Copy Cobot_Magic_cap_the_pen_a into RoboCOIN_useable

Cobot_Magic_cap_the_pen_a/.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
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+*.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
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+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
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+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

Cobot_Magic_cap_the_pen_a/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 10K-100K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# Cobot_Magic_cap_the_pen_a
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `agilex_cobot_decoupled_magic`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+- `insert`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 55 |
+| **Total Frames** | 51317 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 165 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 50 |
+| **Dataset Size** | 1.0GB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+on the grey tablecloth, hold the pen cap in one hand and the pen in the other, then cover the pen cap.
+
+### Sub-Tasks
+This dataset includes 17 distinct subtasks:
+
+1. **Secure the pen cap with the right hand.** 
+2. **Insert the pen into the cap** 
+3. **End** 
+4. **Put the cap on the pen** 
+5. **Pick up the pen cap** 
+6. **Grab the pen barrel with the left hand.** 
+7. **Secure the pen cap with the left hand.** 
+8. **Grab the pen cap with the left hand.** 
+9. **Place the pen on the table** 
+10. **Abnormal** 
+11. **Grab the pen cap with the right hand.** 
+12. **Insert the pen cap with the right hand.** 
+13. **Grab the pen barrel with the right hand.** 
+14. **Pick up the pen** 
+15. **Place the pen down with the right hand.** 
+16. **Insert the pen cap with the left hand.** 
+17. **null** 
+
+
+## 🎥 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
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:54
+
+
+## 📁 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: 50
+  - Codec: av1- **observation.images.cam_left_wrist_rgb_rgb**: video
+  - FPS: 50
+  - Codec: av1- **observation.images.cam_right_wrist_rgb_rgb**: video
+  - FPS: 50
+  - 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": "agilex_cobot_decoupled_magic", "total_episodes": 55, "total_frames": 51317, "total_tasks": 1, "total_videos": 165, "total_chunks": 1, "chunks_size": 1000, "fps": 50, "splits": {"train": "0:54"}, "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": 50, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "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_gripper_open"]}, "action": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "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_gripper_open"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+Cobot_Magic_cap_the_pen_a_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

Cobot_Magic_cap_the_pen_a/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"}

Cobot_Magic_cap_the_pen_a/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"}

Cobot_Magic_cap_the_pen_a/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"}

Cobot_Magic_cap_the_pen_a/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"}

Cobot_Magic_cap_the_pen_a/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"}

