diff --git a/RMC-AIDA-L_place_the_fruits_repeatedly/.gitattributes b/RMC-AIDA-L_place_the_fruits_repeatedly/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/RMC-AIDA-L_place_the_fruits_repeatedly/.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_place_the_fruits_repeatedly/README.md b/RMC-AIDA-L_place_the_fruits_repeatedly/README.md new file mode 100644 index 0000000000000000000000000000000000000000..f2898c2d6f3e614131b280be9cdc583351f5eb04 --- /dev/null +++ b/RMC-AIDA-L_place_the_fruits_repeatedly/README.md @@ -0,0 +1,345 @@ +--- +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_place_the_fruits_repeatedly + +## 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: +- `kitchen` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` +- `place` +- `pick` +- `pour` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 481 | +| **Total Frames** | 541540 | +| **Total Tasks** | 8 | +| **Total Videos** | 1443 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 3.7GB | + + +## 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 +put the bread into the blue bowl and pour it out repeatedly. +put the egg yolk pastry into the blue bowl and pour it out repeatedly. +put the orange into the blue bowl and pour it out repeatedly. +put the peach into the blue bowl and pour it out repeatedly. +put the bread into the pink bowl and pour it out repeatedly. +put the egg yolk pastry into the pink bowl and pour it out repeatedly. +put the orange into the pink bowl and pour it out repeatedly. +put the peach into the pink bowl and pour it out repeatedly. + +### Sub-Tasks +This dataset includes 17 distinct subtasks: + +1. **Pick up the bowl with the left gripper** +2. **Place the bread into the bowl** +3. **abnormal** +4. **Pick up the egg yolk pastry with the right gripper** +5. **Pour the egg yolk pastry out of bowl** +6. **Pour the orange out of the bowl** +7. **Place the peach into the bowl** +8. **Pour the peach out of bowl** +9. **Place the egg yolk pastry into the bowl** +10. **Pick up the bread with the right gripper** +11. **Pick up the peach with the right gripper** +12. **Pour the bread out of the bowl** +13. **end** +14. **Place the bowl on the table** +15. **Place the orange into the bowl** +16. **Pick up the orange with the right gripper** +17. **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 0:480 + + +## 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": 481, "total_frames": 541540, "total_tasks": 8, "total_videos": 1443, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:480"}, "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_place_the_fruits_repeatedly_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_place_the_fruits_repeatedly/annotations/eef_acc_mag_annotation.jsonl b/RMC-AIDA-L_place_the_fruits_repeatedly/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/RMC-AIDA-L_place_the_fruits_repeatedly/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_place_the_fruits_repeatedly/annotations/eef_direction_annotation.jsonl b/RMC-AIDA-L_place_the_fruits_repeatedly/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/RMC-AIDA-L_place_the_fruits_repeatedly/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_place_the_fruits_repeatedly/annotations/eef_velocity_annotation.jsonl b/RMC-AIDA-L_place_the_fruits_repeatedly/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/RMC-AIDA-L_place_the_fruits_repeatedly/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_place_the_fruits_repeatedly/annotations/gripper_activity_annotation.jsonl b/RMC-AIDA-L_place_the_fruits_repeatedly/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/RMC-AIDA-L_place_the_fruits_repeatedly/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_place_the_fruits_repeatedly/annotations/gripper_mode_annotation.jsonl b/RMC-AIDA-L_place_the_fruits_repeatedly/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/RMC-AIDA-L_place_the_fruits_repeatedly/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_place_the_fruits_repeatedly/annotations/scene_annotations.jsonl b/RMC-AIDA-L_place_the_fruits_repeatedly/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90478760831bf0fdc2e9c492d6a68abe8794f65b --- /dev/null +++ b/RMC-AIDA-L_place_the_fruits_repeatedly/annotations/scene_annotations.jsonl @@ -0,0 +1,500 @@ +{"scene_index": 0, "scene": "The long bread is at back right, the pink peach is also at back right, the bowl is in the center, the egg yolk pastry is on the right, and the tangerine is also on the right."} +{"scene_index": 1, "scene": "The long bread is at the back right, next to the egg yolk pastry tangerine peach. The bowl is at the back left. The pink peach is in the center, and the egg yolk pastry is on the right."} +{"scene_index": 2, "scene": "The long bread is at the back right, the bowl is at the back left, the pink peach is on the right, and the egg yolk pastry is in the center."} +{"scene_index": 3, "scene": "The pink peach is at the back right, positioned behind the long bread which shares the same back right location, while the bowl is on the right side."} +{"scene_index": 4, "scene": "The bowl is on the left, and the pink peach is located at the back right."} +{"scene_index": 5, "scene": "The bowl is on the right. The long bread is at the back right. The pink peach is also at the back right. The egg yolk pastry is on the right as well."} +{"scene_index": 6, "scene": "The bowl is at the center, with a pink peach to its right, a long bread in front, and an egg yolk pastry also on the right. A tangerine is positioned at the back right."} +{"scene_index": 7, "scene": "The bowl is located at the back left, while the pink peach is positioned at the back right."} +{"scene_index": 8, "scene": "Bowl is back. Tangerine is back right. Long is left."} +{"scene_index": 9, "scene": "The long bread is positioned at the back right, alongside the pink peach, which shares the same back right location. The egg yolk pastry is in front, while the bowl is placed at the back left. Additionally, the tangerine is located on the right side."} +{"scene_index": 10, "scene": "The bowl is on the left, and the pink peach is on the right."} +{"scene_index": 11, "scene": "The bowl is located at the back left, with the long bread also positioned at the back right. The tangerine is on the right side, while the pink peach sits centrally. Additionally, there s an egg yolk pastry at the back right, sharing that space with the long bread."} +{"scene_index": 12, "scene": "The bowl is on the right side, with a pink peach and a long piece of bread both located at the back right."} +{"scene_index": 13, "scene": "long bread is at back right bowl is at back left pink peach and tangerine are both on the right egg yolk pastry is at front left"} +{"scene_index": 14, "scene": "The bowl is on the left, the long bread is in the center, the pink peach and egg yolk pastry are at the back right, and the tangerine is on the right."} +{"scene_index": 15, "scene": "The bowl is located at the back left, while the pink peach is positioned at the back right."} +{"scene_index": 16, "scene": "The bowl is located at the back left, while the egg yolk pastry, pink peach, and other items are positioned at the back right."} +{"scene_index": 17, "scene": "The long bread is positioned at the back right, the bowl is in the center, and both the egg yolk pastry and the tangerine are on the right side."} +{"scene_index": 18, "scene": "The bowl is on the left, and the pink peach is on the right."} +{"scene_index": 19, "scene": "The bowl is at the back left, while the pink peach and long bread are both at the back right."} +{"scene_index": 20, "scene": "The long bread is in front, the bowl is at back left, the pink peach is on the right, the egg yolk pastry and tangerine are both at back right."} +{"scene_index": 21, "scene": "The long bread is at the center, the bowl is on the left, and the tangerine is on the right. The pink peach and egg yolk pastry are positioned at the back right."} +{"scene_index": 22, "scene": "The bowl is positioned at the back left, while the pastry (pink peach) and egglk are both located at the back right."} +{"scene_index": 23, "scene": "The bowl is located at the back-left position, while the tangerine is positioned at the back-right."} +{"scene_index": 24, "scene": "Long bread is located at the back right, bowl is positioned to the right, pink peach is on the right side, and egg yolk pastry is also placed on the right."} +{"scene_index": 25, "scene": "The bowl is positioned at the back left, while the egg yolk pastry is located at the back right."} +{"scene_index": 26, "scene": "The bowl is on the left, while the long bread, pink peach, tangerine, and egg yolk pastry are all positioned at the back and right sides."} +{"scene_index": 27, "scene": "The long bread is at the back right, positioned alongside the egg yolk pastry. The bowl is on the left, while the tangerine and pink peach are both on the right."} +{"scene_index": 28, "scene": "Bowl is at center, long bread is at right, pink peach is at center, egg yolk pastry is at back right, tangerine is at front right."} +{"scene_index": 29, "scene": "The long bread is at the back right, next to the pink peach which is also at the back right. The bowl is located at the back."} +{"scene_index": 30, "scene": "The bowl is positioned at the back left."} +{"scene_index": 31, "scene": "The bowl is on the right, with a pink peach and a long bread placed at the back right."} +{"scene_index": 32, "scene": "The bowl is centered, while the pink peach is positioned at the back right."} +{"scene_index": 33, "scene": "The bowl is on the left, with long bread, a pink peach, and an egg yolk pastry positioned at the back right, while the tangerine is placed in the front right."} +{"scene_index": 34, "scene": "The bowl is on the left, and the pink peach is on the right."} +{"scene_index": 35, "scene": "The bowl is on the left, and the pink peach is located at the back right."} +{"scene_index": 36, "scene": "The long bread is at the back right, while the bowl, pink peach, and egg yolk pastry are all positioned to the right."} +{"scene_index": 37, "scene": "The bowl is positioned at the back, while the tangerine pink peach and egglk are both located at the back right."} +{"scene_index": 38, "scene": "The bowl is located at the back left, with the pink peach and the long bread both positioned at the back right."} +{"scene_index": 39, "scene": "The long bread is at the back right, near the bowl and tangerine. The pink peach is on the right. The egg yolk pastry is also on the right."} +{"scene_index": 40, "scene": "The bowl is located at the back left, while the pink peach, long bread, tangerine, and egg yolk pastry are all positioned on the right side."} +{"scene_index": 41, "scene": "The bowl is on the left, the pink peach is at the back right."