Datasets:
id
stringlengths 21
33
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stringclasses 545
values | category
stringclasses 26
values | episode_id
int32 0
87
| primact_type
stringclasses 1
value | trial_id
int32 0
99
| instruction
stringclasses 1
value | point_2d
listlengths 2
2
| point_2d_norm
listlengths 2
2
| width
int32 336
336
| height
int32 336
336
| image
imagewidth (px) 336
336
| interaction_mask
imagewidth (px) 336
336
| affordance_map
imagewidth (px) 336
336
| contact_point
imagewidth (px) 336
336
| gt_normal
imagewidth (px) 336
336
| hinge_lines
images listlengths 1
57
| hinge_points
images listlengths 1
57
| result
stringlengths 3.27k
7.52k
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
100015_KitchenPot_0_pulling_15
|
100015
|
KitchenPot
| 0
|
pulling
| 15
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
161,
131
] |
[
480.5970153808594,
391.0447692871094
] | 336
| 336
|
{"random_seed": 6192447, "camera_metadata": {"dist": 5.34591984719922, "theta": 2.4721041300684106, "phi": 0.8354432249676722, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5260390304361399, 0.6205849994810033, 0.5815128518588124, -2.8121624932099945], [-0.41631886083518016, 0.7841391830658401, -0.46022206345821237, 2.2256072609021595], [-0.7415939216112171, -0.0, 0.6708490556222735, 3.9645016641037074], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.8145773768287234, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.048874642699956894], "action_type_0": "PRISMATIC", "pixel_locs": [161, 131], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.7415939569473267, -1.65947625418994e-07, 0.6708489656448364], "norm_world": [-1.738958159393093e-07, -7.400534477756945e-08, 0.9999999658437655], "gripper_direction_camera": [0.7415939569473267, 1.65947625418994e-07, -0.6708489656448364], "gripper_direction_world": [1.738958159393093e-07, 7.400534477756945e-08, -0.9999999658437655], "position_cam": [5.093537330627441, 0.353699266910553, 0.06691603362560272], "position_world": [0.12564993860437035, 0.3516248209264923, 0.23205589817429662], "gripper_forward_direction_world": [0.5948385340864013, -0.8038228614625907, 0.005993809809613384], "gripper_forward_direction_camera": [0.6431099308121428, -0.26116113054963175, 0.7198642099596555], "gripper_up_direction_world": [-0.008004312762179666, -0.013379011100818228, -0.9998784591334936], "gripper_up_direction_camera": [0.7428631413792576, -0.015458363266187613, -0.6692648146924142], "contact_rotmat_world": [[0.594838559627533, -0.8038053512573242, -0.00800431240350008, 0.12653040885925293], [-0.8038228750228882, -0.5947182774543762, -0.013379011303186417, 0.35309651494026184], [0.005993810016661882, 0.014392401091754436, -0.999878466129303, 0.3420425355434418], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.594838559627533, -0.8038053512573242, -0.00800431240350008, 0.1272508054971695], [-0.8038228750228882, -0.5947182774543762, -0.013379011303186417, 0.3543006181716919], [0.005993810016661882, 0.014392401091754436, -0.999878466129303, 0.4320316016674042], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.594838559627533, -0.8038053512573242, -0.00800431240350008, 0.12965209782123566], [-0.8038228750228882, -0.5947182774543762, -0.013379011303186417, 0.3583143353462219], [0.005993810016661882, 0.014392401091754436, -0.999878466129303, 0.7319951057434082], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.12564993860437035, 0.3516248209264923, 0.23205589817429662], "touch_position_world_xyz_end": [0.1256499460549532, 0.35162482092649566, 0.2809305445995454], "result": "VALID", "final_target_part_qpos": 0.048874642699956894, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_0_pulling_17
|
100015
|
KitchenPot
| 0
|
pulling
| 17
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
158,
168
] |
[
471.64178466796875,
501.4925231933594
] | 336
| 336
|
{"random_seed": 5358587, "camera_metadata": {"dist": 5.2389502258227525, "theta": 3.5077122431834513, "phi": 0.9062111218885748, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5758578117015519, -0.3579949057860805, 0.735001651789651, -3.0168904126556417], [0.22078715424642928, 0.933723539079537, 0.2818038060221119, -1.1566929115980935], [-0.7871726705253831, 0.0, 0.6167326704317979, 4.123958440010455], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.7623361343993638, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.045740168541669846], "action_type_0": "PRISMATIC", "pixel_locs": [158, 168], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.8198127746582031, -0.015683883801102638, 0.5724169611930847], "norm_world": [-0.04575342792658497, -0.034339262725108836, 0.9983624522355878], "gripper_direction_camera": [0.8198127746582031, 0.015683883801102638, -0.5724169611930847], "gripper_direction_world": [0.04575342792658497, 0.034339262725108836, -0.9983624522355878], "position_cam": [5.015727519989014, -5.605512143347369e-08, 0.09413403272628784], "position_world": [-0.05935584929262605, -0.022757429625727355, 0.23377034685484377], "gripper_forward_direction_world": [-0.9326314732235365, -0.3581413254048461, -0.0439696052990722], "gripper_forward_direction_camera": [-0.5815244517234629, -0.0005276694578555952, -0.813528754017133], "gripper_up_direction_world": [0.03692704210894168, 0.026483572741733265, -0.9989669733959767], "gripper_up_direction_camera": [0.8134714585361623, 0.011508642307132333, -0.5814909606342095], "contact_rotmat_world": [[-0.9326314926147461, -0.3589358329772949, 0.03692704066634178, -0.06341782212257385], [-0.35814133286476135, 0.9332917332649231, 0.026483573019504547, -0.025670623406767845], [-0.04396960511803627, 0.011474313214421272, -0.9989669919013977, 