Copy AIRBOT_MMK2_place_the_yellow_block into RoboCOIN_useable

AIRBOT_MMK2_place_the_yellow_block/.gitattributes

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+*.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
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+*.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

AIRBOT_MMK2_place_the_yellow_block/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—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: 10K-100K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# AIRBOT_MMK2_place_the_yellow_block
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `discover_robotics_aitbot_mmk2`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `five_finger_hand`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `lower`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 47 |
+| **Total Frames** | 10030 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 188 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 501.4MB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+Place the yellow square from the table onto the rubik's cube with one hand, and use your other hand to take the yellow square from the rubik's cube to the table.
+
+### Sub-Tasks
+This dataset includes 8 distinct subtasks:
+
+1. **Static** 
+2. **End** 
+3. **Abnormal** 
+4. **Grasp the yellow block with left gripper** 
+5. **Grasp the yellow block on the magic cube with right gripper** 
+6. **Place the yellow block on the magic cube with left gripper** 
+7. **Place the yellow block on the table with right gripper** 
+8. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 4 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
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:46
+
+
+## 📁 Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_third_view**: 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
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "discover_robotics_aitbot_mmk2", "total_episodes": 47, "total_frames": 10030, "total_tasks": 1, "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:46"}, "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.images.cam_third_view": {"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": [36], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "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", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "action": {"dtype": "float32", "shape": [36], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "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", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_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]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_right_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_third_view/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 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.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 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
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

AIRBOT_MMK2_place_the_yellow_block/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"}

AIRBOT_MMK2_place_the_yellow_block/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"}

AIRBOT_MMK2_place_the_yellow_block/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"}

AIRBOT_MMK2_place_the_yellow_block/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"}

