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+*.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
+meta/episodes_stats.jsonl filter=lfs diff=lfs merge=lfs -text
diff --git a/pretrain/h1/h1_humanoid_everyday/see_see_data.ipynb b/pretrain/h1/h1_humanoid_everyday/see_see_data.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..b66b61a893608a617ad7189d4c0a21dce8454f8f
--- /dev/null
+++ b/pretrain/h1/h1_humanoid_everyday/see_see_data.ipynb
@@ -0,0 +1,258 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "fa932b90",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "                                              action  timestamp  frame_index  \\\n",
+      "0  [1.6387392, 1.6327348, 1.632976, 1.6362923, 1....   0.000000            0   \n",
+      "1  [1.6394693, 1.6313394, 1.632029, 1.6337802, 1....   0.033333            1   \n",
+      "2  [1.6404217, 1.6302893, 1.6313, 1.6325326, 1.25...   0.066667            2   \n",
+      "3  [1.6418158, 1.6294272, 1.6308513, 1.6335574, 1...   0.100000            3   \n",
+      "4  [1.649147, 1.6315942, 1.6294558, 1.6327202, 1....   0.133333            4   \n",
+      "\n",
+      "   episode_index  index  task_index  next.done  \\\n",
+      "0              0      0           1      False   \n",
+      "1              0      1           1      False   \n",
+      "2              0      2           1      False   \n",
+      "3              0      3           1      False   \n",
+      "4              0      4           1      False   \n",
+      "\n",
+      "                                   observation.state  \n",
+      "0  [-0.049573094, -1.5774778, -0.07214807, 1.2732...  \n",
+      "1  [-0.049573094, -1.5776056, -0.07214807, 1.2731...  \n",
+      "2  [-0.04959866, -1.5786794, -0.07217364, 1.27323...  \n",
+      "3  [-0.049624227, -1.5788584, -0.07217364, 1.2732...  \n",
+      "4  [-0.049649794, -1.5793697, -0.07222477, 1.2732...  \n"
+     ]
+    }
+   ],
+   "source": [
+    "import pyarrow.parquet as pq\n",
+    "import pandas as pd\n",
+    "\n",
+    "df = pq.read_table(\"/mnt/dataset/vnwy44/data/eai_real_world/h1_humanoid_everyday/data/chunk-000/episode_000000.parquet\").to_pandas()\n",
+    "print(df.head())"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "id": "1a15c3a9",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "(13,)\n",
+      "(14,)\n",
+      "(12,)\n"
+     ]
+    }
+   ],
+   "source": [
+    "print(df['observation.leg_joints'][0].shape)\n",
+    "print(df['observation.arm_joints'][0].shape)\n",
+    "print(df['observation.hand_joints'][0].shape)\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "id": "3ddda817",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "(39,)\n",
+      "[-0.04957309 -1.5776056  -0.07214807  1.2731881   0.28022018 -0.02485543\n",
+      "  0.15815353 -1.5972917  -0.01020084  1.2981951   0.33241352  0.02951572\n",
+      "  0.00432061  0.02682781  0.06838167 -0.00633574  0.20441127  0.02271843\n",
+      " -0.06191325 -0.01319814  0.01365232 -0.01393366  0.0366416   0.20632029\n",
+      " -0.02199912 -0.0584259  -0.01151341  0.99        1.          1.\n",
+      "  1.          0.865       0.317       1.          0.999       0.999\n",
+      "  0.991       0.998       0.761     ]\n",
+      "left_arm: [-0.04957309 -1.5776056  -0.07214807  1.2731881   0.28022018 -0.02485543\n",
+      "  0.15815353]\n",
+      "left_hand: [-1.5972917  -0.01020084  1.2981951   0.33241352  0.02951572  0.00432061]\n",
+      "right_arm: [ 0.02682781  0.06838167 -0.00633574  0.20441127  0.02271843 -0.06191325\n",
+      " -0.01319814]\n",
+      "right_hand: [ 0.01365232 -0.01393366  0.0366416   0.20632029 -0.02199912 -0.0584259 ]\n",
+      "head: [-0.01151341  0.99        1.        ]\n",
+      "waist: [1.    1.    0.865 0.317]\n"
+     ]
+    }
+   ],
+   "source": [
+    "print(df['observation.state'][1].shape)\n",
+    "print(df['observation.state'][1])\n",
+    "print('left_arm:', df['observation.state'][1][0:7])\n",
+    "print('left_hand:', df['observation.state'][1][7:13])\n",
+    "print('right_arm:', df['observation.state'][1][13:20])\n",
+    "print('right_hand:', df['observation.state'][1][20:26])\n",
+    "print('head:', df['observation.state'][1][26:29])\n",
+    "print('waist:', df['observation.state'][1][29:33])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 10,
+   "id": "533727a6",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "(370,)\n",
+      "(26,)\n",
+      "[ 1.6387392   1.6327348   1.632976    1.6362923   1.2605786   0.30267042\n",
+      "  1.120288    1.2102199   1.3521475   1.433093    1.1374418   0.33951592\n",
+      " -0.01615228  0.18294063 -0.04200581  0.3576689   0.10282638 -0.46999863\n",
+      " -0.01888612 -0.07865312 -0.044548    0.09666333  0.3497319  -0.09613459\n",
+      " -0.46999884 -0.01949749]\n",
+      "left_arm: [1.6387392  1.6327348  1.632976   1.6362923  1.2605786  0.30267042\n",
+      " 1.120288  ]\n",
+      "left_hand: [1.2102199]\n",
+      "right_arm: [ 1.3521475   1.433093    1.1374418   0.33951592 -0.01615228  0.18294063\n",
+      " -0.04200581]\n",
+      "right_hand: [0.3576689]\n",
+      "head: [ 0.10282638 -0.46999863 -0.01888612]\n",
+      "waist: [-0.07865312 -0.044548    0.09666333  0.3497319 ]\n"
+     ]
+    }
+   ],
+   "source": [
+    "print(df['action'].shape)\n",
+    "print(df['action'][0].shape)\n",
+    "print(df['action'][0])\n",
+    "print('left_arm:', df['action'][0][0:7])\n",
+    "print('left_hand:', df['action'][0][7:8])\n",
+    "print('right_arm:', df['action'][0][8:15])\n",
+    "print('right_hand:', df['action'][0][15:16])\n",
+    "print('head:', df['action'][0][16:19])\n",
+    "print('waist:', df['action'][0][19:23])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "d15d20d9",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import numpy as np\n",
+    "import matplotlib.pyplot as plt\n",
+    "\n",
+    "# 把每一步的 state 堆成一个 [T, 33] 的数组\n",
+    "states = np.stack(df['observation.state'].to_numpy())   # 或 .values\n",
+    "print(states.shape)\n",
+    "actions = np.stack(df['action'].to_numpy())             # [T, 23]"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 41,
+   "id": "d71debb2",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "(1336,)\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "joint = 0  # 左臂第一个关节\n",
+    "\n",
+    "delta_state = np.diff(states[:, joint])\n",
+    "print(delta_state.shape)\n",
+    "\n",
+    "plt.plot(states[:, joint], label='state')\n",
+    "plt.plot(actions[:, joint], label='action')\n",
+    "plt.plot(delta_state, label='Δ state')\n",
+    "plt.legend()\n",
+    "plt.show()\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 33,
+   "id": "838687e4",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "(1336,)\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "joint = 6  # 左臂第一个关节\n",
+    "\n",
+    "delta_state = np.diff(states[:, joint])\n",
+    "print(delta_state.shape)\n",
+    "\n",
+    "plt.plot(states[:, joint], label='state')\n",
+    "plt.plot(actions[:, joint], label='action')\n",
+    "plt.plot(delta_state, label='Δ state')\n",
+    "plt.legend()\n",
+    "plt.show()"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "hlmvla",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.19"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/pretrain/leju/leju_robot_part_placement/annotations/eef_acc_mag_annotation.jsonl b/pretrain/leju/leju_robot_part_placement/annotations/eef_acc_mag_annotation.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/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/pretrain/leju/leju_robot_part_placement/annotations/eef_direction_annotation.jsonl b/pretrain/leju/leju_robot_part_placement/annotations/eef_direction_annotation.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/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/pretrain/leju/leju_robot_part_placement/annotations/eef_velocity_annotation.jsonl b/pretrain/leju/leju_robot_part_placement/annotations/eef_velocity_annotation.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/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/pretrain/leju/leju_robot_part_placement/annotations/gripper_activity_annotation.jsonl b/pretrain/leju/leju_robot_part_placement/annotations/gripper_activity_annotation.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/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/pretrain/leju/leju_robot_part_placement/annotations/gripper_mode_annotation.jsonl b/pretrain/leju/leju_robot_part_placement/annotations/gripper_mode_annotation.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/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/pretrain/leju/leju_robot_part_placement/annotations/scene_annotations.jsonl b/pretrain/leju/leju_robot_part_placement/annotations/scene_annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e56310da41bb27bd1f535b7aada3f1688c32b597
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/annotations/scene_annotations.jsonl
@@ -0,0 +1,547 @@
+{"scene_index": 0, "scene": "The black rectangle is at the center, while both front blue cabinets are positioned one behind the other, with the first located at the back and the second centered."}
+{"scene_index": 1, "scene": "The black rectangle is at the front left, while the front left also has a blue cabinet."}
+{"scene_index": 2, "scene": "The front blue cabinet is located at the front right position, while the black rectangle part is situated at the back position."}
+{"scene_index": 3, "scene": "Front blue cabinet is on the right; black rectangle part is at the back; black rectangle is in the front-right."}
+{"scene_index": 4, "scene": "The front blue cabinet is positioned at the front, while the black rectangle part is located at the back right."}
+{"scene_index": 5, "scene": "The front blue cabinet is centered, with the black rectangle part also centered within it, establishing a symmetrical arrangement where both objects share the same central positioning."}
+{"scene_index": 6, "scene": "The black rectangle is at the front, the front blue cabinet is also at the front, and the cabinet (presumably referring to the front blue cabinet) is positioned in front."}
+{"scene_index": 7, "scene": "The front blue cabinet is positioned at the front, while the black rectangle part is located at the back right."}
+{"scene_index": 8, "scene": "The front blue cabinet is positioned on the right side."}
+{"scene_index": 9, "scene": "The front blue cabinet is positioned at front left, while the black rectangle part is located at the back."}
+{"scene_index": 10, "scene": "The black rectangle is positioned at the back left, while the front blue cabinet is also located at the back left."}
+{"scene_index": 11, "scene": "The black rectangle is at the back, while two front blue cabinets are positioned in front of it."}
+{"scene_index": 12, "scene": "The black rectangle part is positioned at the front, while the front blue cabinet also occupies the front position."}
+{"scene_index": 13, "scene": "The black rectangle is at the front, while the front blue cabinet is centered."}
+{"scene_index": 14, "scene": "The black rectangle is positioned at the front of the front blue cabinet."}
+{"scene_index": 15, "scene": "The front blue cabinet is positioned at the back, with the black rectangle part placed in the front left, while another front blue cabinet is centrally located."}
+{"scene_index": 16, "scene": "The black rectangle is located at the back, while the two identical front blue cabinets are positioned on the front left."}
+{"scene_index": 17, "scene": "The front blue cabinet is positioned to the left, while the black rectangle part is located on the right side."}
+{"scene_index": 18, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is placed in the center."}
+{"scene_index": 19, "scene": "The front blue cabinet is positioned at both the center and back, while the black rectangle part is centered."}
+{"scene_index": 20, "scene": "The front blue cabinet is positioned on the right side, while the black rectangle part is located at the back left."}
+{"scene_index": 21, "scene": "The front blue cabinet is positioned at the back right, while the black rectangle part is located at the back left."}
+{"scene_index": 22, "scene": "The black rectangle part is positioned at the front left, sharing the same location as the front blue cabinet."}