0.3436567187309265], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.9326314926147461, -0.3589358329772949, 0.03692704066634178, -0.06674125790596008], [-0.35814133286476135, 0.9332917332649231, 0.026483573019504547, -0.028054144233465195], [-0.04396960511803627, 0.011474313214421272, -0.9989669919013977, 0.4335637390613556], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.9326314926147461, -0.3589358329772949, 0.03692704066634178, -0.07781936973333359], [-0.35814133286476135, 0.9332917332649231, 0.026483573019504547, -0.03599921613931656], [-0.04396960511803627, 0.011474313214421272, -0.9989669919013977, 0.7332538366317749], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.05935584929262605, -0.022757429625727355, 0.23377034685484377], "touch_position_world_xyz_end": [-0.05935584184204629, -0.022757399823406584, 0.2795105191218271], "result": "VALID", "final_target_part_qpos": 0.045740168541669846, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_0_pulling_19
|
100015
|
KitchenPot
| 0
|
pulling
| 19
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
120,
192
] |
[
358.2089538574219,
573.1343383789062
] | 336
| 336
|
{"random_seed": 2766221, "camera_metadata": {"dist": 4.510411386673176, "theta": 2.6666902129215853, "phi": 0.9307932482487543, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5311103983381202, 0.45725168619897083, 0.7133320687066587, -2.3955263882447837], [-0.2730697516384664, 0.8893373350243415, -0.36675879712954174, 1.2316569171461549], [-0.8020939193867695, -0.0, 0.5971979106483633, 3.617773547183402], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "random-closed-middle", "scale": 0.9865710419165836, "joint_angles": [0.021979436800224492], "joint_angles_lower": [0.0], "joint_angles_upper": [0.059194259345531464], "action_type_0": "PRISMATIC", "pixel_locs": [120, 192], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.8020938038825989, -3.660749925415985e-08, 0.5971980690956116], "norm_world": [1.5763212873530327e-07, -1.222090332140718e-07, 1.0000000019791728], "gripper_direction_camera": [0.8020938038825989, 3.660749925415985e-08, -0.5971980690956116], "gripper_direction_world": [-1.5763212873530327e-07, 1.222090332140718e-07, -1.0000000019791728], "position_cam": [4.46093225479126, -0.20093239843845367, 0.4018646478652954], "position_world": [0.16850738116060926, -0.3125728243529846, 0.27967963888761593], "gripper_forward_direction_world": [-0.5325885984175157, 0.8463711099810681, 0.002308468124260871], "gripper_forward_direction_camera": [-0.5158332996979392, 0.5091823927154013, -0.6889479645599911], "gripper_up_direction_world": [-0.009911466649786526, -0.0035095640445954295, -0.9999447213666699], "gripper_up_direction_camera": [0.7977438535126373, -0.007653221172837503, -0.6029479018857993], "contact_rotmat_world": [[-0.5325886011123657, 0.8463162183761597, -0.009911466389894485, 0.16959764063358307], [0.8463711142539978, 0.5325820446014404, -0.0035095640923827887, -0.3121867775917053], [0.0023084681015461683, -0.010257933288812637, -0.9999447464942932, 0.3896735608577728], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.5325886011123657, 0.8463162183761597, -0.009911466389894485, 0.17048966884613037], [0.8463711142539978, 0.5325820446014404, -0.0035095640923827887, -0.31187090277671814], [0.0023084681015461683, -0.010257933288812637, -0.9999447464942932, 0.47966858744621277], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.5325886011123657, 0.8463162183761597, -0.009911466389894485, 0.1734631210565567], [0.8463711142539978, 0.5325820446014404, -0.0035095640923827887, -0.31081804633140564], [0.0023084681015461683, -0.010257933288812637, -0.9999447464942932, 0.7796519994735718], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.16850738116060926, -0.3125728243529846, 0.27967963888761593], "touch_position_world_xyz_end": [0.16850739606177287, -0.31257280945182786, 0.33887390568373593], "result": "VALID", "final_target_part_qpos": 0.059194259345531464, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_0_pulling_27
|
100015
|
KitchenPot
| 0
|
pulling
| 27
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
150,
148
] |
[
447.7611999511719,
441.7910461425781
] | 336
| 336
|
{"random_seed": 5921652, "camera_metadata": {"dist": 5.231659368015552, "theta": 2.72982838515059, "phi": 0.6252567999473672, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.7430419745419335, 0.40022675410352243, 0.5363834163810277, -3.8873425069410805], [-0.32450899106581754, 0.9164161419899578, -0.23425492399880632, 1.6977205031147597], [-0.5853055089321042, -0.0, 0.8108128398180003, 3.0621190489557537], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.7478972374533095, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.04487382993102074], "action_type_0": "PRISMATIC", "pixel_locs": [150, 148], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.5853055119514465, -2.513002357318328e-07, 0.8108128905296326], "norm_world": [-7.5619697212341e-08, -2.4119523833532436e-07, 1.00000004288488], "gripper_direction_camera": [0.5853055119514465, 2.513002357318328e-07, -0.8108128905296326], "gripper_direction_world": [7.5619697212341e-08, 2.4119523833532436e-07, -1.00000004288488], "position_cam": [5.10492467880249, 0.19161619246006012, 0.1724545657634735], "position_world": [0.07502250218085216, 0.17632838677045481, 0.21400688797546596], "gripper_forward_direction_world": [-0.43579137941916446, 0.9000080951257767, -0.008444070819975008], "gripper_forward_direction_camera": [-0.6109296447835592, 