AIRBOT_MMK2_place_the_yellow_block/annotations/gripper_mode_annotation.jsonl

@@ -0,0 +1,3 @@
+{"gripper_mode_index": 0, "gripper_mode": "open"}
+{"gripper_mode_index": 1, "gripper_mode": "closed"}
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+{"scene_index": 0, "scene": "Rubik s Cube is in the front right. The bowl is in the back left. Another bowl is in the front right. A cube is in the back. A bowl is in the front left. Another cube is in the back right. The green cylinder is in the front."}
+{"scene_index": 1, "scene": "Rubik s Cube is in the front-right position Green Cylinder is in the front position Bowl 1 is in the back-left position Cube 2 is also in the back-left position Bowl 3 is in the front-right position Bowl 4 is in the front-left position Cube 5 is in the back-right position"}
+{"scene_index": 2, "scene": "The Rubik s Cube is in the front-right position, one of two cubes located there, while a green cylinder sits at the front. A bowl is placed in the front-left and another bowl in the back-left. Additionally, two bowls are positioned at the back, one on the right side."}
+{"scene_index": 3, "scene": "The Rubik s Cube is in the front-right position and shares its location with the bowl. A cube is at the back, while another cube is in the back-right corner. Two bowls are placed on the back left and front-left positions. Additionally, a green cylinder is positioned in the front area."}
+{"scene_index": 4, "scene": "The Rubik's Cube is on Front Right, The Bowl is on Back Left, The Cube is on Back, The Green Cylinder is on Front, The Bowl is on Front Right, The Bowl is on Front Left, The Cube is on Back Right."}
+{"scene_index": 5, "scene": "Rubik’s Cube is front right, Green Cylinder is front, Bowl is back left, Cube is back left, Bowl is front left, Cube is back right, Bowl is front right."}
+{"scene_index": 6, "scene": "The Rubik's cube is in the front-right position. The bowl is in the back-left position. The green cylinder is in the front position. Another bowl is in the front-right position. Another bowl is in the front-left position. A cube is in the back-right position. Another cube is in the back position."}
+{"scene_index": 7, "scene": "The Rubik’s cube is in the front right, the bowl is in the back left, the cube is in the back, another bowl is in the front right, a third bowl is in the front left, another cube is in the back right, and the green cylinder is in the front."}
+{"scene_index": 8, "scene": "A Rubik s Cube is at front right, two bowls are at back left and front left, a green cylinder is at front, and two cubes are at back."}
+{"scene_index": 9, "scene": "Rubik’s Cube is in the front-right position. Bowl is in the back-left position. Green Cylinder is in the front position. Cube is in the back position. Bowl is in the front-left position. Cube is in the back-right position."}
+{"scene_index": 10, "scene": "The rubik cube is at front right. The first bowl is at back left. The first cube is at back left. The second bowl is at front right. The third bowl is at front left. The second cube is at back right."}
+{"scene_index": 11, "scene": "The Rubik s Cube is at the front, while a green cylinder is also in front. Two bowls are located at the front left and front right positions, and two cubes are placed at the back left and back right."}
+{"scene_index": 12, "scene": "Rubik s Cube is located at the front right bowl is placed at the back left another cube is positioned at the back left the green cylinder is situated at the front a bowl is also located at the front right there is another bowl at the front left and lastly a cube is positioned at the back right."}
+{"scene_index": 13, "scene": "Rubik s Cube is in the front right Cubes are positioned at both back and back right Bowls are located in the back left front right and front left The green cylinder is at the front"}
+{"scene_index": 14, "scene": "The Rubik s Cube is in the front, two bowls are on the back left and front right, one cube is at the back, a green cylinder is in the front, and another bowl is on the front left."}
+{"scene_index": 15, "scene": "The Rubik's Cube is located at Front Right. The Bowl is located at Back Left. The Cube is located at Back Left (same position as the bowl). The Green Cylinder is located at Front. The Bowl is located at Front Right. The Bowl is located at Front Left. The Cube is located at Back Right."}
+{"scene_index": 16, "scene": "bowl back left rubik s cube front right cube back left green cylinder front bowl front right bowl front left cube back right"}
+{"scene_index": 17, "scene": "Rubik’s Cube is in the front-right position, bowl is in the back-left position, cube is in the back position, green cylinder is in the front position, bowl is in the front-right position, bowl is in the front-left position, and cube is in the back-right position."}
+{"scene_index": 18, "scene": "The Rubik’s Cube is located at the front. A bowl is placed at the back left. Another bowl is situated at the front right. A third bowl is positioned at the front left. A green cylinder is located at the front. The cube is placed at the back right and another cube is at the back."}
+{"scene_index": 19, "scene": "The Rubik’s Cube is in the front-right position, the green cylinder is in the front position, there are three bowls: one in the back-left, one in the front-right, and one in the front-left positions, and there are two cubes: one in the back position and another in the back-right position."}
+{"scene_index": 20, "scene": "Rubik s Cube is in the front-right, a second cube is at the back-right, two bowls are located in the front-left and front-right, another bowl is at the back-left, and the green cylinder is in the front."}
+{"scene_index": 21, "scene": "The Rubik's Cube is located in the front right. A bowl is positioned at the back left alongside the green cylinder. Another bowl is placed in the front right. A cube is situated at the back. Lastly, a cube is positioned at the back right."}
+{"scene_index": 22, "scene": "Rubik's Cube: Front Right, Bowl: Back Left, Cube: Back, Bowl: Front Right, Green Cylinder: Front, Bowl: Front Left, Cube: Back Right."}
+{"scene_index": 23, "scene": "The Rubik is in the front. A bowl is in the back left. A cube is in the back. Another bowl is in the front left. Another cube is in the back right. The green cylinder is in the front. Another bowl is in the front right."}
+{"scene_index": 24, "scene": "The Rubik s Cube is in the front-right position, one cube is at the back-left, another cube is at the back-right, a green cylinder is at the front, and two bowls are located at the front-left and back positions."}