+{"scene_index": 23, "scene": "The front blue cabinet is positioned at the back, with a black rectangle part located in the front left. Another black rectangle part is placed at the front, and a smaller black object is also situated in the front left area."}
+{"scene_index": 24, "scene": "The front blue cabinets are positioned at both back and center, while the black rectangle part is also located at the back."}
+{"scene_index": 25, "scene": "The front blue cabinet is positioned at both the back and center, while the black rectangle part is centered."}
+{"scene_index": 26, "scene": "The front blue cabinet is positioned on the left, while the black rectangle part is located at the back right."}
+{"scene_index": 27, "scene": "The black rectangle is at the center, while the front blue cabinet is positioned behind it."}
+{"scene_index": 28, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is centered."}
+{"scene_index": 29, "scene": "The front blue cabinet is positioned at the front, while there are two black rectangle parts placed one at the back and another at the center."}
+{"scene_index": 30, "scene": "The front blue cabinet is centered at the front, while the black rectangle part is positioned at the back."}
+{"scene_index": 31, "scene": "The black rectangle is located at the back left, positioned behind and to the left of the front blue cabinet, which is also situated in the back left area."}
+{"scene_index": 32, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is located at the back left. The front cabinet is centered in its position."}
+{"scene_index": 33, "scene": "The black rectangle is positioned at the back right, while the front blue cabinet is located at the back left."}
+{"scene_index": 34, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is placed in the center."}
+{"scene_index": 35, "scene": "The front blue cabinet is at the center, the black rectangle part is at the back, and another black rectangle is also in the center."}
+{"scene_index": 36, "scene": "The front blue cabinet is at the center, with the black rectangle part positioned in front of it."}
+{"scene_index": 37, "scene": "The black rectangle is at the center, while the front blue cabinet is also positioned at the center."}
+{"scene_index": 38, "scene": "The black rectangle is at the back, while the front blue cabinet is on the front left side."}
+{"scene_index": 39, "scene": "The front blue cabinet is positioned on the right side, while the black rectangle part is located at the front right position."}
+{"scene_index": 40, "scene": "The front blue cabinet is positioned on the right side, while the black rectangle part is located at the back right, establishing their respective spatial placements."}
+{"scene_index": 41, "scene": "The black rectangle is at the front, and the front blue cabinet is on the left side."}
+{"scene_index": 42, "scene": "The black rectangle is positioned at the back left, while the front blue cabinet is located further back."}
+{"scene_index": 43, "scene": "The front blue cabinet is at the back, the black rectangle part is also at the back, and the black rec is in the center."}
+{"scene_index": 44, "scene": "The front blue cabinet is positioned at the center, with the black rectangle part also centered within it."}
+{"scene_index": 45, "scene": "The two black rectangles are both at the front, while the front blue cabinet is centered in its position."}
+{"scene_index": 46, "scene": "The black rectangle is positioned at the center, while two front blue cabinets also occupy the center, creating a symmetrical arrangement."}
+{"scene_index": 47, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 48, "scene": "The black rectangle is positioned at the back left, and it is situated alongside or in proximity to the front blue cabinet, which also occupies the back left location."}
+{"scene_index": 49, "scene": "The black rectangle is at the center, while the front blue cabinets are positioned both in the center and at the back."}
+{"scene_index": 50, "scene": "The black rectangle is centered, while both front blue cabinets are also centered in their respective positions."}
+{"scene_index": 51, "scene": "The black rectangle part is positioned at front left, while another black rectangle part is at front; the front blue cabinet is on the left."}
+{"scene_index": 52, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 53, "scene": "The front blue cabinet is on the left, and the black rectangle part is in the front-left position relative to it."}
+{"scene_index": 54, "scene": "The black rectangle is positioned at the front of the front blue cabinet."}
+{"scene_index": 55, "scene": "The black rectangle is at the front, positioned in front of the front blue cabinet."}
+{"scene_index": 56, "scene": "The front blue cabinet is positioned to the right, and the black rectangle part is also positioned to the right."}
+{"scene_index": 57, "scene": "The front blue cabinet is positioned in the front left. There are two black rectangle parts—one located at the back and another at the front right."}
+{"scene_index": 58, "scene": "The black rectangle is at the center, while the front blue cabinet is also centered but placed closer to the viewer than the back blue cabinet."}
+{"scene_index": 59, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is located at the back left."}
+{"scene_index": 60, "scene": "The black rectangle is at the center, and there are four front blue cabinets also positioned at the center."}
+{"scene_index": 61, "scene": "The front blue cabinet is positioned at the front left, while the black rectangle part is located at the back, with no direct interaction between them."}
+{"scene_index": 62, "scene": "The front blue cabinet is positioned at the front, while both the black rectangle part and the rectangle are located at the back right."}
+{"scene_index": 63, "scene": "The black rectangle part is located at the front, while the front blue cabinet is also positioned at the front."}
+{"scene_index": 64, "scene": "The black rectangle is positioned at the front, while both instances of the front blue cabinet are also located at the front."}
+{"scene_index": 65, "scene": "The black rectangle is located at the front right, positioned to the left of the front blue cabinet, which is situated on the right side."}
+{"scene_index": 66, "scene": "The black rectangle part is located at the front, while the front blue cabinet is also positioned at the front."}
+{"scene_index": 67, "scene": "The black rectangle is positioned on the left, and the front blue cabinet is also on the left, indicating that both objects share the same positional placement."}
+{"scene_index": 68, "scene": "The front blue cabinet is positioned at the back, while the rectangle part is located at the back right."}
+{"scene_index": 69, "scene": "The front blue cabinet is positioned at front left, the black rectangle part is at back, and the tangle part is on the right."}
+{"scene_index": 70, "scene": "The black rectangle is at the front, while the front blue cabinet is on the left side."}
+{"scene_index": 71, "scene": "The black rectangle is positioned at the front, overlapping with the front blue cabinet which is also located at the front."}
+{"scene_index": 72, "scene": "The black rectangle is at the front, same as the front blue cabinet."}
+{"scene_index": 73, "scene": "The front blue cabinet is positioned at the front left, while two black rectangle parts are located at the back right and another one is placed at the back."}
+{"scene_index": 74, "scene": "The front blue cabinet is on the left, and the black rectangle part is on the right."}
+{"scene_index": 75, "scene": "The front blue cabinet is at the center, with a black rectangle part in front and another black rectangle part behind it."}
+{"scene_index": 76, "scene": "The front blue cabinets are positioned at front right and center respectively, while the black rectangle part is located at the back."}
+{"scene_index": 77, "scene": "The front blue cabinet is at the center, while two black rectangle parts are positioned on both the front and back."}
+{"scene_index": 78, "scene": "The black rectangle is at the front, while the front blue cabinet is centered."}
+{"scene_index": 79, "scene": "The front blue cabinet is at the front; two black rectangle parts, one in front and another at the back."}
+{"scene_index": 80, "scene": "The black rectangle is positioned at the center, while two front blue cabinets also occupy the center, creating a symmetrical arrangement."}
+{"scene_index": 81, "scene": "The front blue cabinet is positioned at the back."}
+{"scene_index": 82, "scene": "The black rectangle is centered under the front blue cabinet."}
+{"scene_index": 83, "scene": "The front blue cabinet is positioned at the back."}
+{"scene_index": 84, "scene": "The black rectangle is positioned at the back right, while the front blue cabinet is located behind it, establishing a positional hierarchy where the blue cabinet is closer to the front but situated behind the black rectangle."}
+{"scene_index": 85, "scene": "The black rectangle is positioned at the front, overlapping with the front blue cabinet which is also located at the front."}
+{"scene_index": 86, "scene": "The front blue cabinet is positioned to the left, while the black rectangle part is located at the front."}
+{"scene_index": 87, "scene": "The black rectangle is centered, while both front blue cabinets are also centered in their respective positions."}
+{"scene_index": 88, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is located at the front right."}
+{"scene_index": 89, "scene": "The front blue cabinet is positioned at front left, while the black rectangle part is located at the back."}
+{"scene_index": 90, "scene": "The front blue cabinet is at the center, and the black rectangle part is also at the center."}
+{"scene_index": 91, "scene": "The black rectangle parts are located at the back and left positions, while the front blue cabinet is placed at the back."}
+{"scene_index": 92, "scene": "The black rectangle is located at the front, while the front blue cabinet is situated on the left side."}
+{"scene_index": 93, "scene": "The black rectangle is centered under the front blue cabinet."}
+{"scene_index": 94, "scene": "The front blue cabinet is positioned at the center."}
+{"scene_index": 95, "scene": "The front blue cabinet is positioned at the front, while the black rectangle part is located at the back right."}
+{"scene_index": 96, "scene": "The front blue cabinet is positioned at the back left, the black rectangle parts are located at the front right and center."}
+{"scene_index": 97, "scene": "The black rectangle is centered at the main display area, while two front blue cabinets are both positioned in the center of their respective sections."}
+{"scene_index": 98, "scene": "The black rectangle is on the right, while the front blue cabinets are centered and also on the right."}
+{"scene_index": 99, "scene": "The black rectangle is located at the center."}
+{"scene_index": 100, "scene": "The front blue cabinet is positioned at the front, while the black rectangle part is located at the back, indicating their positions relative to each other."}
+{"scene_index": 101, "scene": "The black rectangle is located at the front-left position, while the front blue cabinet is placed to the left side."}
+{"scene_index": 102, "scene": "The front blue cabinets are positioned at both center and back locations, with a black rectangle part placed behind them."}
+{"scene_index": 103, "scene": "The black rectangle is positioned at the front-left, while the two identical front blue cabinets are both located on the left side."}
+{"scene_index": 104, "scene": "The front blue cabinet is centered, with a black rectangle attached to its front."}
+{"scene_index": 105, "scene": "The front blue cabinet is at the center, and the black rectangle part is also at the center."}
+{"scene_index": 106, "scene": "The front blue cabinet is centered, while the black rectangle part is positioned to its right."}
+{"scene_index": 107, "scene": "The black rectangle is at the front, positioned front center, while the front blue cabinet is located to its front left."}
+{"scene_index": 108, "scene": "The black rectangle part is positioned at the front, while the front blue cabinet also occupies the front position."}