0.6503665770436665, -0.4514291578854196], "gripper_up_direction_world": [-0.00020696519325659886, -0.009482008803066494, -0.9999550233257831], "gripper_up_direction_camera": [0.5882023971210131, -0.008772298933130532, -0.8086661775989658], "contact_rotmat_world": [[-0.43579137325286865, 0.9000476598739624, -0.00020696519641205668, 0.07504526525735855], [0.9000080823898315, 0.43577003479003906, -0.009482008405029774, 0.17737141251564026], [-0.008444070816040039, -0.00431844824925065, -0.9999549984931946, 0.3240019381046295], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.43579137325286865, 0.9000476598739624, -0.00020696519641205668, 0.07506389170885086], [0.9000080823898315, 0.43577003479003906, -0.009482008405029774, 0.17822478711605072], [-0.008444070816040039, -0.00431844824925065, -0.9999549984931946, 0.4139978885650635], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.43579137325286865, 0.9000476598739624, -0.00020696519641205668, 0.07512598484754562], [0.9000080823898315, 0.43577003479003906, -0.009482008405029774, 0.18106938898563385], [-0.008444070816040039, -0.00431844824925065, -0.9999549984931946, 0.7139843702316284], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.07502250218085216, 0.17632838677045481, 0.21400688797546596], "touch_position_world_xyz_end": [0.07502249473026983, 0.17632840912220915, 0.258880721631792], "result": "VALID", "final_target_part_qpos": 0.04487382993102074, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_0_pulling_3
|
100015
|
KitchenPot
| 0
|
pulling
| 3
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
128,
168
] |
[
382.08953857421875,
501.4925231933594
] | 336
| 336
|
{"random_seed": 8719355, "camera_metadata": {"dist": 5.475499095579679, "theta": 4.018695177170409, "phi": 0.8960562746149151, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.3994181147747348, -0.7688895157496135, 0.49927355443696564, -2.1870135262072012], [0.4803209382213143, 0.639381664243138, 0.6004022682634299, -2.6299968628187895], [-0.7808693654485321, 0.0, 0.6246943525469131, 4.275649504279316], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.959325731854883, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.0575595423579216], "action_type_0": "PRISMATIC", "pixel_locs": [128, 168], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.7931749224662781, -0.5268741250038147, 0.30541330575942993], "norm_world": [0.24078434535596152, -0.5344813362884129, 0.8101559656965307], "gripper_direction_camera": [0.7931749224662781, 0.5268741250038147, -0.30541330575942993], "gripper_direction_world": [-0.24078434535596152, 0.5344813362884129, -0.8101559656965307], "position_cam": [5.445247173309326, -6.085537762601234e-08, 0.4087808430194855], "position_world": [0.19201034550960294, 0.23090227477382896, 0.27898588341048747], "gripper_forward_direction_world": [-0.31656538575008747, 0.7522954743178931, 0.5777870506213467], "gripper_forward_direction_camera": [-0.21627488911828746, 0.7244077385244296, 0.654567491327513], "gripper_up_direction_world": [-0.23849594741739547, 0.5264225391769195, -0.8160876137474479], "gripper_up_direction_camera": [0.7948499833168103, 0.5199619527120439, -0.3128147562905951], "contact_rotmat_world": [[-0.3165653944015503, 0.9180991649627686, -0.23849594593048096, 0.21824489533901215], [0.7522954940795898, 0.39614495635032654, 0.5264225602149963, 0.17299579083919525], [0.5777870416641235, -0.012772267684340477, -0.8160876035690308, 0.3687555193901062], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.3165653944015503, 0.9180991649627686, -0.23849594593048096, 0.2397095412015915], [0.7522954940795898, 0.39614495635032654, 0.5264225602149963, 0.12561777234077454], [0.5777870416641235, -0.012772267684340477, -0.8160876035690308, 0.4422034025192261], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.3165653944015503, 0.9180991649627686, -0.23849594593048096, 0.31125831604003906], [0.7522954940795898, 0.39614495635032654, 0.5264225602149963, -0.032308995723724365], [0.5777870416641235, -0.012772267684340477, -0.8160876035690308, 0.6870297193527222], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.19201034550960294, 0.23090227477382896, 0.27898588341048747], "touch_position_world_xyz_end": [0.19201034550961657, 0.2309022747738418, 0.3365454332190193], "result": "VALID", "final_target_part_qpos": 0.0575595423579216, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_0_pulling_30
|
100015
|
KitchenPot
| 0
|
pulling
| 30
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
169,
133
] |
[
504.47760009765625,
397.0149230957031
] | 336
| 336
|
{"random_seed": 677446, "camera_metadata": {"dist": 4.812412527145234, "theta": 2.696901332801003, "phi": 0.6833613790052281, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.7000367031534798, 0.43017924264948143, 0.5699951170242824, -3.3688653997172566], [-0.33358452339269895, 0.9027434957913121, -0.27161654323576695, 1.6053463392367973], [-0.631403183386711, -0.0, 0.7754547182196568, 3.038572589409588], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.7504158236678642, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.045024946331977844], "action_type_0": "PRISMATIC", "pixel_locs": [169, 133], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.6314032673835754, -4.4703497792397684e-08, 0.7754546999931335], "norm_world": [-8.842043406414761e-08, -7.385112628858203e-09, 1.000000038902044], "gripper_direction_camera": [0.6314032673835754, 4.4703497792397684e-08, -0.7754546999931335], "gripper_direction_world": [8.842043406414761e-08, 7.385112628858203e-09, -1.000000038902044], "position_cam": [4.4630584716796875, 0.2931659519672394, -0.008376222103834152], "position_world": [-0.12322115973181491, 0.3834678829068936, 0.21408788179873062], "gripper_forward_direction_world": [-0.3098209073863018, 