the left."} +{"scene_index": 448, "scene": "The black tea pot is front left, positioned with the tea also in front left, while the black object is placed front right."} +{"scene_index": 449, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 450, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 451, "scene": "The black tea pot is positioned at the front right, the black tea is located on the left, and the black tea cup is placed at the back left."} +{"scene_index": 452, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 453, "scene": "The black tea pot is at the front right, while the two black tea cups are located at the back left and back right."} +{"scene_index": 454, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 455, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 456, "scene": "The black tea pot is positioned in front, while the black tea cup is placed to its left."} +{"scene_index": 457, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 458, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to its right."} +{"scene_index": 459, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned at the back left."} +{"scene_index": 460, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 461, "scene": "The black tea pot and black tea cup are both positioned at the front left."} +{"scene_index": 462, "scene": "The black tea pot is at the front, and the black tea cup is to its left."} +{"scene_index": 463, "scene": "The black tea pot is at the front, and the black tea cup is to its left."} +{"scene_index": 464, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 465, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 466, "scene": "The black tea pot is positioned to the left, while the black tea cup is located to the right."} +{"scene_index": 467, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located at the left (front) and back left positions."} +{"scene_index": 468, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 469, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 470, "scene": "The black tea pot is at the front right, with three black tea cups positioned to its left, right, and back left."} +{"scene_index": 471, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 472, "scene": "The black tea pot is centered, while the black tea cup is positioned to its left."} +{"scene_index": 473, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 474, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 475, "scene": "The black tea pot is positioned at the front right, while two black tea cups are located on the left (front) and back left."} +{"scene_index": 476, "scene": "The black tea pot is on the left, and the black tea cup is in front and to the right of it."} +{"scene_index": 477, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 478, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 479, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 480, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 481, "scene": "The black tea pot is positioned on the right side, while the four black tea cups are located at the left, back right, back left, and back positions."} +{"scene_index": 482, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the back left."} +{"scene_index": 483, "scene": "The black tea pot is positioned at the front, while both black tea cups are located on the left."} +{"scene_index": 484, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned at the back left."} +{"scene_index": 485, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 486, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 487, "scene": "The black tea pot is at the front right, the black tea is on the left, and the black tea cup is at the back left."} +{"scene_index": 488, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located at the front left and further to the left."} +{"scene_index": 489, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 490, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 491, "scene": "The black tea pot is located at the front left, while the black tea cup is positioned at the front right."} +{"scene_index": 492, "scene": "The black tea pot is positioned at the front right, while two black tea cups are located on the left (front) and back left."} +{"scene_index": 493, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 494, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 495, "scene": "The black tea pot is positioned at the front left, the black tea cup is also in the front left, and the black tea is located at front left."} +{"scene_index": 496, "scene": "The black tea pot is positioned on the left, while the black tea cup is located on the right."} +{"scene_index": 497, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 498, "scene": "The black tea cup is positioned on the right, while the black tea pot is located at the front left."} +{"scene_index": 499, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the back left."} +{"scene_index": 500, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 501, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 502, "scene": "Black tea pot is at front right, black tea cup is at left, and tea cup is at back left."} +{"scene_index": 503, "scene": "The black tea pot is positioned at the front, while the black tea cup is located to its left."} +{"scene_index": 504, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, establishing their spatial relationship within the scene."} +{"scene_index": 505, "scene": "The black tea pot is positioned at the front right, the black tea cup is at the back left, and the object labeled black is on the left."} +{"scene_index": 506, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, both within close proximity to each other."} +{"scene_index": 507, "scene": "The black tea pot is positioned in front left, with the black tea cup also located in front left nearby, and the black tea itself is situated in front left as well."} +{"scene_index": 508, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 509, "scene": "The black tea pot is positioned in the front right, while the black tea cup is located at the back left."} +{"scene_index": 510, "scene": "The black tea pot is at the front, and the black tea cup is to its left."} +{"scene_index": 511, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 512, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 513, "scene": "The black tea pot is on the left, accompanied by two black tea cups also positioned to its left."