+{"scene_index": 109, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 110, "scene": "The black rectangle is centered at the front, while the blue cabinet is located towards the back."}
+{"scene_index": 111, "scene": "The front blue cabinet is at the front, with a black rectangle part on its left and another black rectangle part behind it. A third black rectangle is positioned in front of the entire setup."}
+{"scene_index": 112, "scene": "The front blue cabinet is located at the back."}
+{"scene_index": 113, "scene": "The front blue cabinet is centered, with the black rectangle part also centered within it, establishing a symmetrical arrangement where both objects share the same central positioning."}
+{"scene_index": 114, "scene": "The front blue cabinet is at the center, with the black rectangle part also positioned at the center."}
+{"scene_index": 115, "scene": "The front blue cabinet is positioned at the front, and it has a black rectangle part also located at the front, indicating that both objects share the same front position."}
+{"scene_index": 116, "scene": "The front blue cabinet is positioned on the left side, while the black rectangle part is located at the back right."}
+{"scene_index": 117, "scene": "The front blue cabinet is positioned in the front left, while the black rectangle part is located at the back."}
+{"scene_index": 118, "scene": "The front blue cabinet is positioned at the front right, while the black rectangle part is also located at the front right, indicating their close spatial proximity."}
+{"scene_index": 119, "scene": "The front blue cabinet is positioned at front right, with the black rectangle part also located at front right."}
+{"scene_index": 120, "scene": "The front blue cabinet is centered, with its black rectangle part also positioned at the center."}
+{"scene_index": 121, "scene": "The front blue cabinet is centered, with the black rectangle part positioned at its front."}
+{"scene_index": 122, "scene": "The front blue cabinet is positioned at the back, while two identical black rectangle parts are both located at the back left."}
+{"scene_index": 123, "scene": "The front blue cabinet is at the front position, while the black rectangle part is located on its left side."}
+{"scene_index": 124, "scene": "The black rectangle is at the front right, the front blue cabinet is centered, and the front blue cabinet is also positioned at the front."}
+{"scene_index": 125, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is also located at the front."}
+{"scene_index": 126, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is placed in the center."}
+{"scene_index": 127, "scene": "The front blue cabinet is positioned at the front left, while the black rectangle part is located at the back."}
+{"scene_index": 128, "scene": "The black rectangle is positioned at the front of the front blue cabinet."}
+{"scene_index": 129, "scene": "The front blue cabinet is at the center, with a black rectangle part positioned centrally on its front."}
+{"scene_index": 130, "scene": "The front blue cabinet is positioned at the back, with the black rectangle part located on its right side, and a separate black object placed on its left."}
+{"scene_index": 131, "scene": "The black rectangle part is located at the front, while the front blue cabinet is also positioned at the front."}
+{"scene_index": 132, "scene": "The black rectangle is at the front, while the front blue cabinet is centered."}
+{"scene_index": 133, "scene": "Front blue cabinet is centered; black rectangle part is at back; another black rectangle is centered."}
+{"scene_index": 134, "scene": "The front blue cabinet is centered, with the black rectangle part also centered within it, establishing a central alignment for both objects."}
+{"scene_index": 135, "scene": "The black rectangle is centered, while the front blue cabinet is also positioned at the center but located in front of it."}
+{"scene_index": 136, "scene": "The front blue cabinet is positioned at the back right. The black rectangle parts are located at the front right, right, and back right positions."}
+{"scene_index": 137, "scene": "The front blue cabinet is located at the front left, while the black rectangle part is positioned at the back left."}
+{"scene_index": 138, "scene": "The front blue cabinet is positioned to the left, while the black rectangle part is also located on the left side."}
+{"scene_index": 139, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is located to its right side."}
+{"scene_index": 140, "scene": "The front blue cabinet is at center, the black rectangle part is at front right, the front blue cabinet is at front."}
+{"scene_index": 141, "scene": "The Front Blue Cabinet is positioned at the front right. The Black Rectangle Part is positioned at the back left. The Black Rectangle Part is positioned on the right."}
+{"scene_index": 142, "scene": "The front blue cabinet is positioned at front left, and the black rectangle part is located at back."}
+{"scene_index": 143, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is located in the front-left area."}
+{"scene_index": 144, "scene": "The front blue cabinet is positioned at the front, while the black rectangle part is located at the back right."}
+{"scene_index": 145, "scene": "The front blue cabinet is positioned at the center, with the black rectangle part located in front of it."}
+{"scene_index": 146, "scene": "The black rectangle is positioned at the center, while two front blue cabinets also occupy the center, creating a symmetrical arrangement."}
+{"scene_index": 147, "scene": "The front blue cabinet is positioned at the back, while the part is located on the left side."}
+{"scene_index": 148, "scene": "The black rectangle is centered, while the front blue cabinet is also positioned at the center but located in front of it."}
+{"scene_index": 149, "scene": "The black rectangle is at the center, while the front blue cabinet is also positioned at the center."}
+{"scene_index": 150, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 151, "scene": "The black rectangle is positioned at the center, while two front blue cabinets are also centered."}
+{"scene_index": 152, "scene": "The black rectangle is positioned at the back right, sharing the same location as the front blue cabinet."}
+{"scene_index": 153, "scene": "The front blue cabinet is positioned at the back."}
+{"scene_index": 154, "scene": "The black rectangle is located at the back, and the front blue cabinet is also positioned at the back."}
+{"scene_index": 155, "scene": "The black rectangle is at the center, while two front blue cabinets are positioned both at the back and center."}
+{"scene_index": 156, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 157, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is located in the center."}
+{"scene_index": 158, "scene": "The front blue cabinet is positioned at the back left, while the black rectangle parts are placed on the front left and front."}
+{"scene_index": 159, "scene": "The black rectangle is positioned at the center, while two front blue cabinets also occupy the center, creating a symmetrical arrangement."}
+{"scene_index": 160, "scene": "The black rectangle is positioned at the back right, while the front blue cabinet is centered."}
+{"scene_index": 161, "scene": "The front blue cabinet is centered, with the black rectangle part positioned at its front."}
+{"scene_index": 162, "scene": "The front blue cabinet is centered, with the black rectangle part positioned in front of it, and another identical front blue cabinet placed in front as well."}
+{"scene_index": 163, "scene": "The front blue cabinet is positioned at the back left, and the black rectangle part is located on the left side."}
+{"scene_index": 164, "scene": "The front blue cabinet is positioned at the front left, and the black rectangle part is also located at the front left, with both sharing the same spatial location."}
+{"scene_index": 165, "scene": "The front blue cabinet is positioned at the front, with a black rectangle part placed at its back and another black rectangle part located at its front."}
+{"scene_index": 166, "scene": "The front blue cabinets are centered, with the black rectangle part also positioned at the center."}
+{"scene_index": 167, "scene": "The front blue cabinet is positioned at the front right."}
+{"scene_index": 168, "scene": "The front blue cabinet is on the left, with a black rectangle part on its right and another black rectangle part at the back left."}
+{"scene_index": 169, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 170, "scene": "The front blue cabinet is positioned on the right side."}
+{"scene_index": 171, "scene": "The front blue cabinet is positioned at front left, the black rectangle part is at back left, and the tangle is located in the front."}
+{"scene_index": 172, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 173, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is placed in the center."}
+{"scene_index": 174, "scene": "The black rectangle is at the back, while the front blue cabinets occupy both the front center and front left positions."}
+{"scene_index": 175, "scene": "The front blue cabinet is centered, with the black rectangle positioned at its front."}
+{"scene_index": 176, "scene": "The black rectangle is centered, while the front blue cabinets are positioned at both the back and center."}
+{"scene_index": 177, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 178, "scene": "The black rectangle is positioned at the center, while two front blue cabinets also occupy the center, creating a symmetrical arrangement."}
+{"scene_index": 179, "scene": "The front blue cabinet is centered, with the black rectangle part also centrally positioned, both located at the center."}
+{"scene_index": 180, "scene": "The front blue cabinet is positioned at the back, with the black rectangle part located at the back right."}
+{"scene_index": 181, "scene": "Front blue cabinet at center; rec at back; black rectangle part at front; black part at left."}
+{"scene_index": 182, "scene": "The front blue cabinet is positioned at the front, while the black rectangle part is located at the back."}
+{"scene_index": 183, "scene": "The front blue cabinet is positioned in the front area, with a black rectangle part centered at its back and another black rectangle part placed towards the front right."}
+{"scene_index": 184, "scene": "The front blue cabinet is positioned at the back left, while the black rectangle part is centered in its location."}
+{"scene_index": 185, "scene": "The black rectangle is at the front, positioned in front of the front blue cabinet."}
+{"scene_index": 186, "scene": "The black rectangle is centered at the main display area, while two front blue cabinets are both positioned in the center of their respective sections."}
+{"scene_index": 187, "scene": "The black rectangle is centered, positioned at the center, while the front blue cabinet is also centered."}
+{"scene_index": 188, "scene": "The black rectangle is at the center, the front blue cabinet is at the back, and another black rectangle is at the back left."}
+{"scene_index": 189, "scene": "The black rectangle is at the front, while the front blue cabinet is centered."}
+{"scene_index": 190, "scene": "The front blue cabinet is centered, with a part positioned to its right and a black rectangle part placed at the front."}
+{"scene_index": 191, "scene": "The front blue cabinet is centered, with the black rectangle positioned centrally within it."}
+{"scene_index": 192, "scene": "The black rectangle part is at the back left, while both the front blue cabinet and the front black rectangle part are in the center."}
+{"scene_index": 193, "scene": "The front blue cabinet is positioned at the back, and the black rectangle part is also placed at the back, establishing their positions and relationships accordingly."}
+{"scene_index": 194, "scene": "The front blue cabinet is positioned on the right side."}
+{"scene_index": 195, "scene": "The front blue cabinet is centered, and the black rectangle part is located at the back."}
+{"scene_index": 196, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is also located at the front."}
+{"scene_index": 197, "scene": "The front blue cabinet is centered, with a black rectangle at the front and another black rectangle at the back."}