} +{"scene_index": 42, "scene": "The bowl, pink peach, and long bread are all positioned to the right."} +{"scene_index": 43, "scene": "The bowl is positioned at the back left, with the long bread placed on the right. The pink peach and egg yolk pastry are both located at the back right, while the tangerine is situated on the right side as well."} +{"scene_index": 44, "scene": "The long bread is on the right side, the bowl is at the back, the pink peach is in the front-right area, and both the egg yolk pastry and tangerine are located at the back right."} +{"scene_index": 45, "scene": "The tangerine is at the back right, the bowl is at the back, and the egg yolk is also at the back right."} +{"scene_index": 46, "scene": "Long bread is on the right; bowl is on the left; pink peach and egg yolk pastry are both in the back right, with the tangerine also positioned there."} +{"scene_index": 47, "scene": "Bowl is at back left, pink peach and egglk are both at back right."} +{"scene_index": 48, "scene": "The bowl is located at the back left, while the pink peach is positioned at the back right."} +{"scene_index": 49, "scene": "The bowl is located at the back-left position."} +{"scene_index": 50, "scene": "The bowl is located at the back left, while the pink peach is positioned at the back right."} +{"scene_index": 51, "scene": "The long bread is at back right, next to the egg yolk pastry; the bowl is at back left; the tangerine and pink peach are both on the right side."} +{"scene_index": 52, "scene": "The bowl is positioned to the right, while the long pink bread is located at the back right."} +{"scene_index": 53, "scene": "The bowl is on the left, and the long bread is at the back right."} +{"scene_index": 54, "scene": "Long bread is located at back right. Bowl is located at center. Pink peach is located at right. Pink peach is located at right. Egg yolk pastry is located at back right."} +{"scene_index": 55, "scene": "The bowl is at the back left, while both the pink peach and egg yolk pastry are positioned at the back right."} +{"scene_index": 56, "scene": "The bowl is on the right, and the long bread is also on the right."} +{"scene_index": 57, "scene": "The bowl is in the center, the long bread is at the back right, the pink peach is on the right, and the egg yolk pastry is at the back right."} +{"scene_index": 58, "scene": "The bowl is on the right, with a pink peach and a long bread both located at the back right."} +{"scene_index": 59, "scene": "The bowl is on the left, and the pink peach is located at the back right."} +{"scene_index": 60, "scene": "The long bread is on the right, the bowl is at the back left, the egg yolk pastry is in front, and the pink peach is at the back right."} +{"scene_index": 61, "scene": "The bowl is positioned at the back left, while the tangerine pink peach is located at the back right."} +{"scene_index": 62, "scene": "The bowl is on the left, and the pink peach is located at the back right."} +{"scene_index": 63, "scene": "The long bread is at the back right, near the pink peach and bowl. The egg yolk pastry is at the front right, while the tangerine is in front."} +{"scene_index": 64, "scene": "The long bread is on the right side, near the pink peach also on the right. The bowl is in the center, and there s another pink peach at the back right, positioned behind or slightly to the rear of the other pink peach but still within the same general area."} +{"scene_index": 65, "scene": "The bowl is on the left, and the long bread is at the back right."} +{"scene_index": 66, "scene": "The bowl is positioned at the back, while the tangerine, pink peach is located at the back right."} +{"scene_index": 67, "scene": "bowl is on the left long bread is on the right pink peach is in front of the right egg yolk pastry is at the back right egg yolk pastry and tangerine are both at the back right."} +{"scene_index": 68, "scene": "The long bread is on the right side, the bowl is at the back, the pink peach is also on the right, the egg yolk pastry is in the back-right area, and the tangerine is at the front."} +{"scene_index": 69, "scene": "The long bread is at the back right, the bowl is at the back left, the pink peach is in the center, the egg yolk pastry is also at the back right, and the tangerine is on the right."} +{"scene_index": 70, "scene": "The bowl is on the left side, while the pink peach is positioned at the back right."} +{"scene_index": 71, "scene": "The bowl is at the center, a long bread is on the right, and both the pink peach and tangerine are positioned at the back right along with an egg yolk pastry also on the right."} +{"scene_index": 72, "scene": "The long bread is at the back right, the bowl is at the back left, the pink peach is at the front right, the egg yolk pastry is in the center, and the tangerine is on the right."} +{"scene_index": 73, "scene": "The long bread is on the right, the bowl is at the back left, the pink peach is at the back right, the egg yolk pastry is in front, and the tangerine is on the right."} +{"scene_index": 74, "scene": "The bowl is on the left, while the long bread, pink peach, tangerine, and egg yolk pastry are all located at the back right."} +{"scene_index": 75, "scene": "The bowl is on the left, while to its right are the long bread and pink peach. Both the egg pink peach and egg yolk pastry are positioned at the back right."} +{"scene_index": 76, "scene": "The bowl is located at the back left while the tangerine is situated at the back right sharing the same rear area with another object labeled as lk which is also positioned at the back right."} +{"scene_index": 77, "scene": "The long bread is on the right, the bowl is in the center with a pink peach inside it, and the egg yolk pastry is also on the right."} +{"scene_index": 78, "scene": "A long bread is positioned on the right, a bowl is placed in the center, a pink peach is located on the right, a tangerine is situated at the back right, and an egg yolk pastry pink peach is found at the back right."} +{"scene_index": 79, "scene": "The long bread is at the back right, sharing its position with the pink peach. The bowl is centered, while the egg yolk pastry and tangerine are both on the right side."} +{"scene_index": 80, "scene": "The long bread is positioned at the back right, sharing its location with the pink peach. The bowl is placed at the back left. On the right side, there are two items: the egg yolk pastry and the tangerine."} +{"scene_index": 81, "scene": "The bowl is at the back, and the egg yolk is also at the back."} +{"scene_index": 82, "scene": "The bowl is located at the back left, while the egg yolk pastry, pink peach, and other related items are positioned at the back right."} +{"scene_index": 83, "scene": "The long bread is positioned at the back right, sharing that space with the tangerine and the pink peach. The bowl is located at the back left, while the egg yolk pastry is placed on the right side."} +{"scene_index": 84, "scene": "The bowl is on the right side, and the long bread is located at the back right position."} +{"scene_index": 85, "scene": "The bowl is at the back, with the long bread and pink peach positioned behind it on the back right. The egg yolk pastry and tangerine are placed to the right of the bowl."} +{"scene_index": 86, "scene": "The pink peach is located at the back right, while the bowl is positioned on the left."} +{"scene_index": 87, "scene": "The long bread is on the right, the bowl is in the center, the pink peach and the tangerine are at the back right, and the egg yolk pastry is also on the right."} +{"scene_index": 88, "scene": "The long bread is on the right, the bowl is in the center, and both the pink peach and the peach are at the back right. The egg yolk pastry is also on the right."} +{"scene_index": 89, "scene": "The bowl is at the back, and the peach is located at the back right relative to it."} +{"scene_index": 90, "scene": "The bowl is located at the back, while the pink peach is positioned at the back right relative to it."} +{"scene_index": 91, "scene": "Long bread is on the right. Bowl is in the center. Pink peach and egg yolk pastry are at the back right."} +{"scene_index": 92, "scene": "The bowl is located at the back left, while the tangerine is positioned at the back right."} +{"scene_index": 93, "scene": "The bowl is on the left, the long bread is on the right, the pink peach and the egg yolk pastry are both at the back right, and the tangerine is also on the right."} +{"scene_index": 94, "scene": "The bowl is positioned at the back, while the pink peach is located at the back right."} +{"scene_index": 95, "scene": "The bowl is at the center, with the pink peach on the right side. The long bread is also on the right, near the pink peach. The egg yolk pastry and a regular peach are positioned at the back right, close to each other."} +{"scene_index": 96, "scene": "The bowl is located at the back left, while the long bread is positioned at the back right."} +{"scene_index": 97, "scene": "The long bread is at the back right, the tangerine is also at the back right, the pink peach and the bowl are both on the right side with the pink peach in the foreground near the bowl."} +{"scene_index": 98, "scene": "The long bread is at back right, the bowl is in the center, the pink peach is at back right (possibly with the long bread), the egg yolk pastry and tangerine are both at front right."} +{"scene_index": 99, "scene": "The bowl is located at back left. The long bread is located at right. The pink peach is located at back right. The egg yolk pastry is located at front right."} +{"scene_index": 100, "scene": "The bowl is at the back left, while the long bread, pink peach, and egg yolk pastry are all positioned on the back right."} +{"scene_index": 101, "scene": "The bowl is on the left, and the pink peach is on the right."} +{"scene_index": 102, "scene": "The bowl is positioned at the back, while the tangerine is located at the back right."} +{"scene_index": 103, "scene": "The bowl is on the right side, with a pink peach and a long piece of bread both located at the back right."} +{"scene_index": 104, "scene": "The bowl is at the back, and the tangerine is located at the back right."} +{"scene_index": 105, "scene": "The bowl is positioned at the back left, while the pink peach is located at the back right."} +{"scene_index": 106, "scene": "The bowl is on the left, while to its right are the long bread and pink peach. Behind the right side, there s an egg yolk pastry at the back right, and in front of that, a tangerine is placed at the front right."} +{"scene_index": 107, "scene": "The bowl is on the right side, with a pink peach and a long piece of bread positioned at the back right."