} +{"scene_index": 514, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 515, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 516, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 517, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 518, "scene": "- Black tea pot is located at the front right. - Black tea cup is situated at the back left. - Black tea is placed on the left side. - Tea cup is positioned at the back right."} +{"scene_index": 519, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 520, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 521, "scene": "The black tea pot is positioned on the left, while the black tea cup is located on the right."} +{"scene_index": 522, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 523, "scene": "The black tea pot is positioned in the front right, while the two black tea cups are located on the left (front) and back left."} +{"scene_index": 524, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 525, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 526, "scene": "The black tea pot is positioned at the front, while the black tea cup is located slightly to the front right."} +{"scene_index": 527, "scene": "The black tea pot is at the center, with two black tea cups positioned to its leftβ€”one closer to the front and one further back on the left."} +{"scene_index": 528, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 529, "scene": "The black tea pot is on the left, and the black tea cup is on the right; there is tea on the left."} +{"scene_index": 530, "scene": "The black tea pot is at the front right, with three black tea cups positioned around itβ€”two on the left (one in front and one back) and one on the back right."} +{"scene_index": 531, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 532, "scene": "- Black tea pot is on the right. - The black tea cups are positioned at back left and back right."} +{"scene_index": 533, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 534, "scene": "The black tea pot is in front right, related to the tea as it contains or holds it. The black tea cup is on the left and also has black tea in it, indicating its relationship through the presence of tea."} +{"scene_index": 535, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 536, "scene": "The black tea pot is positioned to the right, and the black tea cup is positioned to the left."} +{"scene_index": 537, "scene": "The black tea pot is on the left, with two black tea cups positioned one on the left and one on the right."} +{"scene_index": 538, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 539, "scene": "The black tea pot is located at the front left, positioned in close proximity to the tea, which is also situated at the front left."} +{"scene_index": 540, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 541, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 542, "scene": "The black tea pot is at the front right, the first black tea cup is at the back left, and the second black tea cup is on the right."} +{"scene_index": 543, "scene": "The black tea pot is at the front, with two black tea cups positioned to its left (one closer and one further back)."} +{"scene_index": 544, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 545, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 546, "scene": "The black tea pot is positioned at front left, while the black tea cup is at front right. The tea is also located in the front left area."} +{"scene_index": 547, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 548, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 549, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 550, "scene": "The black tea pot is positioned at the front, while the black tea cup is located at the front right, with both objects sharing a central relationship within their respective positions."} +{"scene_index": 551, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 552, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 553, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 554, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 555, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 556, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, both within close proximity to each other."} +{"scene_index": 557, "scene": "The black tea pot is positioned at the front right, while two black tea cups are located on the left (front) and back left."} +{"scene_index": 558, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 559, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 560, "scene": "The black tea pot is positioned at the front right, while two black tea cups are located on the left (front) and back left."} +{"scene_index": 561, "scene": "The black tea pot is positioned in the front left, with a black tea cup also located there. Another black tea cup is placed to the right, and the black tea itself is situated in the front left as well."} +{"scene_index": 562, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 563, "scene": "The black tea pot is on the left, and the black tea cup is in front and to the right of it."} +{"scene_index": 564, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 565, "scene": "The black tea pot is positioned at the front right, the black tea cup is on the left, and the cup is located at the back left."} +{"scene_index": 566, "scene": "The black tea pot is positioned at the front right, while two black tea cups are located on the left (front) and back left."} +{"scene_index": 567, "scene": "The black tea pot is on the left, with the black tea cup also on the left beside it, containing black tea."} +{"scene_index": 568, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 569, "scene": "The black tea pot is at the front right, the tea is also at the front right, and the black tea cup is on the left."} +{"scene_index": 570, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located at the left (front) and back left positions."} +{"scene_index": 571, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 572, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 573, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 574, "scene": "The black tea pot is positioned to the right, and the black tea cup is positioned to the left."} +{"scene_index": 575, "scene": "The black tea pot is at the front right, with two black tea cups positioned to its left (front left) and back left."