+{"scene_index": 198, "scene": "The front blue cabinet is at the back, the black part is on the right, and the black rectangle is in the center."}
+{"scene_index": 199, "scene": "The black rectangle is at the center, while the front blue cabinet is positioned both back and center, indicating its dual placement relative to the black rectangle."}
+{"scene_index": 200, "scene": "The part is located at the back left, while the black part is positioned at the back. The front cabinet is on the left side, and the front blue cabinet is also on the left."}
+{"scene_index": 201, "scene": "The front blue cabinet is centered, while the black rectangle part is located at the back right, and another black rectangle is positioned at the back."}
+{"scene_index": 202, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 203, "scene": "The black rectangle is located at the front-left, while the front blue cabinet is positioned on the left side, with the black rectangle situated in front of it."}
+{"scene_index": 204, "scene": "The black rectangle is centered, while two front blue cabinets are both positioned to the left."}
+{"scene_index": 205, "scene": "The black rectangle is located at the back right, while the front blue cabinet is positioned in front."}
+{"scene_index": 206, "scene": "The front blue cabinet is positioned at the center, while the black rectangle part is placed at the back."}
+{"scene_index": 207, "scene": "The front blue cabinet is at the front, the black rectangle parts are located at the back, with one specifically positioned on the back right."}
+{"scene_index": 208, "scene": "The black rectangle is at the front, same as the front blue cabinet."}
+{"scene_index": 209, "scene": "The front blue cabinet is on the left side, while the black rectangle part is located at the back right."}
+{"scene_index": 210, "scene": "The front blue cabinet is centered, with the black rectangle positioned at its front."}
+{"scene_index": 211, "scene": "The black rectangle part is located at the back, while the front blue cabinet is positioned at the front."}
+{"scene_index": 212, "scene": "The black rectangle is located in the front-left position, positioned alongside the front-left blue cabinet."}
+{"scene_index": 213, "scene": "The front blue cabinet is on the left, while the black rectangle parts are positioned at both the back left and back right."}
+{"scene_index": 214, "scene": "The front blue cabinet is centered, with the black rectangle positioned centrally within it."}
+{"scene_index": 215, "scene": "The black rectangle is at the front, while the blue cabinet is on the left side."}
+{"scene_index": 216, "scene": "The black rectangle is located at the back left, while the front blue cabinet is positioned on the left side."}
+{"scene_index": 217, "scene": "The front blue cabinet is centered, with the black rectangle positioned at its front."}
+{"scene_index": 218, "scene": "The black rectangle is positioned at the back right, while the front blue cabinet is placed both at the back right and front."}
+{"scene_index": 219, "scene": "The black rectangle is at the center, and the front blue cabinet is positioned behind it."}
+{"scene_index": 220, "scene": "The black rectangle is positioned at the front, while the front blue cabinets occupy both the front left and center positions."}
+{"scene_index": 221, "scene": "The black rectangle is at the center, while multiple front blue cabinets are also positioned at the center."}
+{"scene_index": 222, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is located in front of it."}
+{"scene_index": 223, "scene": "The black rectangle is at the front; there s a front blue cabinet centered in front of it, and another front blue cabinet is positioned to the front left."}
+{"scene_index": 224, "scene": "The front blue cabinet is at the back position, the blacktangle part is also at the back, and there s another front blue cabinet placed in the center."}
+{"scene_index": 225, "scene": "The front blue cabinets are positioned at both back and center, while the black rectangle part is located at center."}
+{"scene_index": 226, "scene": "The black rectangle is centered at the same position as the front blue cabinet and the front, all located in the center."}
+{"scene_index": 227, "scene": "The front blue cabinet is positioned in front, while the black rectangle part is located at the back. There s another part placed in front, and a black rectangle (referred to as  black rec ) is also situated in front."}
+{"scene_index": 228, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is centered."}
+{"scene_index": 229, "scene": "The front blue cabinet is positioned to the left, and the black rectangle part is located at the front of the scene."}
+{"scene_index": 230, "scene": "The front blue cabinet is positioned at the back, while there are two black rectangle parts located at the back right and center positions."}
+{"scene_index": 231, "scene": "The front blue cabinet is centered, with the black rectangle part also at its center, positioned within it."}
+{"scene_index": 232, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is located at both the front left and front positions."}
+{"scene_index": 233, "scene": "The front blue cabinet is located at the back, while the black rectangle part is situated at the back right."}
+{"scene_index": 234, "scene": "The black rectangle is positioned at the center, while the front blue cabinet is also placed at the center."}
+{"scene_index": 235, "scene": "The front blue cabinet is at the center, with a black rectangle part behind it on the back left and another black rectangle part centrally located."}
+{"scene_index": 236, "scene": "The front blue cabinet is centered at the front, with a black rectangular part positioned in front of it."}
+{"scene_index": 237, "scene": "The black rectangle is at the front, while the blue cabinet is on the left side."}
+{"scene_index": 238, "scene": "The black rectangle is located at the back left, while the front blue cabinets are both positioned on the right."}
+{"scene_index": 239, "scene": "The front blue cabinet is positioned at the back, while two black rectangle parts are placed in the back right area."}
+{"scene_index": 240, "scene": "The black rectangle is located at the front-right, while the front blue cabinet is centered in its position."}
+{"scene_index": 241, "scene": "The front blue cabinet is positioned at the center, with the black rectangle part located in front of it."}
+{"scene_index": 242, "scene": "The black rectangle is positioned at the back left, while two front blue cabinets are located on the front left and left sides."}
+{"scene_index": 243, "scene": "The black rectangle is centered, while the front blue cabinet is also positioned at the center but located in front of it."}
+{"scene_index": 244, "scene": "the black rectangle part is located at the front the front blue cabinet is positioned in the center and another instance of the front blue cabinet is placed at the front"}
+{"scene_index": 245, "scene": "The front blue cabinet is at the back, while two objects—the black rectangle part and a blacktangle—are both in the center."}
+{"scene_index": 246, "scene": "The front blue cabinet is positioned at front left, while the black rectangle part is located at the back."}
+{"scene_index": 247, "scene": "The front blue cabinet is on the left, and the black rectangle part is in the front-left position relative to it."}
+{"scene_index": 248, "scene": "The front blue cabinet is positioned at the front, while the black rectangle part is located at the back, establishing their spatial relationship within the described scene."}
+{"scene_index": 249, "scene": "The black rectangle is at the center, while the front blue cabinet is also positioned at the center."}
+{"scene_index": 250, "scene": "The front blue cabinet is centered, with the black rectangle part positioned at its front."}
+{"scene_index": 251, "scene": "The black rectangle is centered, while the front blue cabinet is also centered but positioned in front, with another identical front blue cabinet placed behind it."}
+{"scene_index": 252, "scene": "The black rectangle is on the right, while both front blue cabinets are centered."}
+{"scene_index": 253, "scene": "The black rectangle is at the center, while the front blue cabinet is also centered."}
+{"scene_index": 254, "scene": "The black rectangle is positioned at the center, while two front blue cabinets also occupy the center, creating a symmetrical arrangement."}
+{"scene_index": 255, "scene": "The front blue cabinet is at the center, with the black rectangle part also positioned at the center."}
+{"scene_index": 256, "scene": "The front blue cabinet is positioned at the front, while the black rectangle part is located at the back left."}
+{"scene_index": 257, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 258, "scene": "The front blue cabinet is centered, with the black rectangle positioned at its front."}
+{"scene_index": 259, "scene": "The front blue cabinet is centered, with the black rectangle part positioned at its front."}
+{"scene_index": 260, "scene": "The front blue cabinet is at the center, with the black rectangle part also positioned at the center."}
+{"scene_index": 261, "scene": "The black rectangle is at the front, while the blue cabinet is on the left side."}
+{"scene_index": 262, "scene": "The front blue cabinet is positioned at the center, with the black rectangle part located in front of it."}
+{"scene_index": 263, "scene": "The black rectangle is at the front, the front blue cabinet is on the left, and the front blue object is in the front-left position."}
+{"scene_index": 264, "scene": "The front blue cabinet is on the left, and the black rectangle part is also on the left."}
+{"scene_index": 265, "scene": "The black rectangle is positioned at front left, located on or near the front blue cabinet which is placed to the left side."}
+{"scene_index": 266, "scene": "The black rectangle is located at the front-right, while the front blue cabinet is centered."}
+{"scene_index": 267, "scene": "The front blue cabinet is positioned at the center."}
+{"scene_index": 268, "scene": "The front blue cabinet is positioned at the back."}
+{"scene_index": 269, "scene": "The front blue cabinet is positioned on the right side, while the black rectangle part is located at the back left."}
+{"scene_index": 270, "scene": "The front blue cabinet is centered, with a black rectangle also centered on it, and a tangle positioned in front of both."}
+{"scene_index": 271, "scene": "The front blue cabinet is positioned at front left, while the black rectangle and blacktangle parts are located at back and left respectively."}
+{"scene_index": 272, "scene": "The front blue cabinet is at the center, and the black rectangle part is also at the center."}
+{"scene_index": 273, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 274, "scene": "The black rectangle is centered, positioned at the center, while the front blue cabinet is also centered."}
+{"scene_index": 275, "scene": "The front blue cabinet is centered, with a black rectangle part positioned at the back left and another black rectangle part located in the center."}
+{"scene_index": 276, "scene": "The front blue cabinet is centered, with two black rectangular parts also centered and one positioned at the front of the setup."}
+{"scene_index": 277, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 278, "scene": "The front blue cabinet is at the center, a black rectangle is positioned at the back, and another black rectangle is centered."}
+{"scene_index": 279, "scene": "The black rectangle is at the center, while the front blue cabinet is located at the back left."}
+{"scene_index": 280, "scene": "The front blue cabinet is positioned at the back, with the black rectangle part also located at the back, indicating they share the same positional relationship."}
+{"scene_index": 281, "scene": "The front blue cabinet is positioned at the back and center, while the blacktangle part is located at the back left."}
+{"scene_index": 282, "scene": "The black rectangle is on the right, while the front blue cabinet is centered in its position."}
+{"scene_index": 283, "scene": "The front blue cabinet is at the center, and the black rectangle part is also at the center."}
+{"scene_index": 284, "scene": "The black rectangle is at the front, the front blue cabinet is in the center, and another front blue cabinet is also at the front."}