0.9507836624311922, -0.004629535641674686], "gripper_forward_direction_camera": [-0.5311296179146447, 0.7250352438679867, -0.4384349713733299], "gripper_up_direction_world": [-0.016437445777069834, -0.010224547281413891, -0.9998126169484041], "gripper_up_direction_camera": [0.6231888045131532, -0.016301191531178948, -0.7819015187887354], "contact_rotmat_world": [[-0.30982092022895813, 0.9506528377532959, -0.01643744669854641, -0.12141303718090057], [0.9507836699485779, 0.3096867501735687, -0.010224547237157822, 0.38459259271621704], [-0.004629535600543022, -0.01879623346030712, -0.9998126029968262, 0.32406726479530334], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.30982092022895813, 0.9506528377532959, -0.01643744669854641, -0.11993367224931717], [0.9507836699485779, 0.3096867501735687, -0.010224547237157822, 0.3855127990245819], [-0.004629535600543022, -0.01879623346030712, -0.9998126029968262, 0.4140504002571106], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.30982092022895813, 0.9506528377532959, -0.01643744669854641, -0.11500243842601776], [0.9507836699485779, 0.3096867501735687, -0.010224547237157822, 0.3885801434516907], [-0.004629535600543022, -0.01879623346030712, -0.9998126029968262, 0.7139942049980164], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.12322115973181491, 0.3834678829068936, 0.21408788179873062], "touch_position_world_xyz_end": [-0.12322114483065219, 0.3834678754563078, 0.259089120383246], "result": "VALID", "final_target_part_qpos": 0.045001257210969925, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_0_pulling_40
|
100015
|
KitchenPot
| 0
|
pulling
| 40
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
186,
169
] |
[
555.223876953125,
504.47760009765625
] | 336
| 336
|
{"random_seed": 6249046, "camera_metadata": {"dist": 5.262272332660917, "theta": 3.1927786051228226, "phi": 0.8062876191238364, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.6912759436920415, -0.0511636032480788, 0.720777257809478, -3.6376822727246956], [0.03541455108057625, 0.998690285174875, 0.03692592407900005, -0.18636101232492316], [-0.7217225084784586, 0.0, 0.6921825053810312, 3.797900388224827], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "random-closed-middle", "scale": 1.0978130862039746, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.0658687874674797], "action_type_0": "PRISMATIC", "pixel_locs": [186, 169], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.7217223644256592, -3.891200961447794e-08, 0.692182719707489], "norm_world": [2.5605275005123437e-07, -2.584527824070431e-08, 1.0000000443868768], "gripper_direction_camera": [0.7217223644256592, 3.891200961447794e-08, -0.692182719707489], "gripper_direction_world": [-2.5605275005123437e-07, 2.584527824070431e-08, -1.0000000443868768], "position_cam": [4.6790876388549805, -0.00878166314214468, -0.15806904435157776], "position_world": [-0.5166248203608848, -0.035260231326905145, 0.31148489297740145], "gripper_forward_direction_world": [-0.8280377953832974, -0.560252545194337, 0.02169089716991717], "gripper_forward_direction_camera": [-0.6078985095126951, -0.5171533768926772, -0.6025045949208556], "gripper_up_direction_world": [-0.009909615956855869, -0.02405703955627925, -0.9996614718790433], "gripper_up_direction_camera": [0.7137759367353965, -0.02351852003576637, -0.6999791363696738], "contact_rotmat_world": [[-0.8280377984046936, -0.5605847239494324, -0.009909615851938725, -0.5155347585678101], [-0.5602525472640991, 0.827972412109375, -0.024057039991021156, -0.032613955438137054], [0.02169089764356613, -0.014368250034749508, -0.9996614456176758, 0.42144766449928284], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.8280377984046936, -0.5605847239494324, -0.009909615851938725, -0.5146428942680359], [-0.5602525472640991, 0.827972412109375, -0.024057039991021156, -0.030448824167251587], [0.02169089764356613, -0.014368250034749508, -0.9996614456176758, 0.5114172101020813], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.8280377984046936, -0.5605847239494324, -0.009909615851938725, -0.5116699934005737], [-0.5602525472640991, 0.827972412109375, -0.024057039991021156, -0.023231711238622665], [0.02169089764356613, -0.014368250034749508, -0.9996614456176758, 0.811315655708313], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.5166248203608848, -0.035260231326905145, 0.31148489297740145], "touch_position_world_xyz_end": [-0.5166248352620733, -0.03526023132690608, 0.3773536878954723], "result": "VALID", "final_target_part_qpos": 0.0658687874674797, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_0_pulling_68
|
100015
|
KitchenPot
| 0
|
pulling
| 68
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
152,
199
] |
[
453.7313537597656,
594.0298461914062
] | 336
| 336
|
{"random_seed": 1353576, "camera_metadata": {"dist": 5.275361551911472, "theta": 3.946268860374783, "phi": 0.8332505886968069, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.4662558603268306, -0.7206061805011931, 0.5131590448724147, -2.4596682389215676], [0.48458855127661743, 0.6933445987555408, 0.5333359197992829, -2.5563798119011487], [-0.7401212121554929, 0.0, 0.6724734874457756, 3.904406986359201], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.8047350491590568, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.048284102231264114], "action_type_0": "PRISMATIC", "pixel_locs": [152, 199], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.7401211857795715, -2.619731276354287e-07, 0.6724735498428345], "norm_world": [2.3309699786805927e-07, -1.355775908563678e-07, 1.0000000224389887], "gripper_direction_camera": [0.7401211857795715, 2.619731276354287e-07, -0.6724735498428345], "gripper_direction_world": [-2.3309699786805927e-07, 