} +{"scene_index": 108, "scene": "The bowl is at the back, with the long bread and pink peach on the right side; the egg yolk pastry is positioned in front of them on the right."} +{"scene_index": 109, "scene": "The bowl is on the left, the long bread and egg yolk pastry are at the back right, while the pink peach and tangerine are both on the right."} +{"scene_index": 110, "scene": "The long bread and pink peach are both located at the back right, while the bowl is positioned on the right."} +{"scene_index": 111, "scene": "The bowl is positioned at the back left of the scene. To its back right are the long bread and a tangerine. On the right side are a pink peach and an egg yolk pastry."} +{"scene_index": 112, "scene": "The long bread is at back right, bowl on left, egg yolk pastry and pink peach are both on the right."} +{"scene_index": 113, "scene": "The long bread is at the back right, the bowl is at the back left, the pink peach and egg yolk pastry are both on the right, with the tangerine also at the back right."} +{"scene_index": 114, "scene": "The bowl is positioned at the back left. The long bread and pink peach are both at the back right. The egg yolk pastry and tangerine are on the right side."} +{"scene_index": 115, "scene": "The long bread is at the back right, the bowl is on the left, the pink peach and the egg yolk pastry are both on the right."} +{"scene_index": 116, "scene": "The bowl is on the left, while a pink peach and long bread are both on the right. The egg yolk pastry and tangerine are at the back right."} +{"scene_index": 117, "scene": "The bowl is positioned at the back left, the long bread is at the back right, and two pink peaches are on the right."} +{"scene_index": 118, "scene": "The long bread is at the back right, the bowl is on the left, the pink peach and egg yolk pastry are both on the right."} +{"scene_index": 119, "scene": "The long bread is positioned at the back right, the bowl at the back left, while the pink peach, egg yolk pastry, and tangerine are all located on the right side."} +{"scene_index": 120, "scene": "The long bread is at the back right, while all other objects (bowl, pink peach, tangerine, and egg yolk pastry) are positioned to the right."} +{"scene_index": 121, "scene": "The bowl is on the right side, and the long bread is located at the back right, indicating their positions relative to each other in the scene."} +{"scene_index": 122, "scene": "The long bread is on the right, the bowl is at the back, and both the pink peach and egg yolk pastry are in the back right area, while the tangerine is also on the right."} +{"scene_index": 123, "scene": "The bowl is on the right, with a pink peach and a long loaf of bread both positioned at the back right."} +{"scene_index": 124, "scene": "The bowl is at the center. The long bread, pink peach, and tangerine are all positioned in the back right area. The egg yolk pastry is located in the front right spot."} +{"scene_index": 125, "scene": "The bowl is on the left, while the long bread, pink peach, egg yolk pastry, and tangerine are all positioned at the back right."} +{"scene_index": 126, "scene": "Long Bread is located in the back right Bowl is on the left Pink Peach is in the back right Egg Yolk Pastry is also in the back right"} +{"scene_index": 127, "scene": "The bowl is on the right, with a pink peach and a long bread placed at the back right."} +{"scene_index": 128, "scene": "The bowl is on the left, and the tangerine is on the right."} +{"scene_index": 129, "scene": "The Bowl is placed at Center, The Long Bread is positioned at Front Right, The Pink Peach is located at Back Right, The Tangerine Pink Peach is situated at Front Right, and The Egg Yolk Pastry is found at Back Right."} +{"scene_index": 130, "scene": "The bowl is on the left, and the pink peach is on the right."} +{"scene_index": 131, "scene": "The bowl is positioned on the left, while the pink peach is placed on the right."} +{"scene_index": 132, "scene": "Bowl is located at Back, Long Bread is located at Back Right, Pink Peach is located at Back Right, Tangerine is located at Right, and Egg Yolk Pastry is located at Back Right."} +{"scene_index": 133, "scene": "The bowl is positioned at the back left, while the egg yolk pastry and peach are together at the back right."} +{"scene_index": 134, "scene": "The bowl is at the back, and the tangerine is located at the back right."} +{"scene_index": 135, "scene": "Long bread is on the right, bowl is in the center, pink peach is on the right, peach is at the back right, and egg yolk pastry is on the right."} +{"scene_index": 136, "scene": "Long bread is on the right, bowl is at the back left, two pink peaches are both at the back right, and egg yolk pastry is also on the right."} +{"scene_index": 137, "scene": "The long bread is at back right, sharing its position with the egg yolk pastry. The bowl is centered. On the right side are the pink peach and tangerine."} +{"scene_index": 138, "scene": "The bowl is located at the back left, while the tangerine pink peach is positioned at the back right."} +{"scene_index": 139, "scene": "The long bread is at the back right, near the egg yolk pastry also located there. The bowl is positioned at the back left, while the pink peach is on the right side."} +{"scene_index": 140, "scene": "Long bread is at back right, bowl is at back, egg yolk pastry and pink peach are both on the right, with another pink peach at back right."} +{"scene_index": 141, "scene": "The bowl is positioned at the back left, while the pink peach and long bread egglo are both located at the back right."} +{"scene_index": 142, "scene": "The bowl is on the left, while both the pink peach and the long bread are positioned to its right."} +{"scene_index": 143, "scene": "The bowl is positioned at the back left, while the pink peach is located at the back right."} +{"scene_index": 144, "scene": "The bowl is on the left, while both the pink peach and the long bread are positioned to its right."} +{"scene_index": 145, "scene": "The long bread is at back right, the pink peach is in the center, the egg yolk pastry is at back right, the bowl is at back left, and the tangerine is on the right."} +{"scene_index": 146, "scene": "The long bread is at the back right, sharing the same position as the egg yolk pastry; the bowl is centered, while the pink peach and tangerine are both on the right side."} +{"scene_index": 147, "scene": "The bowl is on the left side, while the pink peach is positioned at the back right."} +{"scene_index": 148, "scene": "The bowl is positioned at the back left, while the pink peach is located at the back right."} +{"scene_index": 149, "scene": "The bowl is on the left, while a pink peach and a long piece of bread are both on the right side."} +{"scene_index": 150, "scene": "The long bread is at the back right, the bowl is on the left, and the pink peach is on the right."} +{"scene_index": 151, "scene": "The bowl is located at the back-left, while the pink peach is positioned at the back-right."} +{"scene_index": 152, "scene": "The bowl is on the right, with a pink peach and a long loaf of bread both positioned at the back right."} +{"scene_index": 153, "scene": "Long bread is at back right, bowl at back left, pink peach and tangerine are both at back right, and egg yolk pastry is at front right."} +{"scene_index": 154, "scene": "The bowl is positioned at the back left location."} +{"scene_index": 155, "scene": "The bowl is positioned at the back, while the pink peach is located at the back right relative to it."} +{"scene_index": 156, "scene": "The bowl is located at the back left, while the egg is positioned at the back right."} +{"scene_index": 157, "scene": "Bowl is on the left; long bread is at the back right; pink peach and egg yolk pastry are both on the right; peach is at the back right."} +{"scene_index": 158, "scene": "The long bread is at the back right, two egg yolk pastries are also at the back right and right positions, while a pink peach is located on the right."} +{"scene_index": 159, "scene": "The bowl is on the right side, with a pink peach and a long piece of bread positioned at the back right."} +{"scene_index": 160, "scene": "The bowl is on the left, while the tangerine, pink peach, and other items are located at the back right."} +{"scene_index": 161, "scene": "The long bread is at the back right, sharing its position with the pink peach. The bowl is on the right side, alongside the tangerine which is also positioned to the right."} +{"scene_index": 162, "scene": "The bowl is positioned at the back left, while the pink peach is located at the back right."} +{"scene_index": 163, "scene": "The long bread is at the back right, the bowl is on the left, the pink peach and regular peach are both on the right, with the pink peach positioned slightly to the side, and the egg yolk pastry is in front."} +{"scene_index": 164, "scene": "Long bread is at back right, bowl is on left, pink peach is on right, egg yolk pastry is at front right, tangerine is on the right."} +{"scene_index": 165, "scene": "The bowl is located at the back, while the tangerine is positioned at the back right."} +{"scene_index": 166, "scene": "The bowl is on the right, the pink peach is next to it also on the right, and the long bread is positioned to the right as well."} +{"scene_index": 167, "scene": "The bowl is at the back, with the tangerine and egglk positioned together in the back right area."} +{"scene_index": 168, "scene": "The long bread is in the center, the bowl is on the left, the pink peach and the tangerine are at the back right with the egg yolk pastry."} +{"scene_index": 169, "scene": "The bowl is located at the back, while the pink peach is positioned towards the back right."} +{"scene_index": 170, "scene": "The long bread is positioned at back right, near the pink peach which is also located at back right. The bowl is placed at the back. On the front side, the egg yolk pastry is situated at front right, while the tangerine is at front left."} +{"scene_index": 171, "scene": "Long Bread is on the back right, the Bowl is on the back left, the Pink Peach is in front, the Tangerine is on the back right overlapping with Long Bread's position, and the Egg Yolk Pastry is on the right."} +{"scene_index": 172, "scene": "The bowl is on the left, and the pink peach is on the right."} +{"scene_index": 173, "scene": "The bowl is on the left side, while the pink peach is positioned at the back right."} +{"scene_index": 174, "scene": "The bowl is positioned at the back left, while the pink peach and egg are both located at the back right."} +{"scene_index": 175, "scene": "The long bread is at the back right, the bowl is in the center, the pink peach is at the front right, and the egg yolk pastry is also at the back right; the tangerine is on the right side."