+{"scene_index": 285, "scene": "The black rectangle part is positioned at the front right, while the two identical front blue cabinets are both located in the center."}
+{"scene_index": 286, "scene": "The front blue cabinet is on the right, the black rectangle part is on the left, and there s a tangle at the back."}
+{"scene_index": 287, "scene": "The front blue cabinet is centered, with its black rectangle part at the front and another black rectangle part positioned at the back."}
+{"scene_index": 288, "scene": "The front blue cabinet is located at the back right position."}
+{"scene_index": 289, "scene": "The front blue cabinet is centered, while the black rectangle part is positioned at the back."}
+{"scene_index": 290, "scene": "The front blue cabinet is positioned at the back."}
+{"scene_index": 291, "scene": "The front blue cabinet is positioned to the right, with the black rectangle part located at the front of it, making it the front-right component of the setup."}
+{"scene_index": 292, "scene": "The black rectangle is positioned at the center, while the front blue cabinet is also placed at the center."}
+{"scene_index": 293, "scene": "The front blue cabinet is centered, with two black rectangular parts positioned in front of it."}
+{"scene_index": 294, "scene": "The front blue cabinet is centered, with the black rectangle part positioned at its front."}
+{"scene_index": 295, "scene": "The front blue cabinet is positioned on the right side, while the black rectangle part is centered."}
+{"scene_index": 296, "scene": "The front blue cabinet is located at the back."}
+{"scene_index": 297, "scene": "The black rectangle is located at the back, while the front blue cabinet is positioned at the front."}
+{"scene_index": 298, "scene": "The front blue cabinet is positioned at the front, with a black rectangle part attached to its back, another black rectangle part placed in the front left corner."}
+{"scene_index": 299, "scene": "The black rectangle part is located at the back left, another black rectangle part is in the center, while the front blue cabinet is positioned at the back."}
+{"scene_index": 300, "scene": "The black rectangle part is located at the front left position, while the front blue cabinet is also situated at the front left position."}
+{"scene_index": 301, "scene": "The black rectangle is centered, and the front blue cabinet is also centered at its location."}
+{"scene_index": 302, "scene": "The front blue cabinets are positioned at both the left and back-left areas, while the black rectangle is centered."}
+{"scene_index": 303, "scene": "The front blue cabinet is at the center, with a black rectangle part positioned at the back."}
+{"scene_index": 304, "scene": "The front blue cabinet is positioned on the right, while the black rectangle part is located at the back right."}
+{"scene_index": 305, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 306, "scene": "The front blue cabinet is positioned on the left, while the black part is located at the back left."}
+{"scene_index": 307, "scene": "The front blue cabinet is centered, with the black rectangle part positioned at the back."}
+{"scene_index": 308, "scene": "The black rectangle is at the center, while the front blue cabinet is also positioned at the center."}
+{"scene_index": 309, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 310, "scene": "Black rectangle part is front and front blue cabinet can be center or left."}
+{"scene_index": 311, "scene": "The front blue cabinet is on the left side, while the black rectangle part is positioned at the back right corner."}
+{"scene_index": 312, "scene": "The front blue cabinet is positioned at the front, while the black rectangle part is located at the back."}
+{"scene_index": 313, "scene": "The black rectangle is at the center, while the front blue cabinet is positioned behind it."}
+{"scene_index": 314, "scene": "The black rectangle is located at front left, and the front blue cabinet is positioned to its left."}
+{"scene_index": 315, "scene": "The black rectangle is at the front, same as the front blue cabinet."}
+{"scene_index": 316, "scene": "The front blue cabinet is centered, with the black rectangle part positioned at its front."}
+{"scene_index": 317, "scene": "The front blue cabinet is on the right, with black rectangles positioned at the back right, back left, and covering the entire back."}
+{"scene_index": 318, "scene": "The front blue cabinet is at the center, and the black rectangle part is also at the center."}
+{"scene_index": 319, "scene": "The front blue cabinet is on the left, and the black rectangle part is in front of it."}
+{"scene_index": 320, "scene": "The black rectangle is on the left, while two front blue cabinets are positioned at the center and left."}
+{"scene_index": 321, "scene": "The front blue cabinet is centered, while the black rectangle part is positioned at the back right."}
+{"scene_index": 322, "scene": "The front blue cabinet is positioned at the back."}
+{"scene_index": 323, "scene": "The front blue cabinet is positioned at the back left."}
+{"scene_index": 324, "scene": "The front blue cabinet is positioned at the front, with the black rectangle part also located at the front, indicating both objects share the same front position."}
+{"scene_index": 325, "scene": "The front blue cabinet is at the center, with three black rectangles positioned on the back left (two of them) and one on the front."}
+{"scene_index": 326, "scene": "The front blue cabinet is centered, with the black rectangle part positioned at its front."}
+{"scene_index": 327, "scene": "The black rectangle is positioned on the right, while the front blue cabinets occupy both the back right and right positions."}
+{"scene_index": 328, "scene": "The front blue cabinet is positioned at the center, while the black rectangle part is located at the back."}
+{"scene_index": 329, "scene": "The black rectangle part is positioned at the front, while the front blue cabinet also occupies the front position."}
+{"scene_index": 330, "scene": "The front blue cabinet is at the front. The black rectangle parts are centered and at the front."}
+{"scene_index": 331, "scene": "The front blue cabinet is positioned at the front left, while the black rectangle part is located at the back left."}
+{"scene_index": 332, "scene": "The front blue cabinet is positioned to the center, while another front blue cabinet is placed to the left."}
+{"scene_index": 333, "scene": "The black rectangle is at the front, the front blue cabinet is centered, and another front blue cabinet is also positioned in front."}
+{"scene_index": 334, "scene": "The front blue cabinet is centered, the black rectangle parts are positioned at the back left and front."}
+{"scene_index": 335, "scene": "The front blue cabinet is positioned on the left, and the color blue also aligns to the left, indicating their shared placement in that area."}
+{"scene_index": 336, "scene": "The black rectangle is positioned to the right, while the front blue cabinet is also on the right side."}
+{"scene_index": 337, "scene": "The front blue cabinet is located at the front left position, while the black rectangle part is situated at the back right position."}
+{"scene_index": 338, "scene": "The front blue cabinet is centered, with the black rectangle positioned at its front."}
+{"scene_index": 339, "scene": "The black rectangle part is located at the front, while the front blue cabinet is also positioned at the front."}
+{"scene_index": 340, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is located at the back left."}
+{"scene_index": 341, "scene": "The front blue cabinet is at the front position, while the black rectangle part is also located at the front position."}
+{"scene_index": 342, "scene": "The front blue cabinet is positioned on the right side, while the black rectangle part is located at the back right position."}
+{"scene_index": 343, "scene": "The front blue cabinet is positioned at the back left, while multiple black rectangular parts and a standalone black object are all located on the left side."}
+{"scene_index": 344, "scene": "The front blue cabinet is positioned at the back, while two identical black rectangle parts are both located in the front left area."}
+{"scene_index": 345, "scene": "The front blue cabinet is on the left, with the black rectangle part positioned at the front-left corner."}
+{"scene_index": 346, "scene": "The front blue cabinet is positioned at the front left, while the two black rectangle parts are both located at the back right."}
+{"scene_index": 347, "scene": "The front blue cabinet is located at the front, while the black rectangle part is positioned at the back right."}
+{"scene_index": 348, "scene": "The front blue cabinet is on the right, and the black rectangle part is in the front right position relative to it."}
+{"scene_index": 349, "scene": "The front blue cabinet is on the left, with a black rectangle at its back, another black rectangle attached to its front left."}
+{"scene_index": 350, "scene": "The front blue cabinet is at the back, the black rectangle part is at the back right, and the black rec is at the center."}
+{"scene_index": 351, "scene": "The front blue cabinet is located at the back."}
+{"scene_index": 352, "scene": "The front blue cabinet is positioned at both the back and back left of the scene, while the black rectangle part is centered."}
+{"scene_index": 353, "scene": "The black rectangle parts are positioned at the back (one on the right side and one unspecified), a black rectangle is at the front, and the front blue cabinet is centered."}
+{"scene_index": 354, "scene": "The black rectangle is at the center, the front blue cabinet is also centered, and the front blue object shares the same central position."}
+{"scene_index": 355, "scene": "The front blue cabinet is centered, while the black rectangle part is positioned at the back left."}
+{"scene_index": 356, "scene": "The front blue cabinet is centered, with a black rectangle at its front and another black rectangle positioned at its back."}
+{"scene_index": 357, "scene": "The black rectangle is located at the front, while the front blue cabinet is centered."}
+{"scene_index": 358, "scene": "The black rectangle is at the front, while the front blue cabinets are positioned to the front left and left sides."}
+{"scene_index": 359, "scene": "The front blue cabinet is located at the back."}
+{"scene_index": 360, "scene": "The front blue cabinet is positioned on the left, and the black rectangle part is located at the back right."}
+{"scene_index": 361, "scene": "The front blue cabinet is positioned to the left, while the black rectangle part is centered."}
+{"scene_index": 362, "scene": "The front blue cabinet is positioned at both the back right and right, while two black rectangle parts are located at the front."}
+{"scene_index": 363, "scene": "The front blue cabinet is centered at the front, while the black rectangle parts are located at the back left and back."}
+{"scene_index": 364, "scene": "The front blue cabinet is at the center, and the black rectangle part is also at the center."}
+{"scene_index": 365, "scene": "The black rectangle is positioned at the front-right, while the front blue cabinet is located to the right."}
+{"scene_index": 366, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is located at the back left."}
+{"scene_index": 367, "scene": "The black rectangle is positioned at the center, while two front blue cabinets also occupy the center, creating a symmetrical arrangement."}
+{"scene_index": 368, "scene": "The black rectangle is on the right, while both front blue cabinets are centered."}
+{"scene_index": 369, "scene": "The front blue cabinet is positioned at the back, the black rectangle part is also at the back, while the black rectangle is centered."}
+{"scene_index": 370, "scene": "The front blue cabinet is on the left, and the black rectangle part is also on the left."}
+{"scene_index": 371, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is centered in relation to it."}
+{"scene_index": 372, "scene": "The front blue cabinet is positioned at the front, with the black rectangle part also located at the front."}
+{"scene_index": 373, "scene": "The front blue cabinet is at the front, while the two black rectangles are positioned at the back left and center."}