1.355775908563678e-07, -1.0000000224389887], "position_cam": [5.104804992675781, -0.2969982922077179, 0.15328934788703918], "position_world": [0.21315762505318814, -0.20681720234182288, 0.22931554972447543], "gripper_forward_direction_world": [0.3659775887991292, -0.930595569441813, 0.007231226178423013], "gripper_forward_direction_camera": [-0.285668747178915, -0.9089491241118947, -0.3036525261898031], "gripper_up_direction_world": [-0.023145008542310868, -0.016869642090515054, -0.9995897777365045], "gripper_up_direction_camera": [0.7208512666652166, 0.004981960976944226, -0.6930718804077809], "contact_rotmat_world": [[0.36597758531570435, -0.9303358197212219, -0.023145008832216263, 0.2157035768032074], [-0.9305955767631531, -0.3656601011753082, -0.016869641840457916, -0.20496153831481934], [0.0072312261909246445, 0.02771255373954773, -0.9995898008346558, 0.3392704129219055], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.36597758531570435, -0.9303358197212219, -0.023145008832216263, 0.21778662502765656], [-0.9305955767631531, -0.3656601011753082, -0.016869641840457916, -0.2034432739019394], [0.0072312261909246445, 0.02771255373954773, -0.9995898008346558, 0.42923349142074585], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.36597758531570435, -0.9303358197212219, -0.023145008832216263, 0.22473013401031494], [-0.9305955767631531, -0.3656601011753082, -0.016869641840457916, -0.19838237762451172], [0.0072312261909246445, 0.02771255373954773, -0.9995898008346558, 0.7291104197502136], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.21315762505318814, -0.20681720234182288, 0.22931554972447543], "touch_position_world_xyz_end": [0.21315763995435708, -0.20681720234182796, 0.2775996333292966], "result": "VALID", "final_target_part_qpos": 0.048284102231264114, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_0_pulling_69
|
100015
|
KitchenPot
| 0
|
pulling
| 69
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
141,
122
] |
[
420.8955078125,
364.1791076660156
] | 336
| 336
|
{"random_seed": 7695657, "camera_metadata": {"dist": 4.631565966566367, "theta": 2.252502085707313, "phi": 0.8026874188949128, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.4377914098123031, 0.7764990187485172, 0.45319747944703526, -2.0276597941417718], [-0.539493161379273, 0.6301184601982313, -0.558478159772079, 2.4986981654395373], [-0.7192258409703823, -0.0, 0.6947763594714822, 3.331141927313497], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.7681040898539253, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.04608624428510666], "action_type_0": "PRISMATIC", "pixel_locs": [141, 122], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.7192256450653076, 1.999866761082103e-08, 0.6947766542434692], "norm_world": [2.3488442622246183e-07, -2.5771163537740754e-07, 1.000000063900616], "gripper_direction_camera": [0.7192256450653076, -1.999866761082103e-08, -0.6947766542434692], "gripper_direction_world": [-2.3488442622246183e-07, 2.5771163537740754e-07, -1.000000063900616], "position_cam": [4.550099849700928, 0.39281830191612244, 0.23056724667549133], "position_world": [0.3738503548662493, 0.16270570484705704, 0.2187852086716977], "gripper_forward_direction_world": [0.9435399789925156, 0.3312495357580965, -0.002460305438138386], "gripper_forward_direction_camera": [0.23613635361364144, 0.9413843152509556, 0.24090494702588183], "gripper_up_direction_world": [-0.004745379569680516, 0.006089739021951697, -0.999970197781606], "gripper_up_direction_camera": [0.7138415474759627, 0.00015247439607524692, -0.7003072338971528], "contact_rotmat_world": [[0.9435399770736694, 0.3312246799468994, -0.00474537955597043, 0.37437233328819275], [0.33124953508377075, -0.9435235261917114, 0.0060897390358150005, 0.16203583776950836], [-0.0024603053461760283, -0.007317816838622093, -0.9999701976776123, 0.32878193259239197], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.9435399770736694, 0.3312246799468994, -0.00474537955597043, 0.3747994303703308], [0.33124953508377075, -0.9435235261917114, 0.0060897390358150005, 0.16148775815963745], [-0.0024603053461760283, -0.007317816838622093, -0.9999701976776123, 0.41877925395965576], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.9435399770736694, 0.3312246799468994, -0.00474537955597043, 0.37622305750846863], [0.33124953508377075, -0.9435235261917114, 0.0060897390358150005, 0.15966083109378815], [-0.0024603053461760283, -0.007317816838622093, -0.9999701976776123, 0.7187703251838684], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.3738503548662493, 0.16270570484705704, 0.2187852086716977], "touch_position_world_xyz_end": [0.37385035486627055, 0.16270572719880808, 0.264871475308571], "result": "VALID", "final_target_part_qpos": 0.04608624428510666, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_0_pulling_78
|
100015
|
KitchenPot
| 0
|
pulling
| 78
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
126,
163
] |
[
376.1194152832031,
486.5671691894531
] | 336
| 336
|