} +{"scene_index": 176, "scene": "The bowl is at the back, with the tangerine pink peach and egg positioned together in the back right corner."} +{"scene_index": 177, "scene": "long bread is at the back bowl is on the left pink peach is at the back right egg yolk pastry is in front of the right side tangerine is in front"} +{"scene_index": 178, "scene": "The bowl is positioned on the left, the long bread is placed on the right, pink peach and tangerine are located at the back right, and egg yolk pastry is situated at the front right."} +{"scene_index": 179, "scene": "The bowl is on the left, and the pink peach is at the back right."} +{"scene_index": 180, "scene": "The bowl is at the center, while the long bread and pink peach are on the right. The egg yolk pastry and tangerine peach are located at the back right."} +{"scene_index": 181, "scene": "The bowl is positioned at the back, while the egg yolk pastry is located at the back right."} +{"scene_index": 182, "scene": "The long bread is on the right, the bowl is on the left, the pink peach is in the front right, the tangerine and egg yolk pastry are both in the back right."} +{"scene_index": 183, "scene": "The bowl is on the left, and the tangerine is on the right."} +{"scene_index": 184, "scene": "Long bread is at the back right, bowl at the back left, pink peach at front right, egg yolk pastry on the right, and tangerine at front."} +{"scene_index": 185, "scene": "The bowl is located at the back left position, while the tangerine is positioned at the back right."} +{"scene_index": 186, "scene": "The bowl is on the right. The long bread, pink peach, tangerine, and egg yolk pastry are all located at the back right."} +{"scene_index": 187, "scene": "The bowl is on the left, the long bread is at the back right, the pink peach is on the right, the egg yolk pastry is at the back right, and the tangerine is on the right."} +{"scene_index": 188, "scene": "The bowl is located at the back left, while the pink peach is positioned at the back right."} +{"scene_index": 189, "scene": "The bowl is located at the back-left position, while the tangerine is positioned at the back-right."} +{"scene_index": 190, "scene": "The bowl is positioned at the back left, while the long bread and egg yolk pastry are both located at the back right. The pink peach is on the right, and the tangerine shares the back right position with the long bread and egg yolk pastry."} +{"scene_index": 191, "scene": "The bowl is on the left, and the pink peach is located at the back right."} +{"scene_index": 192, "scene": "The bowl is positioned at the back left, the long bread is positioned at the back right, the pink peach is positioned at the back right, the tangerine peach is positioned at the front right, and the egg is positioned at the back right."} +{"scene_index": 193, "scene": "Long bread is on the right, a bowl is at the back left, a pink peach is at the back right, a tangerine is in the center, and an egg yolk pastry is also in the center."} +{"scene_index": 194, "scene": "The long bread is positioned at the back right, sharing the same location as the pink peach. To its right are the bowl and the egg yolk pastry."} +{"scene_index": 195, "scene": "The long bread is on the right side, the pink peach is also on the right, the egg yolk pastry is at the back right, the bowl is in the center, and the tangerine is at the back right."} +{"scene_index": 196, "scene": "The bowl is positioned at the back left, while the egg yolk pastry (pink peach) is located at the back right."} +{"scene_index": 197, "scene": "The bowl is positioned at the back left, while both the pink peach and the long bread are placed at the back right."} +{"scene_index": 198, "scene": "The bowl is centered, while the pink peach is positioned at the back right."} +{"scene_index": 199, "scene": "The long bread is on the right, the bowl is on the left, the pink peach and tangerine are at the back right, while the egg yolk pastry shares the same right side as the long bread."} +{"scene_index": 200, "scene": "The long bread is on the right, the bowl is in the center, the pink peach and the egg yolk pastry are both on the right side, and the peach is at the back right."} +{"scene_index": 201, "scene": "The bowl is on the right, with a pink peach also positioned to its right. The long bread and tangerine are both located at the back right."} +{"scene_index": 202, "scene": "The bowl is positioned at the back left, and the tangerine is located at the back right."} +{"scene_index": 203, "scene": "long bread is at the back right bowl is on the left pink peach is in the center egg yolk pastry is on the right"} +{"scene_index": 204, "scene": "The bowl is on the left, with the long bread and pink peach positioned to its right. The tangerine and egg yolk pastry are located at the back right."} +{"scene_index": 205, "scene": "Bowl is on the left Long bread is at back right Pink peach is at back right Tangerine is on the right Egg yolk pastry is at back right"} +{"scene_index": 206, "scene": "The bowl is on the right side, and the long bread is positioned at the back right."} +{"scene_index": 207, "scene": "Bowl is on the left, Pink Peach is on the right, Long Bread is in the center, and Egg Yolk Pastry is at the back."} +{"scene_index": 208, "scene": "The bowl is on the left, and the tangerine is located at the back right."} +{"scene_index": 209, "scene": "The bowl is on the left, and the pink peach is at the back right."} +{"scene_index": 210, "scene": "The long bread is on the right, the bowl is in the center, the pink peach and the egg yolk pastry are at the back right, and the tangerine is on the right."} +{"scene_index": 211, "scene": "The long bread is on the right, along with the bowl. The tangerine, pink peach, and egg yolk pastry are all positioned at the back right."} +{"scene_index": 212, "scene": "Long bread is at back right bowl is in the center pink peach is at back right egg yolk pastry is on the right tangerine is on the right."} +{"scene_index": 213, "scene": "The bowl is centered, and the pink peach is positioned to its right."} +{"scene_index": 214, "scene": "The bowl is on the left. The long bread is at the back right. There are two pink peaches, one on the right and one on the back right. The egg yolk pastry is also on the right."} +{"scene_index": 215, "scene": "The long bread is in the back right, positioned with the egg yolk pastry; the bowl is in the back left; the pink peach is at the center; and the tangerine is on the right."} +{"scene_index": 216, "scene": "The long bread is positioned at back right, the bowl at back left, the pink peach at front, the egg yolk pastry also at back right, and the tangerine is on the right."} +{"scene_index": 217, "scene": "The long bread is at the back right, sharing its position with the tangerine. The bowl is centered, while the pink peach and egg yolk pastry are both on the right side."} +{"scene_index": 218, "scene": "The long bread is at back right, bowl is on the left, a pink peach is in the center, tangerine is on the right, and an egg yolk pastry with a pink peach is also placed at back right."} +{"scene_index": 219, "scene": "The bowl is at the back, and the tangerine is located at the back right."} +{"scene_index": 220, "scene": "The long bread is at the back right, sharing its position with the egg yolk pastry; to the right are the pink peach and tangerine."} +{"scene_index": 221, "scene": "The long bread is at the back right, positioned near the egglk pastry (pink peach). The bowl and tangerine are both on the right side."} +{"scene_index": 222, "scene": "The bowl is located at the back left, and the tangerine is positioned at the back right."} +{"scene_index": 223, "scene": "The bowl is positioned at the back left, while the pink peach is located at the back right."} +{"scene_index": 224, "scene": "Long bread is positioned at back right, bowl is positioned at back, pink peach is positioned at front right, egg yolk pastry is positioned at back right, and tangerine is positioned on the right."} +{"scene_index": 225, "scene": "The bowl is located at the back left, while the egg yolk pastry, pink peach, and other unspecified items are positioned at the back right."} +{"scene_index": 226, "scene": "The tangerine is located at the back right, while the bowl and pink peach share the same back left position."} +{"scene_index": 227, "scene": "The bowl is positioned on the right side, with a pink peach located at the back right along with the long bread."} +{"scene_index": 228, "scene": "The bowl is on the right side, with a pink peach also positioned to its right. Behind them, in the back-right corner, there s an egg yolk pastry."} +{"scene_index": 229, "scene": "Long bread is located at back right, pink peach is situated on the right side, the bowl can be found on the left, egg yolk pastry shares the same back right position as the long bread."} +{"scene_index": 230, "scene": "The bowl is on the right, with a pink peach also positioned to its right. Meanwhile, the long bread and tangerine are located at the back right, along with the egg yolk pastry peach, which shares that same area."} +{"scene_index": 231, "scene": "The bowl is at the center, with a pink peach also in the center. To the right, there s an egg yolk pastry and a long loaf of bread."} +{"scene_index": 232, "scene": "The long bread is on the right, the bowl is on the left, and two pink peaches are at the back right with an egg yolk pastry in the front right."} +{"scene_index": 233, "scene": "The bowl is on the left, and the tangerine, pink peach is at the back right."} +{"scene_index": 234, "scene": "The long bread is on the right, the bowl is at the back, the pink peach is also on the right, the tangerine and the egg yolk pastry are both positioned at the back right."} +{"scene_index": 235, "scene": "The bowl is on the left, the long bread is at the back right, the pink peach is in the center, and the tangerine is on the right."} +{"scene_index": 236, "scene": "The long bread is at the back right, the bowl is on the left, the pink peach and tangerine are both on the right, and the egg yolk pastry is in the front right."} +{"scene_index": 237, "scene": "The bowl is positioned at the back left, while the pink peach is located at the back right."} +{"scene_index": 238, "scene": "The long bread is in front, the bowl is at the back left, the pink peach and the egg yolk pastry are both at the back right."} +{"scene_index": 239, "scene": "The bowl is located at the back left, while the egg yolk is situated at the back right."} +{"scene_index": 240, "scene": "The bowl is located at the back, while the tangerine, pink, and peach are positioned at the back right."} +{"scene_index": 241, "scene": "The long bread is positioned at the back right, the bowl is positioned at the back left, the pink peach is positioned on the right side, and the egg yolk pastry is positioned in front."