} +{"scene_index": 576, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 577, "scene": "The black tea pot is at the front, with two black tea cups positioned to its left (one closer and one further back)."} +{"scene_index": 578, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 579, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned at the back left."} +{"scene_index": 580, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 581, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 582, "scene": "The black tea pot is on the right, and the black tea cup is on the left."} +{"scene_index": 583, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 584, "scene": "The black tea pot is at the front right, the black tea is on the left, and the black tea cup is at the back left."} +{"scene_index": 585, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located at the left (front) and back left positions."} +{"scene_index": 586, "scene": "The black tea pot is at the front right, with two black tea cups positioned to its left (front left) and back left."} +{"scene_index": 587, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 588, "scene": "The black tea pot is at the front-right, with a black tea cup behind it on the back-left, while another tea cup is located at the back-right."} +{"scene_index": 589, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 590, "scene": "The black tea pot is positioned on the right, while the four black tea cups are placed in each corner: two on the left and right sides, with one at the front and one at the back."} +{"scene_index": 591, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 592, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 593, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 594, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 595, "scene": "The black tea pot is at the front right, with a black tea cup at the back right and another black tea cup at the back left, all positioned around the central black object on the left."} +{"scene_index": 596, "scene": "The black tea pot is positioned in the front right, with a black tea cup on the left, another black tea cup at the back left, and a cup located at the back right."} +{"scene_index": 597, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 598, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 599, "scene": "The black tea pot is at the front, with the black tea cup on its left, and another black tea cup positioned at the back left."} +{"scene_index": 600, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 601, "scene": "The black tea pot is positioned in front, while the black tea cup is placed to its left."} +{"scene_index": 602, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 603, "scene": "The black tea pot is at front left, next to the black tea on front left, with the second black tea placed at front right."} +{"scene_index": 604, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 605, "scene": "The black tea pot is positioned at the front left, and the black tea cup is also located at the front left."} +{"scene_index": 606, "scene": "The black tea pot, black tea cup, and black tea are all positioned in the front left area."} +{"scene_index": 607, "scene": "The black tea pot and black tea cup are both located at the front left."} +{"scene_index": 608, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 609, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 610, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 611, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 612, "scene": "The black tea pot is positioned at the front left, the black tea cup is also in the front left, and the black tea is located at front left."} +{"scene_index": 613, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 614, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 615, "scene": "The black tea pot is on the left, the black tea cup is on the right, and the black tea is also on the left."} +{"scene_index": 616, "scene": "The black tea pot is located at the front left, and there is also a black object positioned at the front left as well."} +{"scene_index": 617, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 618, "scene": "The black tea pot is positioned in the front-right, while the two black tea cups are placed on the left and front-left."} +{"scene_index": 619, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 620, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the back left."} +{"scene_index": 621, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 622, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 623, "scene": "The black tea pot is at the front left, positioned in front of or near the black tea cup located to the right, with the tea also situated at the front left."} +{"scene_index": 624, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 625, "scene": "The black teapot is positioned at the front right, while the black teacup is located at the back left; additionally, there is a smaller black object placed on the left."} +{"scene_index": 626, "scene": "The black tea pot is at the front right, the black tea is on the left, one black tea cup is at the back left, and another black tea cup is on the right."} +{"scene_index": 627, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located at the left (front) and back left positions."} +{"scene_index": 628, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 629, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 630, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 631, "scene": "The black tea pot is located at the front right, the black tea is positioned on the left, and the black item is placed at the back left."} +{"scene_index": 632, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 633, "scene": "The black tea pot is positioned to the left, while the black tea cup is located to the right."} +{"scene_index": 634, "scene": "The black tea pot is positioned at the front left, while the black tea cup is placed at the front right, both within the same scene."} +{"scene_index": 635, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 636, "scene": "The black tea pot is located at the front left, with tea also positioned there, while the black tea cup is placed to the right."} +{"scene_index": 637, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 638, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 639, "scene": "The black tea pot is positioned at the front, while the black tea cup is located to its left."