{"random_seed": 8570509, "camera_metadata": {"dist": 5.277973321063508, "theta": 3.0928545007006907, "phi": 0.7036982378535009, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.7615491012917406, 0.04871885968467269, 0.646273501725676, -4.019435839297698], [-0.03714591341779611, 0.9988125313145731, -0.03152314079105096, 0.19605514000566285], [-0.647041843653175, -0.0, 0.7624544921252023, 3.4150695884132025], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.8050914550730893, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.048305485397577286], "action_type_0": "PRISMATIC", "pixel_locs": [126, 163], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.6470418572425842, -1.5255994867402478e-07, 0.7624544501304626], "norm_world": [-4.492163656542713e-08, -1.505501914017871e-07, 0.9999999767738385], "gripper_direction_camera": [0.6470418572425842, 1.5255994867402478e-07, -0.7624544501304626], "gripper_direction_world": [4.492163656542713e-08, 1.505501914017871e-07, -0.9999999767738385], "position_cam": [5.426445960998535, 0.05092112347483635, 0.42773789167404175], "position_world": [0.3919856896514293, 0.03186186262643692, 0.23006266628342198], "gripper_forward_direction_world": [0.21112662654292444, 0.9770352197905992, -0.02877024249707086], "gripper_forward_direction_camera": [0.14310597776969577, 0.9861608695567816, 0.08371032482072728], "gripper_up_direction_world": [-0.01066177597928113, -0.027130067910917894, -0.9995750526839476], "gripper_up_direction_camera": [0.6396551901967836, -0.027617281372764185, -0.7681656874814797], "contact_rotmat_world": [[0.21112662553787231, 0.977400541305542, -0.010661776177585125, 0.393158495426178], [0.9770352244377136, -0.2113436460494995, -0.027130067348480225, 0.034846171736717224], [-0.028770241886377335, -0.00468905083835125, -0.9995750784873962, 0.3400159180164337], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.21112662553787231, 0.977400541305542, -0.010661776177585125, 0.3941180408000946], [0.9770352244377136, -0.2113436460494995, -0.027130067348480225, 0.0372878760099411], [-0.028770241886377335, -0.00468905083835125, -0.9995750784873962, 0.429977685213089], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.21112662553787231, 0.977400541305542, -0.010661776177585125, 0.397316575050354], [0.9770352244377136, -0.2113436460494995, -0.027130067348480225, 0.04542689770460129], [-0.028770241886377335, -0.00468905083835125, -0.9995750784873962, 0.729850172996521], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.3919856896514293, 0.03186186262643692, 0.23006266628342198], "touch_position_world_xyz_end": [0.3919856747502626, 0.03186189242875962, 0.27836816285687777], "result": "VALID", "final_target_part_qpos": 0.048305485397577286, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_0_pulling_95
|
100015
|
KitchenPot
| 0
|
pulling
| 95
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
166,
160
] |
[
495.52239990234375,
477.6119384765625
] | 336
| 336
|
{"random_seed": 8435319, "camera_metadata": {"dist": 5.469679494128521, "theta": 4.044926501233886, "phi": 1.0068373234490382, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.33087531848547524, -0.7853949055617264, 0.5231408662442864, -1.8097819446332477], [0.4198220964040784, 0.6189950260847715, 0.6637729770435054, -2.296292311883435], [-0.8451455087664017, 0.0, 0.5345363121547311, 4.622675058854404], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.0231575366900458, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.06138944625854492], "action_type_0": "PRISMATIC", "pixel_locs": [166, 160], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.902997612953186, 0.03699508681893349, 0.42804989218711853], "norm_world": [-0.10390498410137092, -0.07207062492719582, 0.9919725878020993], "gripper_direction_camera": [0.902997612953186, -0.03699508681893349, -0.42804989218711853], "gripper_direction_world": [0.10390498410137092, 0.07207062492719582, -0.9919725878020993], "position_cam": [5.122541427612305, 0.07691094279289246, 0.01922769285738468], "position_world": [-0.16520608907118128, -0.08536591685658124, 0.30366007786926374], "gripper_forward_direction_world": [-0.9955545413449169, -0.0274983337462353, -0.0900832772976906], "gripper_forward_direction_camera": [-0.26481535683502266, 0.7648821331666001, -0.5872206988406069], "gripper_up_direction_world": [0.08795857407797501, 0.07058599590165145, -0.9936201016629753], "gripper_up_direction_camera": [0.8984904483282582, -0.025389835606952925, -0.43825822355175165], "contact_rotmat_world": [[-0.9955545663833618, -0.033681515604257584, 0.08795857429504395, -0.17488153278827667], [-0.027498334646224976, 0.997126579284668, 0.07058599591255188, -0.09313037991523743], [-0.0900832787156105, 0.06785349547863007, -0.9936200976371765, 0.4129582941532135], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.9955545663833618, -0.033681515604257584, 0.08795857429504395, -0.18279780447483063], [-0.027498334646224976, 0.997126579284668, 0.07058599591255188, -0.09948311746120453], [-0.0900832787156105, 0.06785349547863007, -0.9936200976371765, 0.5023841261863708], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.9955545663833618, -0.033681515604257584, 0.08795857429504395, -0.2091853767633438], [-0.027498334646224976, 0.997126579284668, 0.07058599591255188, -0.12065891176462173], [-0.0900832787156105, 0.06785349547863007, -0.9936200976371765, 0.8004701137542725], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.16520608907118128, -0.08536591685658124, 0.30366007786926374], "touch_position_world_xyz_end": [-0.16520605926886156, -0.0853659168565822, 0.36504952412781033], "result": "VALID", "final_target_part_qpos": 0.06138944625854492, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_10_pulling_1
|
100015
|
KitchenPot
| 10
|
pulling
| 1
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
122,
181
] |
[
364.1791076660156,
540.2985229492188
] | 336
| 336
|