Cobot_Magic_cap_the_pen_a/annotations/scene_annotations.jsonl

@@ -0,0 +1,55 @@
+{"scene_index": 0, "scene": "The pen and pen cap are positioned at both the back right and back left locations."}
+{"scene_index": 1, "scene": "The pen is located at the back right, while the pen cap is positioned at the back left. Additionally, there s a pen at the back left and another pen cap at the back right."}
+{"scene_index": 2, "scene": "Each pen is positioned at either back right or back left, with their corresponding pen caps placed in the same respective positions."}
+{"scene_index": 3, "scene": "Each pen is positioned in either the back right or back left corner of the desk, with each pen having its corresponding pen cap placed adjacent to it in the same respective location."}
+{"scene_index": 4, "scene": "The two pens are positioned diagonally at the back right and back left, each paired with their respective pen caps in the same positions."}
+{"scene_index": 5, "scene": "Each pen has its corresponding pen cap positioned either at the back right or back left."}
+{"scene_index": 6, "scene": "The pen caps are positioned on either side at the back, with one on the right and one on the left."}
+{"scene_index": 7, "scene": "The pen is positioned at the back, with two instances each of the pen (back right and back left) and pen cap (back right and back left)."}
+{"scene_index": 8, "scene": "The pen is at the back right, the pen cap is also at the back right; the pen is at the back left, and the pen cap is also at the back left."}
+{"scene_index": 9, "scene": "The pen is at back right, its cap is also at back right; another cap is at back left."}
+{"scene_index": 10, "scene": "The pen is located at the back, with its cap also positioned at the back. Additionally, both the pen and its cap have instances placed at the back right location."}
+{"scene_index": 11, "scene": "The pen is located at back right and its cap is also positioned at back right."}
+{"scene_index": 12, "scene": "The pen is located at back right and its cap is also positioned at back right."}
+{"scene_index": 13, "scene": "The pen is at the back right, the pen cap is also at the back right; the pen is at the back left, and the pen cap is also at the back left."}
+{"scene_index": 14, "scene": "The pen is located at back right and its cap is also positioned at back right."}
+{"scene_index": 15, "scene": "The pen is at the back right, its cap is on the back left, with another cap also located at the back right."}
+{"scene_index": 16, "scene": "The pen is positioned at the back right, with its corresponding pen cap also located at the back right. Additionally, there is another pen placed at the back left, along with its matching pen cap positioned at the back left as well."}
+{"scene_index": 17, "scene": "The pen and its corresponding pen cap are positioned on both sides of the back area; one set is placed at the back right and the other at the back left."}
+{"scene_index": 18, "scene": "The pen and pen cap are located in the back right and back left positions respectively."}
+{"scene_index": 19, "scene": "The pen cap is located at the back right position."}
+{"scene_index": 20, "scene": "The pen is at the back left, paired with its cap in the same location. The other pen is at the back right, matched by its cap in that spot too."}
+{"scene_index": 21, "scene": "The pen is located at the back right, with its cap also positioned back right. Additionally, both items have counterparts placed simply at the back."}
+{"scene_index": 22, "scene": "The pen is located at the back right, while its cap is also positioned there. Additionally, another pen is situated at the back left, alongside a pen cap that shares the same location as the first pen s cap."}
+{"scene_index": 23, "scene": "The two pens are positioned diagonally at the back right and back left, each paired with their respective pen caps in the same positions."}
+{"scene_index": 24, "scene": "Each pen is positioned in either the back right or back left corner of the desk, with each pen having its corresponding pen cap placed adjacent to it in the same respective location."}
+{"scene_index": 25, "scene": "The two pens are positioned diagonally at the back right and back left, each paired with their respective pen caps in the same positions."}
+{"scene_index": 26, "scene": "The pen is located at the back right, while its cap is at the back left; another pen is placed at the back left without a visible cap, and a separate pen cap is situated at the back right."}
+{"scene_index": 27, "scene": "The pen is located in both the back right and back positions, while its cap is also present in both the back right and back positions."}
+{"scene_index": 28, "scene": "The pen is positioned at the back right, while another pen is placed simply at the back. The pen cap shares the same back location as one of the pens, and there s also a pen cap located specifically at the back right."}
+{"scene_index": 29, "scene": "The pen and pen cap are positioned at both the back right and back left locations."}
+{"scene_index": 30, "scene": "Each pen is positioned in either the back right or back left corner of the desk, with each pen having its corresponding pen cap placed adjacent to it in the same respective location."}
+{"scene_index": 31, "scene": "The pen is at the back right, the pen cap is also at the back right; the pen is at the back left, and the pen cap is also at the back left."}
+{"scene_index": 32, "scene": "The pen is positioned at the back right, paired with its cap. Another pen is placed at the back left, alongside two additional pen caps at the same location."}
+{"scene_index": 33, "scene": "The pen cap is positioned at the back right, while another pen cap is placed at the back left; there s also a separate cap located at the back right."}
+{"scene_index": 34, "scene": "Each pen has its position (back left or back right), with corresponding pen caps placed in matching positions."}
+{"scene_index": 35, "scene": "The pen is at the back, its cap is also at the back. Additionally, the pen is located at the back right, with its cap positioned there as well."}
+{"scene_index": 36, "scene": "Each pen is positioned at either back right or back left, with their corresponding pen caps placed in the same respective positions."}
+{"scene_index": 37, "scene": "The pen is at back right with its cap on back right. The pen cap is also present at back left without a pen."}
+{"scene_index": 38, "scene": "The two pens are positioned diagonally at the back right and back left, each paired with their respective pen caps in the same positions."}
+{"scene_index": 39, "scene": "The pen is at the back right, its cap is also there; another pen is at the back left, along with its cap."}
+{"scene_index": 40, "scene": "Each pen is positioned in either the back right or back left corner of the desk, with each pen having its corresponding pen cap placed adjacent to it in the same respective location."}
+{"scene_index": 41, "scene": "The two pens are located at the back right and back left positions, respectively, while their corresponding pen caps are positioned similarly but slightly shifted towards the center."}
+{"scene_index": 42, "scene": "The pen is located at the back right and also in the back, while the pen cap is positioned at the back and specifically at the back right as well."}
+{"scene_index": 43, "scene": "The pen is at the back right, the pen cap is also at the back right; the pen is at the back left, and the pen cap is also at the back left."}
+{"scene_index": 44, "scene": "The pen and pen cap are positioned at both the back right and back left locations."}
+{"scene_index": 45, "scene": "There are two pens and two pen caps, each located at either the back right or back left position."}
+{"scene_index": 46, "scene": "The two pens are positioned diagonally at the back right and back left, each paired with their respective pen caps in the same positions."}
+{"scene_index": 47, "scene": "The first pen is positioned at the back right. The second pen is positioned at the back left. The pen cap is positioned at the back left. Two pen caps are positioned at the back right."}
+{"scene_index": 48, "scene": "The two pen caps are positioned at the back left and back right."}
+{"scene_index": 49, "scene": "The pen is at the back, with its cap located both at the back and back right positions."}
+{"scene_index": 50, "scene": "The pen cap is located at the back right, while another pen cap is positioned at the back left; both pen caps are associated with the pen placed at the back right."}
+{"scene_index": 51, "scene": "The pen cap is located at the back and back right positions relative to its primary object."}
+{"scene_index": 52, "scene": "The pen and pen cap are positioned at both the back left and back right locations."}
+{"scene_index": 53, "scene": "The pen cap is positioned at the back right, while the pen itself is located at the back, with another pen cap also placed nearby but not specified in relation to the exact position."}
+{"scene_index": 54, "scene": "The pen and its corresponding pen cap are both positioned at the back, with the pen located on the left side and the pen cap placed on the right side."}