} +{"scene_index": 242, "scene": "The bowl is on the left, and both the pink peach and the long bread are positioned at the back right."} +{"scene_index": 243, "scene": "The long bread is positioned at the back right, sharing its location with the pink peach and the egg yolk pastry. The bowl is placed at the back left, while the tangerine is situated on the right side."} +{"scene_index": 244, "scene": "The bowl is at the back, the tangerine and long bread are both on the right, while the pink peach and egg yolk pastry (pink peach) are positioned at the back right."} +{"scene_index": 245, "scene": "The bowl is on the left, while the long bread, pink peach, and egg yolk pastry are located at the back right, with the tangerine positioned on the right."} +{"scene_index": 246, "scene": "The bowl is located at the back left, while the egg yolk pastry is positioned at the back right."} +{"scene_index": 247, "scene": "The bowl is located at the back left, while the pink peach is positioned at the back right."} +{"scene_index": 248, "scene": "The long bread is located in the back right of the scene. The bowl is placed in the back left area. The pink peach can be found on the right side. Lastly, the egg pink peach shares the same position as the long bread, which is the back right."} +{"scene_index": 249, "scene": "Bowl is on the left, long bread is at the back, pink peach is in front, egg yolk pastry is on the right, and tangerine is at the back right."} +{"scene_index": 250, "scene": "Bowl is located at back right. Long bread is on the right side. Pink peach is also on the right. Tangerine is placed in the center. Egg yolk pastry is situated at back right."} +{"scene_index": 251, "scene": "The bowl is at the back, while the pink peach is positioned back right relative to it."} +{"scene_index": 252, "scene": "The bowl is located at the back left position, while the egglk pastry (pink peach) is positioned at the back right."} +{"scene_index": 253, "scene": "The long bread is positioned at the back right, the bowl on the left, the pink peach in the center, and the egg yolk pastry on the right."} +{"scene_index": 254, "scene": "The long bread is at the back right, positioned alongside the egg yolk pastry. The bowl is in the center, while the pink peach and tangerine are both on the right side."} +{"scene_index": 255, "scene": "The bowl is located at the back-left position, while the pink peach is situated at the back-right position."} +{"scene_index": 256, "scene": "The bowl is positioned at the back, with the long bread placed to its right. The tangerine and pink peach are both located at the back right, while the egg yolk pastry is on the right side."} +{"scene_index": 257, "scene": "The bowl is on the left, while a pink peach and a long piece of bread are both on the right."} +{"scene_index": 258, "scene": "The bowl is located at the back left, while the pink peach is positioned at the back right."} +{"scene_index": 259, "scene": "The bowl is on the left, while the pink peach and the long bread are both positioned at the back right."} +{"scene_index": 260, "scene": "The bowl is positioned at the back left, and the egg yolk pastry is positioned at the back right."} +{"scene_index": 261, "scene": "The bowl is located at the back left, while the egg yolk pastry (pink), peach is positioned at the back right."} +{"scene_index": 262, "scene": "Long bread is at the back right, bowl is at the back left, pink peach is on the right, and egg yolk pastry is at the back right."} +{"scene_index": 263, "scene": "The bowl is on the left, and the pink peach is on the right."} +{"scene_index": 264, "scene": "The bowl is on the right, and the long pink peach bread is located at the back right."} +{"scene_index": 265, "scene": "The pink peach is located at the back right position, while the bowl is placed on the left side."} +{"scene_index": 266, "scene": "The long bread is at the back right, sharing its position with the egg yolk pastry; the bowl is on the left, and the pink peach is on the right."} +{"scene_index": 267, "scene": "Long bread is located at the back right. Bowl is located at the back left. Pink peach is in the center. Tangerine is on the right. Egg is at the back right."} +{"scene_index": 268, "scene": "The long bread is on the right, the bowl is at the back left, the pink peach is on the right, the tangerine is at the back right, and the egg yolk pastry peach is in the center."} +{"scene_index": 269, "scene": "The long bread is on the right, the bowl is on the left, while the pink peach and tangerine are both located at the back right. The egg yolk pastry is also positioned on the right."} +{"scene_index": 270, "scene": "The bowl is at the center, while the pink peach and the long bread are both on the right side."} +{"scene_index": 271, "scene": "Long bread is positioned at the back right, bowl is centered, pink peach is positioned at the back right, tangerine is on the right, and egg yolk pastry is also on the right."} +{"scene_index": 272, "scene": "The bowl is located at the back left, and the tangerine is positioned at the back right."} +{"scene_index": 273, "scene": "The bowl is located at the back left position."} +{"scene_index": 274, "scene": "The bowl is located back left. The long bread is located center. The pink peach is located back right. The egg yolk pastry is located left. The tangerine is located right."} +{"scene_index": 275, "scene": "Long bread is at back right, bowl is in the center, pink peach and tangerine are on the right, egg yolk pastry shares the back right with the long bread."} +{"scene_index": 276, "scene": "The bowl is located at the back left, the long bread is at the back right, the pink peach is in the front, the egg yolk pastry is on the right, and the tangerine is at the front right."} +{"scene_index": 277, "scene": "The bowl is on the right side, with a pink peach and a long piece of bread both located at the back right."} +{"scene_index": 278, "scene": "The bowl is positioned at the back left, while the pink peach is located at the back right."} +{"scene_index": 279, "scene": "The bowl is positioned at the back left, while the egg yolk pastry (pink peach) is located at the back right."} +{"scene_index": 280, "scene": "The bowl is positioned at the back left, while the pink peach is located at the back right."} +{"scene_index": 281, "scene": "The bowl is located at the back-left position, while the pink peach is situated at the back-right position."} +{"scene_index": 282, "scene": "The bowl is positioned at the back, while the egg yolk pastry, pink peach, and other items are located towards the back right."} +{"scene_index": 283, "scene": "The bowl is on the left, and the pink peach is on the right."} +{"scene_index": 284, "scene": "The bowl, pink peach, and long bread are all positioned to the right."} +{"scene_index": 285, "scene": "The long bread is at the back right, the pink peach is on the right, the bowl is at the back, and the egg yolk pastry tangerine is also on the right."} +{"scene_index": 286, "scene": "The bowl is located at the back left, while the egg yolk pastry, pink peach, and other related items are positioned at the back right."} +{"scene_index": 287, "scene": "The long bread is at the back right, the bowl is on the left, the pink peach and the egg yolk pastry are both on the right."} +{"scene_index": 288, "scene": "The bowl is on the left, while the long bread, pink peach, tangerine are positioned at the back right; the egg yolk pastry is on the right."} +{"scene_index": 289, "scene": "The bowl is located at the back left, while the pink peach is positioned at the back right."} +{"scene_index": 290, "scene": "The bowl is on the right side, with a pink peach and a long piece of bread both located at the back right."} +{"scene_index": 291, "scene": "The bowl is on the left, while both the pink peach and the long bread are positioned to its right."} +{"scene_index": 292, "scene": "The bowl is positioned at the back left, while the tangerine, pink, and peach items are located at the back right."} +{"scene_index": 293, "scene": "The bowl is at the back, and the tangerine is located at the back right position relative to it."} +{"scene_index": 294, "scene": "The bowl is positioned at the back left, while the tangerine peach is located at the back right."} +{"scene_index": 295, "scene": "Bowl is on the left. Long bread is at the back right. Pink peach and egg yolk pastry are also in the front right."} +{"scene_index": 296, "scene": "The bowl is located at the back left, while the long bread is positioned at the back right."} +{"scene_index": 297, "scene": "The bowl is on the right side. The pink peach, long bread, tangerine, and egg yolk pastry are all located at the back right position."} +{"scene_index": 298, "scene": "The long bread is at the center, the bowl is positioned in the back left, the pink peach and the tangerine are both located at the back right with the egg yolk pastry."} +{"scene_index": 299, "scene": "The bowl is on the left, and the pink peach is located at the back right."} +{"scene_index": 300, "scene": "The bowl is located at the back left, while the egg yolk pastry is positioned at the back right."} +{"scene_index": 301, "scene": "The bowl is on the left, and the pink peach is located at the back right."} +{"scene_index": 302, "scene": "the bowl is positioned at the back left as a receptacle placed in that area; the pink peach is located at the back right as a fruit; the long bread is also at the back right alongside the pink peach as a food item; the tangerine is placed at the front as a citrus fruit; and the egg yolk pastry is situated at the front right as a baked good. Each object is positioned in its respective location without overlapping with others maintaining distinct placement in the scene."} +{"scene_index": 303, "scene": "The bowl is on the right. The long bread is at the back right. The pink peach and the regular peach are both on the back right."} +{"scene_index": 304, "scene": "Bowl is positioned at the back. Tangerine and egg yolk are both located at the back right."} +{"scene_index": 305, "scene": "Long bread is on the right, bowl is on the left, pink peach is at front right, tangerine is at back right, egg yolk pastry is at front right."} +{"scene_index": 306, "scene": "The bowl is located at the back left, while the pink peach and egg yolk pastry are both positioned at the back right."} +{"scene_index": 307, "scene": "The bowl is located at the back left, while the egg yolk pastry is positioned at the back right."} +{"scene_index": 308, "scene": "The bowl is on the left, and the pink peach is located at the back right."