{"random_seed": 159766, "camera_metadata": {"dist": 4.7647743928968485, "theta": 3.4404076496324296, "phi": 0.5406297520276823, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.8193905954054534, -0.29438792191626956, 0.4918686853123677, -3.9042113267684067], [0.2524037098670103, 0.9556860108999297, 0.15151440794706533, -1.202646733446496], [-0.51467603344868, 0.0, 0.8573847331236623, 2.452315184813992], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.149783603397152, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.06898701190948486], "action_type_0": "PRISMATIC", "pixel_locs": [122, 181], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.5146759748458862, -2.3676804516981065e-08, 0.8573847413063049], "norm_world": [5.901352912005322e-08, -6.596240029520917e-09, 0.9999999768542198], "gripper_direction_camera": [0.5146759748458862, 2.3676804516981065e-08, -0.8573847413063049], "gripper_direction_world": [-5.901352912005322e-08, 6.596240029520917e-09, -0.9999999768542198], "position_cam": [4.823256492614746, -0.1176784411072731, 0.41640040278434753], "position_world": [0.28737711292140267, -0.034611880524332284, 0.32691601310328533], "gripper_forward_direction_world": [-0.7932414461042542, -0.6085090078412334, 0.022018073451361184], "gripper_forward_direction_camera": [-0.8148966865983969, -0.34802284540397443, -0.46349054925410893], "gripper_up_direction_world": [-0.02071774257624961, -0.009167078995899195, -0.9997433369646568], "gripper_up_direction_camera": [0.49525420696349765, -0.0026617959733770914, -0.8687440275058892], "contact_rotmat_world": [[-0.7932414412498474, -0.6085546612739563, -0.020717741921544075, 0.2896560728549957], [-0.6085090041160583, 0.7934939861297607, -0.009167078882455826, -0.033603500574827194], [0.0220180731266737, 0.005335226189345121, -0.9997433423995972, 0.4368877708911896], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.7932414412498474, -0.6085546612739563, -0.020717741921544075, 0.2915206551551819], [-0.6085090041160583, 0.7934939861297607, -0.009167078882455826, -0.03277846425771713], [0.0220180731266737, 0.005335226189345121, -0.9997433423995972, 0.5268647074699402], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.7932414412498474, -0.6085546612739563, -0.020717741921544075, 0.2977359890937805], [-0.6085090041160583, 0.7934939861297607, -0.009167078882455826, -0.030028341338038445], [0.0220180731266737, 0.005335226189345121, -0.9997433423995972, 0.8267877101898193], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.28737711292140267, -0.034611880524332284, 0.32691601310328533], "touch_position_world_xyz_end": [0.2873771129214037, -0.034611865623171596, 0.39590302501277186], "result": "VALID", "final_target_part_qpos": 0.06898701190948486, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_10_pulling_15
|
100015
|
KitchenPot
| 10
|
pulling
| 15
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
120,
166
] |
[
358.2089538574219,
495.52239990234375
] | 336
| 336
|
{"random_seed": 10429, "camera_metadata": {"dist": 4.898563966778241, "theta": 4.001368913474003, "phi": 0.7245707964935763, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.4886616710117371, -0.7576965674931596, 0.432557144078214, -2.3937404535637383], [0.567351046190544, 0.6526070116150178, 0.5022119858958082, -2.779205391382936], [-0.6628141230167868, 0.0, 0.748783973071999, 3.246837379681752], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.0337842302480618, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.06202705577015877], "action_type_0": "PRISMATIC", "pixel_locs": [120, 166], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.662814199924469, 4.905250605702349e-08, 0.7487839460372925], "norm_world": [-8.644280727770639e-08, -2.519879814574407e-08, 1.0000000307323431], "gripper_direction_camera": [0.662814199924469, -4.905250605702349e-08, -0.7487839460372925], "gripper_direction_world": [8.644280727770639e-08, 2.519879814574407e-08, -1.0000000307323431], "position_cam": [4.938714504241943, 0.018537690863013268, 0.4449058473110199], "position_world": [0.19802128668943064, 0.25831432558622325, 0.30652602471485313], "gripper_forward_direction_world": [0.9939941254828735, 0.10942708796693087, -0.001179374671265185], "gripper_forward_direction_camera": [0.548592109362377, -0.6817330521189056, 0.4840317584559708], "gripper_up_direction_world": [-0.0008936799584925416, -0.0026598295270522, -0.9999960633137607], "gripper_up_direction_camera": [0.660865749518821, -0.0010586851620678407, -0.7505033912639264], "contact_rotmat_world": [[0.9939941167831421, 0.10942979156970978, -0.0008936799713410437, 0.19811959564685822], [0.1094270870089531, -0.9939912557601929, -0.002659829566255212, 0.2586069107055664], [-0.0011793746380135417, 0.0025460622273385525, -0.9999960660934448, 0.41652560234069824], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.9939941167831421, 0.10942979156970978, -0.0008936799713410437, 0.1982000172138214], [0.1094270870089531, -0.9939912557601929, -0.002659829566255212, 0.2588462829589844], [-0.0011793746380135417, 0.0025460622273385525, -0.9999960660934448, 0.5065252184867859], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.9939941167831421, 0.10942979156970978, -0.0008936799713410437, 0.1984681338071823], [0.1094270870089531, -0.9939912557601929, -0.002659829566255212, 0.2596442401409149], [-0.0011793746380135417, 0.0025460622273385525, -0.9999960660934448, 0.8065240383148193], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.19802128668943064, 0.25831432558622325, 0.30652602471485313], "touch_position_world_xyz_end": [0.1980212717882734, 0.2583143106850731, 0.36855306185857967], "result": "VALID", "final_target_part_qpos": 0.06202705577015877, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_10_pulling_19
|
100015
|
KitchenPot
| 10
|
pulling
| 19
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
156,
148
] |
[
465.671630859375,
441.7910461425781
] | 336
| 336
|