+{"scene_index": 25, "scene": "The rubik's cube is in front right, the bowl is in back left, the green cylinder is in front, the cube is in back, the bowl is in front left, the cube is in back right, and the bowl is in front right."}
+{"scene_index": 26, "scene": "The Rubik s Cube is in the front-right position, while a cube and two bowls are both located at the back-left. A green cylinder is placed at the front, with another bowl situated at the front-right and a third bowl positioned at the front-left."}
+{"scene_index": 27, "scene": "Rubik s Cube is in the front-right position; a cube is in the back position; two bowls are located at the back-left and front-left positions; another bowl is placed at the front-right; a green cylinder is situated at the front."}
+{"scene_index": 28, "scene": "Rubik s Cube is in the front-right position Bowl 1 is at the back-left Cube 2 is at the back Bowl 2 is at the front-right Bowl 3 is at the front-left Cube 3 is at the back-right Green Cylinder is in the front position"}
+{"scene_index": 29, "scene": "The Rubik s Cube is in the front-right position, the green cylinder is in the front position, one bowl is in the front-left position, another bowl is in the back-left position, and the cube is in the back-right position."}
+{"scene_index": 30, "scene": "The Rubik s cube is in the front-right position, and a green cylinder is at the front. A bowl is located back-left, another bowl is front-right, a third bowl is front-left, and two cubes are placed back-right and back positions respectively."}
+{"scene_index": 31, "scene": "Rubik’s Cube is in the front right position Bowl 1 (front right) and Bowl 2 (front left) are both bowls positioned in the front row with Bowl 1 on the right side and Bowl 2 on the left side Cube 1 is located at the back left while Cube 2 is at the back right Both cubes are positioned in the back row diagonally opposite each other The green cylinder is placed centrally in the front row"}
+{"scene_index": 32, "scene": "The Rubik s Cube is in the front-right position. There are two cubes: one in the back and another in the back-right position. The green cylinder is at the front. There are three bowls: one in the back-left, one in the front-right, and one in the front-left positions."}
+{"scene_index": 33, "scene": "Rubik’s Cube is positioned in the front right. The cube is located at the back. A bowl is placed in the back left. The green cylinder is situated at the front. Another bowl is at the front right. Additionally, a bowl is positioned at the front left. Lastly, there is another cube at the back right."}
+{"scene_index": 34, "scene": "The Rubik’s Cube is located at the front right. The first bowl is positioned at the back left. The green cylinder is in front. The second and third bowls are both placed at the front right."}
+{"scene_index": 35, "scene": "The Rubik s Cube is in the front right position, a cube is at the back, a green cylinder is in the front, and there are three bowls located in the back left, front right, and front left positions."}
+{"scene_index": 36, "scene": "Rubik's Cube is in the front right. Bowl first is in the back left. Cube second is also in the back left. Green Cylinder is in the front. Bowl second is in the front left. Cube third is in the back right."}
+{"scene_index": 37, "scene": "Rubik’s Cube is in the front-right position. The first Bowl is located at the back-left. The second Bowl is placed at the front-right. The third Bowl is situated at the front-left. A green Cylinder is positioned in front. The first Cube is at the back. The second Cube is at the back-right."}
+{"scene_index": 38, "scene": "The Rubik's Cube is in the front right. The Bowl is in the back left. The Green Cylinder is in front. The Cube is in the back. The Bowl is in the front left. The Cube is in the back right. The Bowl is in the front right."}
+{"scene_index": 39, "scene": "The Rubik’s Cube is located at the front right A bowl is situated at the back left Another bowl is placed at the front right The green cylinder is on the left side A cube is positioned at the back There is also a bowl at the front left Additionally a cube is located at the back right."}
+{"scene_index": 40, "scene": "The Rubik’s Cube is in the front right. One cube is at the back. A bowl is at the back left. Another bowl is at the front right. The green cylinder is at the front left. A third bowl is also at the front left. Lastly, a cube is at the back right."}
+{"scene_index": 41, "scene": "The Rubik's Cube is on the front right. The bowl is on the back left. The green cylinder is on the front. The bowl is on the front left. The cube is on the back right. The bowl is on the front right. The cube is on the back."}
+{"scene_index": 42, "scene": "Rubik's Cube is in the front right, Bowl is in the back left, Cube is in the back, Another bowl is in the front right, A third bowl is in the front left, Another cube is in the back right, Green cylinder is in the front."}
+{"scene_index": 43, "scene": "Rubik’s Cube is on Front Right; Bowl (1) is on Back Left; Cube (2) is on Back; Bowl (3) is on Front Right; Bowl (4) is on Front Left; Green Cylinder is on Front."}
+{"scene_index": 44, "scene": "The Rubik s Cube is in front right, one bowl is in back left, another bowl is in front left, the cube is in back right, and the green cylinder is in front."}
+{"scene_index": 45, "scene": "The bowl is at the back left, the cube is at the back, the Rubik s cube is at the front, another bowl is at the front right, a third bowl is at the front left, another cube is at the back right, and the green cylinder is at the front."}
+{"scene_index": 46, "scene": "The Rubik's Cube is on the front. A bowl is at the back left. There's another cube in the back left, same as the bowl. The green cylinder is on the front left. There's a bowl at the front left. A cube is positioned at the back right. And there's a green cylinder on the front."}
+{"scene_index": 47, "scene": "The Rubik s Cube is in the front right, a green cylinder is in the front, two bowls are in the front right and front left, one cube is at the back, another cube is at the back right, and a bowl is at the back left."}

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+{"subtask_index": 4, "subtask": "Grasp the yellow block on the magic cube with right gripper"}
+{"subtask_index": 5, "subtask": "Place the yellow block on the magic cube with left gripper"}
+{"subtask_index": 6, "subtask": "Place the yellow block on the table with right gripper"}
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