} +{"scene_index": 309, "scene": "The bowl is on the left, while the long bread, pink peach, tangerine, and egg yolk pastry are all located in the back right area."} +{"scene_index": 310, "scene": "The bowl is on the right side, with a pink peach and a long piece of bread both located at the back right."} +{"scene_index": 311, "scene": "The bowl is on the right, with a pink peach and a long bread also positioned to its right."} +{"scene_index": 312, "scene": "The bowl is on the left, the pink peach is on the right, the long bread is at the back right, the egg yolk pastry is at the front right, and the tangerine is also at the back right."} +{"scene_index": 313, "scene": "The bowl is located at the back left, while the tangerine, pink, and peach are positioned together at the back right."} +{"scene_index": 314, "scene": "The bowl is at the back, while the long bread is on the right. The pink peach, tangerine, and egg yolk pastry are all positioned at the back right."} +{"scene_index": 315, "scene": "The bowl is located at the back-left, while the pink peach is positioned at the back-right."} +{"scene_index": 316, "scene": "The long bread and egglk are positioned at the back right, while the bowl, pink peach, and tangerine are all located on the right."} +{"scene_index": 317, "scene": "The bowl is on the left, the long bread is at the back right, the tangerine pink peach and pink peach are both at the front right, and the egg yolk pastry is at the back right."} +{"scene_index": 318, "scene": "The bowl is located at the back left, while the pink peach is positioned at the back right."} +{"scene_index": 319, "scene": "The Bowl is on Back, The Long Bread is on Right, The Pink Peach is on Back Right, The Tangerine is on Right, and The Egg Yolk Pastry Pink Peach is on Back Right."} +{"scene_index": 320, "scene": "The bowl is on the right side, with the pink peach located at the back right, and the egg yolk pastry also positioned on the right."} +{"scene_index": 321, "scene": "The bowl is on the left, and the pink peach is located at the back right."} +{"scene_index": 322, "scene": "The bowl is positioned at the back left, while the pink peach is located at the back right."} +{"scene_index": 323, "scene": "The bowl is on the left, while both the pink peach and the long bread are placed on the right."} +{"scene_index": 324, "scene": "The bowl is located at the back left, while the egg yolk pastry, pink peach, and other related items are positioned at the back right."} +{"scene_index": 325, "scene": "The bowl is on the left, the long bread and egg yolk pastry are at the back right, the pink peach is on the right, and the tangerine is in the front right."} +{"scene_index": 326, "scene": "Long bread is on the right side bowl is at the back left pink peach is in the center egg yolk pastry and tangerine are both at the back right."} +{"scene_index": 327, "scene": "The long bread is on the right, the bowl is on the left, the pink peach and the tangerine are at the back right, while the egg yolk pastry is also on the right."} +{"scene_index": 328, "scene": "The bowl is centered, while the long bread is positioned to its right."} +{"scene_index": 329, "scene": "The bowl is on the left, while both the peach and the long bread are positioned to the right."} +{"scene_index": 330, "scene": "The bowl is on the left, while the pink peach and the long bread are both on the right."} +{"scene_index": 331, "scene": "The long bread is at the back right, the bowl is at the back left, the pink peach is in the center, the egg yolk pastry and tangerine are both at the front right."} +{"scene_index": 332, "scene": "The bowl is positioned at the back left, while the egglk pastry (pink peach) is located at the back right."} +{"scene_index": 333, "scene": "The bowl is located at the back left, while both the pink peach and the long bread are positioned at the back right."} +{"scene_index": 334, "scene": "The bowl is at the back, with the long bread positioned behind it on the back right. The pink peach and tangerine are both in front towards the right side, while the egg yolk pastry is centrally located."} +{"scene_index": 335, "scene": "The bowl is located at the back left, while the pink peach is positioned at the back right."} +{"scene_index": 336, "scene": "The long bread is at the back right, the bowl is at the back left, the egg yolk pastry is at the front right, and the pink peach is at the back right."} +{"scene_index": 337, "scene": "Long bread is positioned on the right; the bowl is located at the back right along with the pink peach and egg yolk pastry. Tangerine is placed on the right side, and the egg yolk pastry shares the same back right position as the bowl and pink peach."} +{"scene_index": 338, "scene": "The bowl is at the back left, while both the pink peach and the eggolk are located at the back right."} +{"scene_index": 339, "scene": "The bowl is on the left, and the long bread is located at the back right."} +{"scene_index": 340, "scene": "The bowl is located at the back, while the tangerine and egg are both positioned at the back right."} +{"scene_index": 341, "scene": "The bowl is at the center, while the pink peach is located towards the back right side."} +{"scene_index": 342, "scene": "Long bread is on the right. Bowl is at the back left. Pink peach is also on the right. Tangerine is in front of the right area. Egg yolk pastry is at the back right."} +{"scene_index": 343, "scene": "The bowl is at the back, the long bread is on the right, and the tangerine, pink peach, and egg yolk pastry peach are all positioned at the back right."} +{"scene_index": 344, "scene": "The long bread is at the back right, the pink peach and egg yolk pastry are on the right, and the bowl is in the center."} +{"scene_index": 345, "scene": "The bowl is at the center, while the long bread, pink peach, egg yolk pastry, and tangerine are all positioned to the right, with the latter two specifically located in the back right area."} +{"scene_index": 346, "scene": "The bowl is centered, while the pink peach is placed to its right."} +{"scene_index": 347, "scene": "Long bread is at the back right, bowl is at the back left, pink peach is at the front, egg yolk pastry is at the back right, tangerine is at the back."} +{"scene_index": 348, "scene": "The long bread is on the right, the bowl is in the center, the pink peach and the egg yolk pastry are both on the right, and the tangerine is at the front."} +{"scene_index": 349, "scene": "The long bread is at the back right, the bowl is on the left, the pink peach and tangerine are both on the right side, with the pink peach specifically mentioned as being at the right."} +{"scene_index": 350, "scene": "The bowl is on the left, with the long bread and egg yolk pastry positioned at the back right. The pink peach and tangerine are both on the right."} +{"scene_index": 351, "scene": "The bowl is on the right side, containing a pink peach and a long piece of bread placed next to it."} +{"scene_index": 352, "scene": "The bowl is positioned at the back left, while the pink peach and egg are both located at the back right."} +{"scene_index": 353, "scene": "The bowl is on the right, with the long bread, pink peach, tangerine, and egg yolk pastry all positioned at the back right."} +{"scene_index": 354, "scene": "The bowl is located at the back left, the long bread is positioned at the back right, while the pink peach and egg yolk pastry are both on the right side."} +{"scene_index": 355, "scene": "The bowl is on the left, while the long bread, two pink peaches, and egg yolk pastry are all positioned to the right, with one of the pink peaches located at the back right."} +{"scene_index": 356, "scene": "The long bread is at the back right, and there s a bowl at the back left. A tangerine and a pink peach are both at the back right as well. At the front right, there s an egg yolk pastry."} +{"scene_index": 357, "scene": "The bowl is located at the back-left position, while the pink peach is situated at the back-right position."} +{"scene_index": 358, "scene": "The long bread is at the back right, the bowl is in the center, and both the pink peach, tangerine, and egglk pastry are on the right side."} +{"scene_index": 359, "scene": "The bowl is at the back, and the pink peach is positioned at the back right."} +{"scene_index": 360, "scene": "Bowl is located at the back left, long bread is positioned on the right side, two pink peaches are both in the back right area, and the egg yolk pastry is placed at the front right."} +{"scene_index": 361, "scene": "The bowl is at the center, while the long bread and pink peach are both located at the back right. The egg yolk pastry is positioned on the right side."} +{"scene_index": 362, "scene": "The bowl is located at the back left position."} +{"scene_index": 363, "scene": "The bowl is positioned at the back, while the egg yolk pastry is located in the back right area."} +{"scene_index": 364, "scene": "The bowl is located at the back-left, while the egglk pink peach is positioned at the back-right."} +{"scene_index": 365, "scene": "The bowl is positioned at the back left, while the pink peach and the egg are both located at the back right."} +{"scene_index": 366, "scene": "The long bread is positioned at the back right, with the bowl located centrally. To its right are three objects: a pink peach, an egg yolk pastry, and a tangerine, all placed in the same vicinity."} +{"scene_index": 367, "scene": "The bowl is on the left, and the pink peach is located at the back right."} +{"scene_index": 368, "scene": "The bowl is on the left, with a long bread and a pink peach positioned to its right; behind it, at the back right, are the egg yolk pastry and a tangerine."} +{"scene_index": 369, "scene": "The bowl is on the left, the long bread is on the right, two pink peaches are at the back right, and an egg yolk pastry peach is also on the right."} +{"scene_index": 370, "scene": "The long bread is on the right, the bowl is in the center, the pink peach is also on the right, and the egg yolk pastry is on the right as well."} +{"scene_index": 371, "scene": "The bowl is positioned at the back left, while the pink peach is located at the back right."} +{"scene_index": 372, "scene": "The bowl is on the right, a pink peach is next to it on the right, and a long loaf of bread is also positioned on the right."} +{"scene_index": 373, "scene": "The bowl is located at the back left, while the pink peach is positioned at the back right."} +{"scene_index": 374, "scene": "The bowl is at the back left, the long bread is at the back right, the pink peach is at the front right, and both the tangerine and the egg yolk pastry are on the right side."} +{"scene_index": 375, "scene": "The bowl is located at the back-left, while the pink peach is positioned at the back-right."