} +{"scene_index": 640, "scene": "The black tea pot is on the left, and the black tea cup is also on the left, positioned side by side."} +{"scene_index": 641, "scene": "All three objectsβ€”a black tea pot, a tea cup, and a black tea cupβ€”are positioned to the right."} +{"scene_index": 642, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 643, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 644, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 645, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 646, "scene": "The black tea pot is positioned at the front right, while two black tea cups are located on the left (front) and back left."} +{"scene_index": 647, "scene": "Black tea pot is front left, black tea cup is on the right, and black tea is also front left."} +{"scene_index": 648, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 649, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 650, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 651, "scene": "Black tea pot is front right, black tea cup is left, and tea cup is back left."} +{"scene_index": 652, "scene": "The black tea pot is at front left, the black tea cup is on the right, and the black tea is also at front left."} +{"scene_index": 653, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to its right."} +{"scene_index": 654, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 655, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 656, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 657, "scene": "The black tea pot is positioned at the front right, the black tea cup is located at the back left, and the black tea is placed on the left."} +{"scene_index": 658, "scene": "The black tea pot is positioned to the right, and the black tea cup is positioned to the left."} +{"scene_index": 659, "scene": "The black tea pot is positioned at the front, while the black tea cup is placed to its left."} +{"scene_index": 660, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 661, "scene": "The black tea pot is positioned in front and to the right, while there are two black tea cupsβ€”one located on the left side and another at the back left."} +{"scene_index": 662, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 663, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 664, "scene": "The black tea cup is positioned on the left, while the black tea pot is located in the front right, establishing their spatial relationship within the scene."} +{"scene_index": 665, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 666, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the back left."} +{"scene_index": 667, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 668, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left."} +{"scene_index": 669, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 670, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to its right."} +{"scene_index": 671, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 672, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 673, "scene": "The black tea pot is positioned in front and to the right, while there are two black tea cupsβ€”one located on the left side and another at the back left."} +{"scene_index": 674, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 675, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 676, "scene": "The black tea pot is in the front right, with a black tea cup behind it on the right, another black tea cup behind it on the left, and black tea to its left."} +{"scene_index": 677, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 678, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 679, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 680, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 681, "scene": "The black tea pot is on the left, positioned next to the black tea cup on the right, with tea also located on the left."} +{"scene_index": 682, "scene": "The black tea pot is positioned to the left, while the black tea cup is located to the right."} +{"scene_index": 683, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 684, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 685, "scene": "The black tea pot is on the right side, and the black tea cup is on the left side."} +{"scene_index": 686, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 687, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 688, "scene": "The black tea cup is on the left, and the black tea pot is on the right."} +{"scene_index": 689, "scene": "The black tea pot is positioned on the left, while the black tea cup is located on the right."} +{"scene_index": 690, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 691, "scene": "The black tea pot is positioned in front and to the right, while there are two black tea cupsβ€”one located on the left side and another at the back left."} +{"scene_index": 692, "scene": "The black tea pot is positioned in front and to the right, while there are two black tea cupsβ€”one located on the left side and another at the back left."} +{"scene_index": 693, "scene": "The black tea pot is positioned at the front right, while there are three black tea cups located at the back left, left, and back right positions."} +{"scene_index": 694, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 695, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 696, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 697, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 698, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 699, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, establishing their spatial relationship within the scene."} +{"scene_index": 700, "scene": "The black tea pot is located at the front-right, the black tea cup is positioned at the back-left, and the black tea is placed on the left side."} +{"scene_index": 701, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 702, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 703, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 704, "scene": "The black tea pot, black tea cup, and black tea are all positioned in the front left area."} +{"scene_index": 705, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 706, "scene": "The black tea pot is positioned in the front left corner, while the black tea is placed in the front right. Additionally, a black tea cup is located in the front left area."