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+{"subtask_index": 0, "subtask": "Secure the pen cap with the right hand."}
+{"subtask_index": 1, "subtask": "Insert the pen into the cap"}
+{"subtask_index": 2, "subtask": "End"}
+{"subtask_index": 3, "subtask": "Put the cap on the pen"}
+{"subtask_index": 4, "subtask": "Pick up the pen cap"}
+{"subtask_index": 5, "subtask": "Grab the pen barrel with the left hand."}
+{"subtask_index": 6, "subtask": "Secure the pen cap with the left hand."}
+{"subtask_index": 7, "subtask": "Grab the pen cap with the left hand."}
+{"subtask_index": 8, "subtask": "Place the pen on the table"}
+{"subtask_index": 9, "subtask": "Abnormal"}
+{"subtask_index": 10, "subtask": "Grab the pen cap with the right hand."}
+{"subtask_index": 11, "subtask": "Insert the pen cap with the right hand."}
+{"subtask_index": 12, "subtask": "Grab the pen barrel with the right hand."}
+{"subtask_index": 13, "subtask": "Pick up the pen"}
+{"subtask_index": 14, "subtask": "end"}
+{"subtask_index": 15, "subtask": "Place the pen down with the right hand."}
+{"subtask_index": 16, "subtask": "abnormal"}
+{"subtask_index": 17, "subtask": "Insert the pen cap with the left hand."}
+{"subtask_index": 18, "subtask": "null"}

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