} +{"scene_index": 376, "scene": "The bowl is at the center, and the pink peach is positioned at the back right."} +{"scene_index": 377, "scene": "The bowl is on the right. The long bread is at the back right. The pink peach and tangerine are both on the right. The egg yolk pastry is at the back right."} +{"scene_index": 378, "scene": "The bowl is positioned at the back left, while the egg yolk pastry is located at the back right."} +{"scene_index": 379, "scene": "The long bread is on the right, the bowl is at the back left, the pink peach is on the right, the egg yolk pastry and the tangerine are both at the back right."} +{"scene_index": 380, "scene": "The long bread is positioned at the back right of the arrangement. The bowl is centrally located, serving as a focal point in the display. The pink peach and tangerine are both placed at the front right, with the pink peach likely being the primary focus due to its vibrant color, while the tangerine adds complementary color contrast nearby."} +{"scene_index": 381, "scene": "Long bread is positioned at the back right, the bowl is located on the left, a pink peach is situated on the right, and the egg yolk pastry is placed at the back right."} +{"scene_index": 382, "scene": "The long bread is on the right, while the bowl, tangerine, pink peach, and egg yolk pastry are all located at the back right."} +{"scene_index": 383, "scene": "The bowl is located at the back, and the tangerine is positioned at the back right, near the bowl."} +{"scene_index": 384, "scene": "The bowl is positioned on the right, while the long bread, pink peach, and egg yolk pastry pink peach are all located at the back right."} +{"scene_index": 385, "scene": "The bowl is positioned at the back, while the tangerine pink peach and egglk are both located towards the back right."} +{"scene_index": 386, "scene": "The bowl is at the back, while the tangerine, pink peach, and egg yolk pastry are positioned at the back right."} +{"scene_index": 387, "scene": "The bowl is positioned at the back left, while both the pink peach and the long bread are located at the back right."} +{"scene_index": 388, "scene": "Bowl is on the right. Pink peach is also on the right. Tangerine is in front of the bowl on the right. Egg yolk pastry and long bread egg yolk pastry are at the back right."} +{"scene_index": 389, "scene": "The bowl is at the back left, with the long bread and tangerine both positioned at the back right. The pink peach is on the right side, while the egg yolk pastry is in the center of the arrangement."} +{"scene_index": 390, "scene": "The long bread is on the right, the pink peach and tangerine are at the back right, the bowl is in the center, and the egg yolk pastry is also on the right."} +{"scene_index": 391, "scene": "The bowl is located at the back, while the tangerine is positioned at the back right."} +{"scene_index": 392, "scene": "The egg yolk pastry is located at the back right, while the bowl is positioned at the back left."} +{"scene_index": 393, "scene": "The bowl is positioned at the back left, while both the pink peach and the long bread are located at the back right."} +{"scene_index": 394, "scene": "The bowl is located at the back-left position, while the pink peach is situated at the back-right position."} +{"scene_index": 395, "scene": "The bowl is positioned at the back left, while the egg-shaped object (likely an eggnog) is located at the back right."} +{"scene_index": 396, "scene": "The bowl is at the back left, while the pink peach and egg yolk pastry are both located at the back right."} +{"scene_index": 397, "scene": "The bowl is on the left, the pink peach is at the back right."} +{"scene_index": 398, "scene": "The bowl is located at the center position."} +{"scene_index": 399, "scene": "The bowl is at the center, the long bread is on the right, and the tangerine, egg yolk pastry, and pink peach are all positioned at the back right."} +{"scene_index": 400, "scene": "The bowl is positioned at the back left, while the egg yolk pastry is located at the back right."} +{"scene_index": 401, "scene": "The long bread is at the back right, the bowl is in the center, while both the pink peach and the egg yolk pastry are on the right side."} +{"scene_index": 402, "scene": "The bowl is on the left, while the long bread and pink peach are located at the back right; the tangerine and egg yolk pastry are positioned at the front right."} +{"scene_index": 403, "scene": "The long bread is at back right, the bowl is at back left, the pink peach and egg yolk pastry are both on the right side, with the tangerine also located at back right."} +{"scene_index": 404, "scene": "The bowl is on the right side, containing a pink peach and a long piece of bread placed next to it."} +{"scene_index": 405, "scene": "The bowl is at the back right, with the long bread to its immediate right. Both pink peaches are also positioned at the back right, sharing the same location as the bowl."} +{"scene_index": 406, "scene": "The bowl is positioned at the back left, while the egg yolk pastry (pink peach) is located at the back right."} +{"scene_index": 407, "scene": "The bowl is on the left, and the pink peach is on the right."} +{"scene_index": 408, "scene": "The bowl is located at the back left, while the egg yolk pastry is positioned at the back right."} +{"scene_index": 409, "scene": "The bowl is on the left, while the pink peach and long bread are both located at the back right."} +{"scene_index": 410, "scene": "The bowl is on the left, the long bread and egg yolk pastry are at the back right, the pink peach and tangerine are on the front right and right sides respectively."} +{"scene_index": 411, "scene": "The long bread is positioned at the back right, the bowl is at the back left, the pink peach is in front, the egg yolk pastry is on the right, and the tangerine is at the front right."} +{"scene_index": 412, "scene": "The long bread is positioned at the back right, next to the pink peach, while the bowl is located at the back left. In the front area, the egg yolk pastry and tangerine are placed, with the tangerine specifically situated at the front right."} +{"scene_index": 413, "scene": "The bowl is located at the back left position."} +{"scene_index": 414, "scene": "The bowl is positioned at the back left, and the egg yolk pastry is positioned at the back right."} +{"scene_index": 415, "scene": "The bowl is positioned at the back left, while the tangerine and egglk are both located at the back right."} +{"scene_index": 416, "scene": "The bowl is located at the back left, and the tangerine is positioned at the back right."} +{"scene_index": 417, "scene": "The bowl is located at the back left position, while the tangerine is positioned at the back right."} +{"scene_index": 418, "scene": "Long Bread is located at back right, Bowl is located at center, Pink Peach is located at back right, Egg Yolk Pastry is located at right."} +{"scene_index": 419, "scene": "The bowl is on the right, with a tangerine also nearby on the right. Behind and to the right, there are three objects: a pink peach, long bread, and an egg yolk pastry positioned together in that area."} +{"scene_index": 420, "scene": "The Bowl is located at the center. The Pink Peach is located at Back Right. The Long Bread is located at Back Right."} +{"scene_index": 421, "scene": "Bowl is located at the back left. Pink peach and egglk are both positioned at the back right."} +{"scene_index": 422, "scene": "The bowl is at the back left, the long bread is at the back right, the pink peach and tangerine are both at the front right, the egg yolk pastry is on the right."} +{"scene_index": 423, "scene": "The long bread is on the right, the bowl is at the back left, the pink peach is also on the right, and the egg yolk pastry is at the back right."} +{"scene_index": 424, "scene": "The bowl is located at the back, while the tangerine is positioned at the back right."} +{"scene_index": 425, "scene": "The bowl is on the left, a long bread is on the right, two pink peaches are at the back right, and an egg yolk pastry is also on the right."} +{"scene_index": 426, "scene": "The long bread is at back right, the bowl is on the left, the pink peach is in front right, the tangerine is at back right with the egg, egg yolk pastry, and another object also positioned at back right."} +{"scene_index": 427, "scene": "The bowl is positioned at the back left, while the pink peach is located at the back right."} +{"scene_index": 428, "scene": "The bowl is centered on the table, and the pink peach is positioned to its right."} +{"scene_index": 429, "scene": "The bowl is positioned at the back left, while the eggplant pastry is located at the back right."} +{"scene_index": 430, "scene": "The bowl is located at the back left, while the egg is positioned at the back right."} +{"scene_index": 431, "scene": "Long bread is in the back right, pink peach is in the center and also on the right, egg yolk pastry is in the back right, and bowl is in the back."} +{"scene_index": 432, "scene": "The bowl is on the left, with the long bread positioned at the back right. On the right side, there s a pink peach alongside an egg yolk pastry."} +{"scene_index": 433, "scene": "The bowl is located at the back left, while the pink peach is positioned on the right side."} +{"scene_index": 434, "scene": "The bowl is positioned at the back, and the pink peach is located at the back right."} +{"scene_index": 435, "scene": "The bowl is positioned at the back left, while the egg yolk pastry is located at the back right."} +{"scene_index": 436, "scene": "The bowl is located at the back. Long bread and a pink peach are both on the right. The egg yolk pastry and egg yolk pastry peach are positioned at the back right."} +{"scene_index": 437, "scene": "The long bread is positioned at the back right, sharing that location with the pink peach; the bowl is located at the back left; the egg yolk pastry is in front; and the tangerine is placed to the right."} +{"scene_index": 438, "scene": "The egglk pink peach is positioned at the back right, while the bowl is located at the back left."} +{"scene_index": 439, "scene": "The pink peach is located at the back left, while the egg yolk pastry is positioned at the back right."} +{"scene_index": 440, "scene": "The bowl is located at the back left, while the tangerine, pink peach, and eggolk are positioned together at the back right."} +{"scene_index": 441, "scene": "The bowl is located at the back-left position, while the tangerine pink peach is situated at the back-right position."} +{"scene_index": 442, "scene": "Long bread is located at the back right, bowl is located at the back left, pink peach is located at the back right, egg yolk pastry is in the center, tangerine is on the right."