+{"scene_index": 374, "scene": "The front blue cabinet is centered, while the black rectangle part is placed at the back of the same front blue cabinet."}
+{"scene_index": 375, "scene": "The front blue cabinet is at the center, and the black rectangle part is also at the center."}
+{"scene_index": 376, "scene": "The front blue cabinet is centered, with the black rectangle part positioned at its front."}
+{"scene_index": 377, "scene": "The front blue cabinet is centered, with the black rectangle part positioned at its front."}
+{"scene_index": 378, "scene": "The front blue cabinet is on the left, and the black rectangle part is at the back."}
+{"scene_index": 379, "scene": "The black rectangle is centered, while the front blue cabinet is also positioned at the center but located in front of it."}
+{"scene_index": 380, "scene": "The black rectangle part is located at the front, and the front blue cabinet is positioned on the left side and in the front-left area."}
+{"scene_index": 381, "scene": "The front blue cabinet is positioned at the front left, while the black rectangle part is located at the back, with no specified direct relationship to the cabinet."}
+{"scene_index": 382, "scene": "The front blue cabinet is positioned at both back left and center, while another part is located in the center."}
+{"scene_index": 383, "scene": "The front blue cabinet is positioned at the center, with the black item located in front of it."}
+{"scene_index": 384, "scene": "The black rectangle is positioned to the right, while the front blue cabinet is also on the right."}
+{"scene_index": 385, "scene": "The front blue cabinet is positioned at the front, while the black rectangle part is located at the back."}
+{"scene_index": 386, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is placed in the center."}
+{"scene_index": 387, "scene": "The black rectangle is positioned at the center, while two front blue cabinets also occupy the center, creating a symmetrical arrangement."}
+{"scene_index": 388, "scene": "The front blue cabinet is on the left, and the black rectangle part is in front left of it."}
+{"scene_index": 389, "scene": "The black rectangle is positioned to the right, while the front blue cabinet is centered."}
+{"scene_index": 390, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is located at the front."}
+{"scene_index": 391, "scene": "The black rectangle is located at the front, while the front blue cabinet is centered."}
+{"scene_index": 392, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is placed in the center."}
+{"scene_index": 393, "scene": "The black rectangle is at the front, same as the front blue cabinet."}
+{"scene_index": 394, "scene": "The front blue cabinet is centered, with the black rectangle positioned at its front."}
+{"scene_index": 395, "scene": "The black rectangle is positioned at the front, overlapping with the front blue cabinet which is also located at the front."}
+{"scene_index": 396, "scene": "The black rectangle is at the center, while there are two front blue cabinets, one at the center and another at the back."}
+{"scene_index": 397, "scene": "The front blue cabinet is on the left, and the black rectangle part is also on the left."}
+{"scene_index": 398, "scene": "The black rectangle is centered, while the front blue cabinet is positioned to its left."}
+{"scene_index": 399, "scene": "Front blue cabinet is positioned at the front, while two black rectangle parts are placed one on the front and one on the back."}
+{"scene_index": 400, "scene": "The front blue cabinet is located at the back left, with three black rectangle parts positioned at the back left and one at the center."}
+{"scene_index": 401, "scene": "The front blue cabinet is centered, while the black rectangle is positioned at the back."}
+{"scene_index": 402, "scene": "The black rectangle is centered, while both front blue cabinets are also centered in their respective positions."}
+{"scene_index": 403, "scene": "The front blue cabinet is positioned at the back, sharing its position with the front blue item. The black rectangle part is centered."}
+{"scene_index": 404, "scene": "The front blue cabinet is centered, with a black rectangle part at the back and another black rectangle part in the center."}
+{"scene_index": 405, "scene": "The black rectangle is positioned at the center, while two front blue cabinets are also centered."}
+{"scene_index": 406, "scene": "The black rectangle is positioned at the front of the front blue cabinet."}
+{"scene_index": 407, "scene": "The front blue cabinet is centered, with the black rectangle part also centered within it, establishing a symmetrical arrangement where both objects share the same central positioning."}
+{"scene_index": 408, "scene": "The black rectangle part is located at the front, while the front blue cabinet is also positioned at the front."}
+{"scene_index": 409, "scene": "The front blue cabinet is centered, while the black rectangle is positioned at the back right; there s also a combined front blue cabinet and black rectangle in the center."}
+{"scene_index": 410, "scene": "The black rectangle is positioned at the back left, while the front blue cabinet is centered in its location."}
+{"scene_index": 411, "scene": "The black rectangle is at the front, while the front blue cabinet is centered but also positioned at the front."}
+{"scene_index": 412, "scene": "The front blue cabinet is centered, with black rectangles positioned at the back left and back, as well as another black rectangle in the center."}
+{"scene_index": 413, "scene": "The black rectangle is positioned at the front left, while both instances of the front blue cabinet are located to the left."}
+{"scene_index": 414, "scene": "Each object is centered; there are two identical front blue cabinets at the same central position and a black rectangle also centrally positioned."}
+{"scene_index": 415, "scene": "The front blue cabinet is positioned on the left, with the black rectangle part located at the front left."}
+{"scene_index": 416, "scene": "The front blue cabinet is at the center, with the black rectangle part also positioned at the center."}
+{"scene_index": 417, "scene": "The front blue cabinet is positioned on the left, with the black rectangle part located at the back left."}
+{"scene_index": 418, "scene": "The front blue cabinet is centered, with a black rectangle on its front and another black rectangle positioned at its back."}
+{"scene_index": 419, "scene": "The front blue cabinet is positioned at both the center and the back, while the black rectangle part is also centered."}
+{"scene_index": 420, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 421, "scene": "The front blue cabinet is in front left, with a black rectangle part also in front left. There s another black rectangle part at back right."}
+{"scene_index": 422, "scene": "The front blue cabinet is positioned at the center."}
+{"scene_index": 423, "scene": "The front blue cabinet is positioned at the center, while another front blue cabinet is located at the back. Additionally, there is a black rectangle part situated at the back position."}
+{"scene_index": 424, "scene": "The two black rectangle parts are located at the back left position, while the front blue cabinet is placed on the left side."}
+{"scene_index": 425, "scene": "The black rectangle part is at the front, while the front blue cabinet is both front-right and to the right."}
+{"scene_index": 426, "scene": "The front blue cabinet is centered, while the black rectangle part is positioned at the back right."}
+{"scene_index": 427, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 428, "scene": "The black rectangle is located at the back right, while the front blue cabinet is centered."}
+{"scene_index": 429, "scene": "The black rectangle is located at the front, while the front blue cabinet is positioned on the right side."}
+{"scene_index": 430, "scene": "The front blue cabinet is positioned at the center, while the black rectangle part is located at the back, behind it."}
+{"scene_index": 431, "scene": "The front blue cabinet is centered, while the black rectangle part is positioned at the back right."}
+{"scene_index": 432, "scene": "The front blue cabinet is positioned on the front-right, with the black rectangle part located at the front of it."}
+{"scene_index": 433, "scene": "The front blue cabinet is positioned at the back, while the two black rectangle parts are located on the right and back sides respectively."}
+{"scene_index": 434, "scene": "The black rectangle is centered under the front blue cabinet."}
+{"scene_index": 435, "scene": "The front blue cabinet is located at the back right position."}
+{"scene_index": 436, "scene": "The front blue cabinet is at the front, the black rectangle part is at the back, and another part is also at the front."}
+{"scene_index": 437, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is centered in relation to it."}
+{"scene_index": 438, "scene": "The front blue cabinet is positioned at the back, with the black rectangle part also located at the back, establishing their shared positional relationship there."}
+{"scene_index": 439, "scene": "The black rectangle is located at the front-right position, while the front blue cabinet is positioned on the right side."}
+{"scene_index": 440, "scene": "Front blue cabinet is at the front center; black rectangle part is located at the back center; another black rectangle is positioned at the back right."}
+{"scene_index": 441, "scene": "The front blue cabinet is located at the back."}
+{"scene_index": 442, "scene": "The black rectangle is at the center, positioned under the front blue cabinet, which is also centered."}
+{"scene_index": 443, "scene": "The black rectangle is positioned at the back right, while the front blue cabinet is located at the back left, indicating their respective placements in relation to each other."}
+{"scene_index": 444, "scene": "The front blue cabinet is positioned at the center."}
+{"scene_index": 445, "scene": "The black rectangle is at the front of the front blue cabinet which is centered."}
+{"scene_index": 446, "scene": "The front blue cabinets are centered and positioned on both the right sides of their respective areas."}
+{"scene_index": 447, "scene": "The front blue cabinet is centered, with the black rectangle positioned at its front."}
+{"scene_index": 448, "scene": "The front blue cabinet is positioned at the back right, while the black rectangle part is located behind it."}
+{"scene_index": 449, "scene": "The front blue cabinet is centered, while the part is located at the back left."}
+{"scene_index": 450, "scene": "The front blue cabinet is located at the back left, while the black rectangle part is positioned at the front right."}
+{"scene_index": 451, "scene": "The black rectangle is at the front left, and the front blue cabinet is also at the front left."}
+{"scene_index": 452, "scene": "The black rectangle is centered, positioned at the center, while the front blue cabinet is also centered."}
+{"scene_index": 453, "scene": "The black rectangle is located at the back left, while the front blue cabinet is positioned at the front left."}
+{"scene_index": 454, "scene": "The front blue cabinet is positioned at the front left, while the black rectangle part is located at the back, with no direct interaction between them."}
+{"scene_index": 455, "scene": "The front blue cabinet is centered, with the black rectangle positioned at its front."}
+{"scene_index": 456, "scene": "The black rectangle is centered at the main display area, while two front blue cabinets are both positioned in the center of their respective sections."}
+{"scene_index": 457, "scene": "The front blue cabinet is at the back left, the black rectangle part is at the back right, and the black rectangle is at the front right."}
+{"scene_index": 458, "scene": "The front blue cabinet is positioned at the front, while the black rectangle part is located at the back right."}
+{"scene_index": 459, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 460, "scene": "The front blue cabinet is on the left, with two black rectangles positioned at the back behind it."}
+{"scene_index": 461, "scene": "The black rectangle is centered, and the front blue cabinet is also centered at its location."}