} +{"scene_index": 707, "scene": "The black tea pot is located at the front-left, while the black tea cup is positioned on the right side."} +{"scene_index": 708, "scene": "The black tea pot is positioned at the front right, while two black tea cups are located on the left (front) and back left."} +{"scene_index": 709, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 710, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 711, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 712, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 713, "scene": "The black tea pot is positioned at the front right, the black tea cup is on the left, and the black tea is on the right."} +{"scene_index": 714, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 715, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 716, "scene": "The black tea is on the left, while two black tea cups are positioned diagonally at the back, one on the right and the other on the left."} +{"scene_index": 717, "scene": "The black tea pot is located at the front-left, while the black tea cup is positioned on the right side."} +{"scene_index": 718, "scene": "The black tea pot is positioned at front left, with two black tea cupsβ€”one at front left and another at front rightβ€”both placed near it."} +{"scene_index": 719, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 720, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to the right."} +{"scene_index": 721, "scene": "The black tea pot is positioned at the front, while there are two black tea cups located to the right and back left of it."} +{"scene_index": 722, "scene": "The black tea pot is positioned in front, while the black tea cup is placed to its left."} +{"scene_index": 723, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 724, "scene": "The black tea pot is positioned at the front, while the black tea cup is located to its left."} +{"scene_index": 725, "scene": "The black tea pot is at the front, with three black tea cups positioned respectively to its back left, left, and back right."} +{"scene_index": 726, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 727, "scene": "The black tea pot is on the left, and it holds the tea, which is also on the left. The black tea cup is on the right but not directly connected to the tea or the pot in this setup."} +{"scene_index": 728, "scene": "The black tea pot is at the front, and the black tea cup is to its left."} +{"scene_index": 729, "scene": "The black tea pot is on the left, and the black tea cup is on the right; the tea is also on the left."} +{"scene_index": 730, "scene": "The black tea pot is located at the front-left, while the black tea cup is positioned on the right side."} +{"scene_index": 731, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 732, "scene": "The black tea pot is located at the front-left, while the black tea cup is positioned on the right side."} +{"scene_index": 733, "scene": "The black tea pot is positioned in the front right, while the two black tea cups are located on the left (front) and back left."} +{"scene_index": 734, "scene": "The black tea pot, black tea cup, and black tea are all positioned at the front left."} +{"scene_index": 735, "scene": "The black tea pot is positioned at the front right, the black tea cup is at the front left, and the word black is located on the left."} +{"scene_index": 736, "scene": "The black tea pot is on the right, with two black tea cups positioned in front of itβ€”one to the right and one to the left."} +{"scene_index": 737, "scene": "The black tea pot is in front-left, positioned next to the black tea which is also in front-left."} +{"scene_index": 738, "scene": "The black tea pot is on the left, with the black tea cup also positioned to its left, while the black tea is located on the right."} +{"scene_index": 739, "scene": "The black tea pot is positioned at the front right, the black tea cup is located at the back left, and the item referred to as black is situated on the left."} +{"scene_index": 740, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 741, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the back left."} +{"scene_index": 742, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 743, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 744, "scene": "The black tea pot is located at the front right, the black tea cup is on the left, and another black object is also placed on the left."} +{"scene_index": 745, "scene": "The black tea pot is at the front right, with a black tea cup on the left and another black tea cup at the back left."} +{"scene_index": 746, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 747, "scene": "The black tea pot is positioned at front left, with two black tea cups also located at front left."} +{"scene_index": 748, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 749, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 750, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 751, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 752, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 753, "scene": "The black tea pot is positioned at the front right, the black tea cup is located at the back left, and the object labeled black is on the left."} +{"scene_index": 754, "scene": "The black tea pot is positioned at the front left, with the black tea cup also located in the front left. The black object is placed on the right side."} +{"scene_index": 755, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 756, "scene": "The black tea cup is positioned at the front right, while the black tea pot is located at the front left."} +{"scene_index": 757, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located at the left (front) and back left positions."} +{"scene_index": 758, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 759, "scene": "The black tea pot and black tea cup are both positioned at front left."} +{"scene_index": 760, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 761, "scene": "The black tea pot is on the left, and the black tea cup is in front left of it."} +{"scene_index": 762, "scene": "The black tea pot is on the left, with two black tea cups placed on either side (one on the left and one on the right), and the black tea is also on the left."