} +{"scene_index": 443, "scene": "long bread back right bowl back left pink peach right tangerine pink peach front right egg yolk pastry front left"} +{"scene_index": 444, "scene": "The bowl is on the left, with the long bread placed at the back right. To its right are the pink peach and another pink peach with egg yolk pastry both located at the back right."} +{"scene_index": 445, "scene": "The long bread is at the back right, the bowl is at the back left, the pink peach and egg yolk pastry are both on the right, and the tangerine is also at the back right."} +{"scene_index": 446, "scene": "The long bread is located at the back right position."} +{"scene_index": 447, "scene": "Long bread is located at the back right Bowl is in the center Pink peach and egg yolk pastry are on the right"} +{"scene_index": 448, "scene": "The long bread is on the right, the bowl is at the back, the pink peach is also on the right, and the egg yolk pastry is positioned at the back right."} +{"scene_index": 449, "scene": "The long bread is positioned at the back right, sharing the same spot as the egg yolk pastry. The bowl is located at the back left, while the pink peach is on the right side."} +{"scene_index": 450, "scene": "The bowl is on the left, and the pink peach is on the right."} +{"scene_index": 451, "scene": "The bowl is on the left, while the long bread is positioned at the back right."} +{"scene_index": 452, "scene": "The bowl is located at the back-left position, while the pink peach is situated at the back-right position."} +{"scene_index": 453, "scene": "Long bread is positioned at back right. Egg yolk pastry is positioned at back right. Pink peach is positioned on the right. Tangerine is positioned on the right. Bowl is positioned at left."} +{"scene_index": 454, "scene": "The bowl is positioned at the back, while the tangerine is located at the back right."} +{"scene_index": 455, "scene": "long bread is on the right bowl is in the center pink peach and egg yolk pastry are at the back right tangerine is on the right"} +{"scene_index": 456, "scene": "The bowl is on the left, and the pink peach is located at the back right."} +{"scene_index": 457, "scene": "The long bread is on the right, the bowl is on the left, the pink peach and egg yolk tangerine are at the back right, with the egg yolk pastry also on the right."} +{"scene_index": 458, "scene": "The bowl is positioned at the back, while the pink peach and bread egg yolk pastry are both located at the back right."} +{"scene_index": 459, "scene": "The long bread is at the back right, positioned alongside the tangerine. To its front are several items on the right side: a bowl, a pink peach, and an egg yolk pastry."} +{"scene_index": 460, "scene": "The bowl is on the left, and the tangerine, pink peach is at the back right."} +{"scene_index": 461, "scene": "Long Bread is positioned right. Bowl is positioned center. Pink Peach is positioned right. Egg Yolk Pastry is positioned back right. Tangerine is positioned back right."} +{"scene_index": 462, "scene": "The bowl is at the center, with a pink peach and a long bread both positioned to its right."} +{"scene_index": 463, "scene": "The bowl is on the left, the long bread is on the right, and there are two pink peaches at the back right. The egg yolk pastry is at the front right."} +{"scene_index": 464, "scene": "The bowl is at the center, the long bread is on the right, the pink peach is in front and to the right, the egg yolk pastry is at the back and to the right, and another pink peach is also on the right."} +{"scene_index": 465, "scene": "Long bread is located at the back right, tangerine is also positioned at the back right, the bowl is situated at the back left, pink peach is on the right side, and egg yolk pastry is in the center."} +{"scene_index": 466, "scene": "The bowl is on the left, and the pink peach is on the right."} +{"scene_index": 467, "scene": "The bowl is located at the back-left position, while the pink peach is situated at the back-right position."} +{"scene_index": 468, "scene": "Long bread is on the right, bowl is at the back left, tangerine is at the back right, pink peach is also at the back right (near the tangerine), egg yolk pastry is on the right (same side as the long bread)."} +{"scene_index": 469, "scene": "Long bread is positioned at the back right, pink peach is located on the right, another pink peach is placed at the back, the bowl is situated on the left, and egg yolk pastry is positioned at the back right."} +{"scene_index": 470, "scene": "The long bread is on the right side, the bowl is at the back, the pink peach is in the back right area, and the egg yolk pastry is located in the front right."} +{"scene_index": 471, "scene": "The long bread is on the right, the pink peach is at the back right, the bowl is on the left, the egg yolk pastry is also on the right but positioned at the front right, and the tangerine is at the front right."} +{"scene_index": 472, "scene": "The long bread is at the back right, the bowl is on the left, the pink peach and tangerine are both at the back right and right respectively, and the egg yolk pastry is also on the right."} +{"scene_index": 473, "scene": "The long bread is on the right, the bowl is on the left, the pink peach and tangerine are at the back right, and the egg yolk pastry is also on the right."} +{"scene_index": 474, "scene": "Long bread is at the back right, bowl is on the left, pink peach is at the back right, egg yolk pastry is on the right, and tangerine is on the right."} +{"scene_index": 475, "scene": "The bowl is positioned at the back left, while the egg yolk pastry is located at the back right."} +{"scene_index": 476, "scene": "The bowl is on the left side, while the pink peach is positioned at the back right."} +{"scene_index": 477, "scene": "Long bread is located on the back right. Bowl is located on the back left. Tangerine is located on the right. Pink peach is located on the right. Egg yolk pastry is located on the back right."} +{"scene_index": 478, "scene": "The bowl is on the left, the long bread and egg yolk pastry are at the back right, the pink peach and eringium (possibly a typo for eringia or another object) are on the right."} +{"scene_index": 479, "scene": "The bowl is located at the back left, while the pink peach is positioned on the right."} +{"scene_index": 480, "scene": "The bowl is on the left, while the pink peach and the long bread are both on the right."} +{"scene_index": 481, "scene": "The long bread is at the front, the bowl is at the back left, the pink peach and egg yolk pastry are both at the back right, and the tangerine is on the right."} +{"scene_index": 482, "scene": "The bowl is located at the back-left, while the pink peach is positioned at the back-right."} +{"scene_index": 483, "scene": "The bowl is located at the back left position, while the tangerine is positioned at the back right."} +{"scene_index": 484, "scene": "The bowl is on the left, and the pink peach is on the right."} +{"scene_index": 485, "scene": "The bowl is at the back left, while the egg yolk, pastry, pink peach, and other unspecified objects are positioned at the back right."} +{"scene_index": 486, "scene": "The bowl is on the left, the long bread is at the back right, the pink peach is on the right, the egg yolk pastry is at the back right, and the tangerine is on the right."} +{"scene_index": 487, "scene": "The bowl is at the back, long bread is at the front, pink peach and egg yolk pastry are both at the back right, tangerine is on the right side."} +{"scene_index": 488, "scene": "The pink peach is at the back right, sharing that position with the long bread; the bowl is on the right."} +{"scene_index": 489, "scene": "The pink peach is located at the back right, while the bowl is situated at the back left."} +{"scene_index": 490, "scene": "The long bread is at the back right, positioned alongside the egg yolk pastry. The bowl is placed at the back left, while the pink peach sits centrally. The tangerine is located on the right side."} +{"scene_index": 491, "scene": "The bowl is on the left, while the pink peach and the long bread are both located at the back right."} +{"scene_index": 492, "scene": "The bowl is on the left, and the long bread is at the back right."} +{"scene_index": 493, "scene": "The bowl is at the back, the tangerine is in the back right, and the long object is in the back left."} +{"scene_index": 494, "scene": "The bowl is at the back, the long bread and pink peach are on the right, and the egg yolk pastry is in the back right corner."} +{"scene_index": 495, "scene": "The bowl is located at the back left, while the long bread is positioned at the back right."} +{"scene_index": 496, "scene": "The bowl is at the back, positioned in line with the long bread located at the back right. The pink peach is to the immediate right of the bowl. Near the bowl and the long bread, there s an egg yolk pastry placed in the front right section."} +{"scene_index": 497, "scene": "The bowl is located at the back, while the pink peach is positioned to the right of it."} +{"scene_index": 498, "scene": "The bowl is at the center, while the pink peach is located at the back right."} +{"scene_index": 499, "scene": "The bowl is on the left, while the pink peach and the long bread are both on the right."} diff --git a/RMC-AIDA-L_place_the_fruits_repeatedly/annotations/subtask_annotations.jsonl b/RMC-AIDA-L_place_the_fruits_repeatedly/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ffa3748c4e77c54519a66063f9a9673cc7c46282 --- /dev/null +++ b/RMC-AIDA-L_place_the_fruits_repeatedly/annotations/subtask_annotations.jsonl @@ -0,0 +1,17 @@ +{"subtask_index": 0, "subtask": "Pick up the bowl with the left gripper"} +{"subtask_index": 1, "subtask": "Place the bread into the bowl"} +{"subtask_index": 2, "subtask": "abnormal"} +{"subtask_index": 3, "subtask": "Pick up the egg yolk pastry with the right gripper"} +{"subtask_index": 4, "subtask": "Pour the egg yolk pastry out of bowl"} +{"subtask_index": 5, "subtask": "Pour the orange out of the bowl"} +{"subtask_index": 6, "subtask": "Place the peach into the bowl"} +{"subtask_index": 7, "subtask": "Pour the peach out of bowl"} +{"subtask_index": 8, "subtask": "Place the egg yolk pastry into the bowl"} +{"subtask_index": 9, "subtask": "Pick up the bread with the right gripper"} +{"subtask_index": 10, "subtask": "Pick up the peach with the right gripper"} +{"subtask_index": 11, "subtask": "Pour the bread out of the bowl"} +{"subtask_index": 12, "subtask": "end"} +{"subtask_index": 13, "subtask": "Place the bowl on the table"} +{"subtask_index": 14, "subtask": "Place the orange into the bowl"} +{"subtask_index": 15, "subtask": "Pick up the orange with the right gripper"} +{"subtask_index": 16, "subtask": "null"} diff 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