+{"scene_index": 462, "scene": "The front blue cabinet is located at the back, while the blacktangle part is positioned at the back right."}
+{"scene_index": 463, "scene": "The front blue cabinet is positioned at the front, with the black rectangle part and another rectangle part both located in the front right area."}
+{"scene_index": 464, "scene": "The black rectangle is located at the front, while the front blue cabinet is centered."}
+{"scene_index": 465, "scene": "The front blue cabinet is centered, with another front blue cabinet positioned behind it, both located at the center of the frame."}
+{"scene_index": 466, "scene": "The black rectangle is positioned at the back right, while the front blue cabinet is on the left."}
+{"scene_index": 467, "scene": "The front blue cabinet is centered, with the black rectangle positioned at its front."}
+{"scene_index": 468, "scene": "The front blue cabinet is positioned at the back."}
+{"scene_index": 469, "scene": "The front blue cabinet is centered, while the black rectangle at the back and the other black rectangle are also centered."}
+{"scene_index": 470, "scene": "The front blue cabinet is positioned at the center, while the part is located at the back."}
+{"scene_index": 471, "scene": "The black rectangle is at the front, overlapping with both the front blue cabinet and the main cabinet, which are also positioned at the front."}
+{"scene_index": 472, "scene": "The black rectangle is at the front, with the front blue cabinet positioned both in front (front) and centrally (center)."}
+{"scene_index": 473, "scene": "The black rectangle is at the front, while the front blue cabinets are on the left and also at the front-left."}
+{"scene_index": 474, "scene": "The front blue cabinet is positioned in the front left, while the black rectangle part is located at the back."}
+{"scene_index": 475, "scene": "The front blue cabinet is at the front, with a black rectangle part on the back left and another black rectangle part positioned at the back."}
+{"scene_index": 476, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is placed in front of it."}
+{"scene_index": 477, "scene": "The black rectangle is at the back, while there are two front blue cabinets, one on the front left."}
+{"scene_index": 478, "scene": "The black rectangle is positioned at the front of the front blue cabinet."}
+{"scene_index": 479, "scene": "The black rectangle is located at the back, while the front blue cabinet is also positioned at the back."}
+{"scene_index": 480, "scene": "The front blue cabinet is at the center, with the black rectangle part also positioned at the center."}
+{"scene_index": 481, "scene": "The black rectangle is at the center, while the front blue cabinet is positioned both in the back and center."}
+{"scene_index": 482, "scene": "The front blue cabinet is located at the front, while the black rectangle part is positioned at the back, indicating a positional relationship between them."}
+{"scene_index": 483, "scene": "The black rectangle is centered under the front blue cabinet."}
+{"scene_index": 484, "scene": "The front blue cabinet is on the left, and the black rectangle part is also on the left."}
+{"scene_index": 485, "scene": "The black rectangle is on the left, and there are two front blue cabinets also on the left."}
+{"scene_index": 486, "scene": "The black rectangle is at the front, positioned in front of the front blue cabinet, which is centered."}
+{"scene_index": 487, "scene": "The front blue cabinet is positioned at the back, the black rectangle part is located at the back left, and the front object is centered."}
+{"scene_index": 488, "scene": "The black rectangle is located at the front, while the front blue cabinet is centered."}
+{"scene_index": 489, "scene": "The front blue cabinet is located at the back right position, and the part is situated on the right side."}
+{"scene_index": 490, "scene": "The black rectangle is centered, while the front blue cabinet is positioned to its left."}
+{"scene_index": 491, "scene": "The black rectangle is positioned to the right, alongside the front blue cabinet which also occupies the right side."}
+{"scene_index": 492, "scene": "The black rectangle is centered, while the front blue cabinet is positioned at the back."}
+{"scene_index": 493, "scene": "The black rectangle is at the front, while the front blue cabinet is both in the center and positioned towards the front."}
+{"scene_index": 494, "scene": "The front blue cabinet is centered, with a black rectangle part positioned to its left."}
+{"scene_index": 495, "scene": "The black rectangle is on the right, while the front blue cabinets are centered in front of it."}
+{"scene_index": 496, "scene": "The front blue cabinet is located at the back, while the black rectangle part is situated at the back right."}
+{"scene_index": 497, "scene": "The front blue cabinet is centered, with the black rectangle part positioned at the back left."}
+{"scene_index": 498, "scene": "The front blue cabinet is centered, while the tangle is positioned at the back."}
+{"scene_index": 499, "scene": "The black rectangle is located at the front, while the front blue cabinet is situated on the left side."}
+{"scene_index": 500, "scene": "The black rectangle is at the back, while both front blue cabinets are also positioned at the back."}
+{"scene_index": 501, "scene": "The front blue cabinet is centered, with a black rectangle part in front and another black rectangle part at the back."}
+{"scene_index": 502, "scene": "The front blue cabinet is positioned at the back left, and the black rectangle part is located on the left side."}
+{"scene_index": 503, "scene": "The black rectangle is located at the front left, while the front blue cabinet shares the same front left position as the black rectangle."}
+{"scene_index": 504, "scene": "The front blue cabinet is centered, with the front blue cabinet black rectangle positioned at its front."}
+{"scene_index": 505, "scene": "The front blue cabinet is at the center, with the black rectangle part also positioned at the center."}
+{"scene_index": 506, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is centered."}
+{"scene_index": 507, "scene": "The front blue cabinet is centered, with the black rectangle positioned centrally within it."}
+{"scene_index": 508, "scene": "The front blue cabinet is centered, with the black rectangle part positioned at its front."}
+{"scene_index": 509, "scene": "The front blue cabinet is centered, with the black rectangle part also centered within it, establishing a central alignment for both objects."}
+{"scene_index": 510, "scene": "The front blue cabinet is positioned at the back, the black rectangle part is centered, and the tangle part is located at the front."}
+{"scene_index": 511, "scene": "The black rectangle part is positioned at the front, while the front blue cabinet also occupies the front position."}
+{"scene_index": 512, "scene": "The front blue cabinet is at the center, with the black rectangle part also positioned at the center."}
+{"scene_index": 513, "scene": "The front blue cabinet is positioned at the back, and the black rectangle part is also located at the back."}
+{"scene_index": 514, "scene": "The front blue cabinet is positioned at the back."}
+{"scene_index": 515, "scene": "The front blue cabinet is positioned at the center, while the black rectangle part is located at the back, behind it."}
+{"scene_index": 516, "scene": "The front blue cabinet is centered, while the tangle is located at the back right."}
+{"scene_index": 517, "scene": "The front blue cabinet is positioned on the right side, with the black rectangle part located at the front right of the same area."}
+{"scene_index": 518, "scene": "The front blue cabinet is on the left, while the black rectangle parts are positioned at the back and front left."}
+{"scene_index": 519, "scene": "The front blue cabinet is centered, with the black rectangle positioned at its front."}
+{"scene_index": 520, "scene": "The black rectangle is positioned at the front of the front blue cabinet."}
+{"scene_index": 521, "scene": "The black rectangle part is located at the back right, and there are two front blue cabinets positioned at the front right."}
+{"scene_index": 522, "scene": "The front blue cabinet is at the front, and the black rectangle part is on its right side."}
+{"scene_index": 523, "scene": "The front blue cabinet is at the center, and the black rectangle part is also at the center."}
+{"scene_index": 524, "scene": "The front blue cabinet is positioned at the front right, with a black rectangle part placed in front of it, and another black rectangle part located at the back right."}
+{"scene_index": 525, "scene": "The black rectangle is positioned at the front, overlapping with the front blue cabinet which is also located at the front."}
+{"scene_index": 526, "scene": "The front blue cabinet is on the left side, and the black rectangle part is positioned at the back right."}
+{"scene_index": 527, "scene": "The black rectangle is positioned at the front, located in front of the front blue cabinet, which is centered at the front."}
+{"scene_index": 528, "scene": "The front blue cabinet is centered with two identical black rectangle parts also centrally positioned on it."}
+{"scene_index": 529, "scene": "The front blue cabinets are positioned at the front, one on the front left and one in the center. The black rectangle is located at the back left, while the other rectangle is placed at the back right."}
+{"scene_index": 530, "scene": "The black rectangle is at the center, while the front blue cabinet is also centered."}
+{"scene_index": 531, "scene": "The black rectangle is at the center, while the front blue cabinet is located at the back left position."}
+{"scene_index": 532, "scene": "The black rectangle is at front left, the front blue cabinet is also at front left and left positions."}
+{"scene_index": 533, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is located to its left."}
+{"scene_index": 534, "scene": "The front blue cabinet is located at the back left, and the black rectangle part is situated to the left."}
+{"scene_index": 535, "scene": "The black rectangle is centered, while both front blue cabinets are also centered in their respective positions."}
+{"scene_index": 536, "scene": "The black rectangle is at the back, while the front blue cabinet is centered."}
+{"scene_index": 537, "scene": "The front blue cabinet is positioned to the front left, while the black rectangle part is also located in the front left position."}
+{"scene_index": 538, "scene": "The front blue cabinet is at the front, and the black rectangle part is on the front right."}
+{"scene_index": 539, "scene": "The black rectangle is on the right side, positioned to the right of the front blue cabinet, which is also on the right side."}
+{"scene_index": 540, "scene": "The front blue cabinet is positioned at the center, with the black rectangle part located in front of it."}
+{"scene_index": 541, "scene": "Black Rectangle Part Center Front Blue Cabinet Left Front Blue Cabinet Center"}
+{"scene_index": 542, "scene": "The front blue cabinet is positioned at the front right, while the black rectangle part is located at the back right."}
+{"scene_index": 543, "scene": "The black rectangle is positioned at the front, while the front blue cabinet is located on the left side."}
+{"scene_index": 544, "scene": "The front blue cabinet is positioned at the back, while the black rectangle part is placed in the center."}
+{"scene_index": 545, "scene": "The front blue cabinet is positioned at the front, while the black rectangle part is located in the front left position."}
+{"scene_index": 546, "scene": "The black rectangle is positioned at the front left, while the front blue cabinet is centered in its location."}
diff --git a/pretrain/leju/leju_robot_part_placement/annotations/subtask_annotations.jsonl b/pretrain/leju/leju_robot_part_placement/annotations/subtask_annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b96058bb144597a463c4f14cc6b8b6a7f6c30f3c
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/annotations/subtask_annotations.jsonl
@@ -0,0 +1,15 @@
+{"subtask_index": 0, "subtask": "Insert the small parts into the corresponding slots on the workbench."}
+{"subtask_index": 1, "subtask": "Move the large parts to the workbench."}