} +{"scene_index": 763, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 764, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 765, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 766, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 767, "scene": "The black tea pot is on the left, with a black tea cup on the right. There is tea in the left position and another instance of tea also in the left position."} +{"scene_index": 768, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located to its right."} +{"scene_index": 769, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 770, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 771, "scene": "The black tea pot is on the right side and the black tea cup is on the left side."} +{"scene_index": 772, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 773, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 774, "scene": "The black tea pot is positioned at the front right, the black tea is on the left, and the black tea cup is located at the back left."} +{"scene_index": 775, "scene": "The black tea pot is at the front-right, positioned similarly to the tea, which is also in the front-right. The black tea cup is located on the left side."} +{"scene_index": 776, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 777, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 778, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 779, "scene": "The black tea pot is positioned at the front-left, while the black tea cup is located to the right."} +{"scene_index": 780, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 781, "scene": "The black tea pot is positioned at the front left, near the tea, while the black tea cup is located on the right side."} +{"scene_index": 782, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located on the left (one in front and one behind)."} +{"scene_index": 783, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} +{"scene_index": 784, "scene": "The black tea pot is located at the front-left, while the black tea is positioned on the right side."} +{"scene_index": 785, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located on the left side."} +{"scene_index": 786, "scene": "The black tea pot is positioned to the right, while the black tea cup is placed to the left."} +{"scene_index": 787, "scene": "The black tea pot is positioned to the right, while both black tea cups are on the left."} +{"scene_index": 788, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 789, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 790, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 791, "scene": "The black tea pot is located at the front right, while the black tea cup is positioned to its left."} +{"scene_index": 792, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 793, "scene": "The black tea pot is on the right side, and the black tea cup is positioned at the back left."} +{"scene_index": 794, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 795, "scene": "The black tea pot, black tea cup, and the color black are all positioned to the left."} +{"scene_index": 796, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 797, "scene": "The black tea pot is positioned at the front right, while the two black tea cups are located to the left and front left respectively."} +{"scene_index": 798, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the back left."} +{"scene_index": 799, "scene": "The black tea pot is positioned at the front right, the black tea is on the left, and the black tea cup is at the back left."} +{"scene_index": 800, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 801, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 802, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 803, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 804, "scene": "The black tea pot is positioned at the front, while the black tea cup is located at the back left."} +{"scene_index": 805, "scene": "The black tea pot is at the front right, the first black tea cup is at the back left, and the second black tea cup is at the back right."} +{"scene_index": 806, "scene": "The black tea pot is at the front right, the black tea is on the left, and the black tea cup is at the back left."} +{"scene_index": 807, "scene": "The black tea pot is on the right, and the black tea cup is in front and to the left of it."} +{"scene_index": 808, "scene": "The black tea pot and black tea cup are both located at the front left position."} +{"scene_index": 809, "scene": "Black tea pot is at front right, black tea cup is at left, cup is at back left."} +{"scene_index": 810, "scene": "The black tea pot is positioned to the right, while the black tea cup is located to the left."} +{"scene_index": 811, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 812, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located on the right."} +{"scene_index": 813, "scene": "The black tea pot is positioned at the front left, while the black tea cup is located at the front right."} +{"scene_index": 814, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 815, "scene": "- Black Tea Pot is positioned at the front. - The first Black Tea Cup is located to the left. - The second Black Tea Cup is placed to the back left. - A Black Tea is situated at the back right."} +{"scene_index": 816, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located at the front left, establishing their spatial relationship within the scene."} +{"scene_index": 817, "scene": "The black tea pot is positioned in the front right, while the two black tea cups are located on the left (front) and back left."} +{"scene_index": 818, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 819, "scene": "The black tea pot is positioned to the right, and the black tea cup is positioned to the left."} +{"scene_index": 820, "scene": "The black tea pot is on the right, and the black tea cup is in front and to the left of it."} +{"scene_index": 821, "scene": "The black tea pot is positioned at the front right, while the black tea cup is located to the left."} +{"scene_index": 822, "scene": "The black tea pot is on the left, and the black tea cup is on the right."} diff --git a/RMC-AIDA-L_pour_tea/annotations/subtask_annotations.jsonl b/RMC-AIDA-L_pour_tea/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b8b90bce8122e836524387cf90f9bc78c03a33eb --- /dev/null +++ b/RMC-AIDA-L_pour_tea/annotations/subtask_annotations.jsonl @@ -0,0 +1,16 @@ +{"subtask_index": 0, "subtask": "Pour tea into the teacup with the light gripper"} +{"subtask_index": 1, 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