+{"subtask_index": 2, "subtask": "Pick up the large parts from the shelf."}
+{"subtask_index": 3, "subtask": "Grasp the black part with right gripper"}
+{"subtask_index": 4, "subtask": "Grasp the gray part with right gripper"}
+{"subtask_index": 5, "subtask": "End"}
+{"subtask_index": 6, "subtask": "Return to the initial position at the workbench."}
+{"subtask_index": 7, "subtask": "Place the gray part on the table with right gripper"}
+{"subtask_index": 8, "subtask": "Place the black part on the table with right gripper"}
+{"subtask_index": 9, "subtask": "Move to the table behind body"}
+{"subtask_index": 10, "subtask": "Insert the large parts into the corresponding slots on the workbench."}
+{"subtask_index": 11, "subtask": "Return to the initial position at the shelf."}
+{"subtask_index": 12, "subtask": "Move the small parts to the workbench."}
+{"subtask_index": 13, "subtask": "Pick up the small parts from the shelf."}
+{"subtask_index": 14, "subtask": "null"}
diff --git a/pretrain/leju/leju_robot_part_placement/meta/episodes.jsonl b/pretrain/leju/leju_robot_part_placement/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d8737c57088440bce5b10f57e239fbf22ab193c1
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/meta/episodes.jsonl
@@ -0,0 +1,538 @@
+{"episode_index": 0, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1439}
+{"episode_index": 1, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1771}
+{"episode_index": 2, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1750}
+{"episode_index": 3, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 947}
+{"episode_index": 4, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1626}
+{"episode_index": 5, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1339}
+{"episode_index": 6, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1706}
+{"episode_index": 7, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1291}
+{"episode_index": 8, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1226}
+{"episode_index": 9, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1272}
+{"episode_index": 10, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1213}
+{"episode_index": 11, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1288}
+{"episode_index": 12, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1349}
+{"episode_index": 13, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1271}
+{"episode_index": 14, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1617}
+{"episode_index": 15, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1522}
+{"episode_index": 16, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1034}
+{"episode_index": 17, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1486}
+{"episode_index": 18, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1431}
+{"episode_index": 19, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1720}
+{"episode_index": 20, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1370}
+{"episode_index": 21, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 779}
+{"episode_index": 22, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1545}
+{"episode_index": 23, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1205}
+{"episode_index": 24, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1516}
+{"episode_index": 25, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1190}
+{"episode_index": 26, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 943}
+{"episode_index": 27, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1631}
+{"episode_index": 28, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1320}
+{"episode_index": 29, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1461}
+{"episode_index": 30, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1338}
+{"episode_index": 31, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1404}
+{"episode_index": 32, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1717}
+{"episode_index": 33, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1837}
+{"episode_index": 34, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 875}
+{"episode_index": 35, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1318}
+{"episode_index": 36, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1266}
+{"episode_index": 37, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1124}
+{"episode_index": 38, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1309}
+{"episode_index": 39, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 2482}
+{"episode_index": 40, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1554}
+{"episode_index": 41, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1194}
+{"episode_index": 42, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1150}
+{"episode_index": 43, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 869}
+{"episode_index": 44, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1660}
+{"episode_index": 45, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1311}
+{"episode_index": 46, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1241}
+{"episode_index": 47, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1169}
+{"episode_index": 48, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1627}
+{"episode_index": 49, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1385}
+{"episode_index": 50, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 950}
+{"episode_index": 51, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 2221}
+{"episode_index": 52, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1362}
+{"episode_index": 53, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1270}
+{"episode_index": 54, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1728}
+{"episode_index": 55, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 919}
+{"episode_index": 56, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1738}
+{"episode_index": 57, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1626}
+{"episode_index": 58, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 2555}
+{"episode_index": 59, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1428}
+{"episode_index": 60, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1587}
+{"episode_index": 61, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1659}
+{"episode_index": 62, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 956}
+{"episode_index": 63, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1504}
+{"episode_index": 64, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1763}
+{"episode_index": 65, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1563}
+{"episode_index": 66, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1229}
+{"episode_index": 67, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1428}
+{"episode_index": 68, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1283}
+{"episode_index": 69, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1635}
+{"episode_index": 70, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1553}
+{"episode_index": 71, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 919}
+{"episode_index": 72, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1260}
+{"episode_index": 73, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1068}
+{"episode_index": 74, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1749}
+{"episode_index": 75, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1354}
+{"episode_index": 76, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1645}
+{"episode_index": 77, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1860}
+{"episode_index": 78, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1468}
+{"episode_index": 79, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1507}
+{"episode_index": 80, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1353}
+{"episode_index": 81, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1705}
+{"episode_index": 82, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1249}
+{"episode_index": 83, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1439}
+{"episode_index": 84, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1677}
+{"episode_index": 85, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1419}
+{"episode_index": 86, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1655}
+{"episode_index": 87, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1809}
+{"episode_index": 88, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1343}
+{"episode_index": 89, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1277}
+{"episode_index": 90, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1115}
+{"episode_index": 91, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1699}
+{"episode_index": 92, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1560}
+{"episode_index": 93, "tasks": ["pick up part from front cabinet turn around place on part at back table."], "length": 1268}
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diff --git a/pretrain/leju/leju_robot_part_placement/meta/episodes_stats.jsonl b/pretrain/leju/leju_robot_part_placement/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dc39368a888483ff5f6d363bfaa4792b19feafa4
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/meta/episodes_stats.jsonl
@@ -0,0 +1,538 @@
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diff --git a/pretrain/leju/leju_robot_part_placement/meta/info.json b/pretrain/leju/leju_robot_part_placement/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9ac1c7db795c6d605270d20f8594a04b77f5b73
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/meta/info.json
@@ -0,0 +1 @@
+{"codebase_version": "v2.1", "robot_type": "leju_robot", "total_episodes": 538, "total_frames": 796570, "total_tasks": 1, "total_videos": 1614, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:537"}, "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.camera_head_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.camera_left_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 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"right_leg_joint_4_rad", "right_leg_joint_5_rad", "right_leg_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "head_joint_1_rad", "head_joint_2_rad", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", 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"left_leg_joint_4_rad", "left_leg_joint_5_rad", "left_leg_joint_6_rad", "right_leg_joint_1_rad", "right_leg_joint_2_rad", "right_leg_joint_3_rad", "right_leg_joint_4_rad", "right_leg_joint_5_rad", "right_leg_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "head_joint_1_rad", "head_joint_2_rad", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s"]}, 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\ No newline at end of file
diff --git a/pretrain/leju/leju_robot_part_placement/meta/modality.json b/pretrain/leju/leju_robot_part_placement/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..b74d4b874da6742290e74099c1eb7adcb5b83f13
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/meta/modality.json
@@ -0,0 +1,83 @@
+{
+  "state": {
+    "left_arm": {
+      "start": 0,
+      "end": 7
+    },
+    "right_arm": {
+      "start": 7,
+      "end": 14
+    },
+    "left_leg": {
+      "start": 14,
+      "end": 20
+    },
+    "right_leg": {
+      "start": 20,
+      "end": 26
+    },
+    "left_hand": {
+      "start": 26,
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+
+  "video": {
+    "image": {
+      "original_key": "observation.images.camera_head_rgb"
+    }
+  },
+
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}
\ No newline at end of file
diff --git a/pretrain/leju/leju_robot_part_placement/meta/stats_gr00t.json b/pretrain/leju/leju_robot_part_placement/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c1cb758dd5a1af4efa8ef1158ec2f782c0f1520
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/meta/stats_gr00t.json
@@ -0,0 +1,1554 @@
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\ No newline at end of file
diff --git a/pretrain/leju/leju_robot_part_placement/meta/tasks.jsonl b/pretrain/leju/leju_robot_part_placement/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..068df608945c21fd62ca0ff0282901cba20e4bf0
--- /dev/null
+++ b/pretrain/leju/leju_robot_part_placement/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "pick up part from front cabinet turn around place on part at back table."}