{"random_seed": 1558608, "camera_metadata": {"dist": 4.966866727735955, "theta": 2.722909014467601, "phi": 0.6668964178070586, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.7178763583755463, 0.4065581455628891, 0.5651230028603763, -3.5655961990437532], [-0.31945109874037925, 0.9136249089623514, -0.2514766812988826, 1.5866710334722829], [-0.6185503452420252, -0.0, 0.7857451688689988, 3.0722571292122027], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.015110814629883, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.06090664863586426], "action_type_0": "PRISMATIC", "pixel_locs": [156, 148], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.6185503005981445, -2.7520110279510845e-07, 0.7857451438903809], "norm_world": [-9.39524549825319e-08, -2.594105793175184e-07, 0.9999999527586838], "gripper_direction_camera": [0.6185503602027893, 2.752011312168179e-07, -0.7857452034950256], "gripper_direction_world": [1.0305727605504447e-07, 2.5535901427716305e-07, -1.0000000364612192], "position_cam": [4.632796287536621, 0.17389458417892456, 0.10433673113584518], "position_world": [-0.11015992457587576, 0.239355337934259, 0.2886214685460269], "gripper_forward_direction_world": [-0.6095591476372062, 0.7927280861455543, 0.004452748343378119], "gripper_forward_direction_camera": [-0.6935802082669273, 0.4764348888623532, -0.5403297987110492], "gripper_up_direction_world": [-0.027416713762257967, -0.015467557226411334, -0.9995044164384298], "gripper_up_direction_camera": [0.6035031193754521, -0.02527803386746215, -0.7969598521305162], "contact_rotmat_world": [[-0.6095591187477112, 0.7922663688659668, -0.027416713535785675, -0.10714408755302429], [0.792728066444397, 0.6093791127204895, -0.01546755712479353, 0.24105677008628845], [0.0044527482241392136, -0.031162390485405922, -0.9995043873786926, 0.39856696128845215], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.6095591187477112, 0.7922663688659668, -0.027416713535785675, -0.10467658191919327], [0.792728066444397, 0.6093791127204895, -0.01546755712479353, 0.2424488514661789], [0.0044527482241392136, -0.031162390485405922, -0.9995043873786926, 0.48852235078811646], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.6095591187477112, 0.7922663688659668, -0.027416713535785675, -0.09645156562328339], [0.792728066444397, 0.6093791127204895, -0.01546755712479353, 0.24708911776542664], [0.0044527482241392136, -0.031162390485405922, -0.9995043873786926, 0.7883736491203308], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.11015992457587576, 0.239355337934259, 0.2886214685460269], "touch_position_world_xyz_end": [-0.11015992457588045, 0.23935535283542891, 0.3495266866704408], "result": "VALID", "final_target_part_qpos": 0.06090521812438965, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_10_pulling_25
|
100015
|
KitchenPot
| 10
|
pulling
| 25
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
165,
140
] |
[
492.5373229980469,
417.91046142578125
] | 336
| 336
|
{"random_seed": 6077461, "camera_metadata": {"dist": 4.506242867346078, "theta": 2.6331982166663543, "phi": 0.5390714483961833, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.7496485476091896, 0.48677537190866704, 0.4484158698915676, -3.378098420680258], [-0.41774366977447247, 0.873527181776949, -0.2498809497744427, 1.882454432300192], [-0.5133393433497854, -0.0, 0.8581857133331987, 2.31323175449809], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.7502122128389415, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.04501273110508919], "action_type_0": "PRISMATIC", "pixel_locs": [165, 140], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.5133394598960876, -2.0528764821392542e-07, 0.8581857085227966], "norm_world": [-1.894547981150242e-07, -1.2943583297309233e-07, 1.0000000556995838], "gripper_direction_camera": [0.5133394598960876, 2.0528764821392542e-07, -0.8581857085227966], "gripper_direction_world": [1.894547981150242e-07, 1.2943583297309233e-07, -1.0000000556995838], "position_cam": [4.128017902374268, 0.2169264554977417, 0.023242078721523285], "position_world": [-0.1675192226609119, 0.34168448748578384, 0.21410377506410194], "gripper_forward_direction_world": [0.465268706834508, 0.8850606784926159, -0.01387897066554037], "gripper_forward_direction_camera": [-0.013815863792275673, 0.9996059079920813, -0.02443666538216424], "gripper_up_direction_world": [-0.012222181531772926, -0.009254440074697036, -0.9998824799032676], "gripper_up_direction_camera": [0.507982658785101, -0.014033461918037787, -0.8612529711532], "contact_rotmat_world": [[0.46526870131492615, 0.8850851058959961, -0.01222218107432127, -0.1661747843027115], [0.8850606679916382, -0.4653836488723755, -0.009254439733922482, 0.3427024781703949], [-0.01387897040694952, -0.0065115708857774734, -0.9998824596405029, 0.324090838432312], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.46526870131492615, 0.8850851058959961, -0.01222218107432127, -0.16507478058338165], [0.8850606679916382, -0.4653836488723755, -0.009254439733922482, 0.3435353636741638], [-0.01387897040694952, -0.0065115708857774734, -0.9998824596405029, 0.41408026218414307], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.46526870131492615, 0.8850851058959961, -0.01222218107432127, -0.16140812635421753], [0.8850606679916382, -0.4653836488723755, -0.009254439733922482, 0.3463117182254791], [-0.01387897040694952, -0.0065115708857774734, -0.9998824596405029, 0.714044988155365], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.1675192226609119, 0.34168448748578384, 0.21410377506410194], "touch_position_world_xyz_end": [-0.16751922266091382, 0.34168450238694986, 0.25911653224623216], "result": "VALID", "final_target_part_qpos": 0.04501273110508919, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_10_pulling_27
|
100015
|
KitchenPot
| 10
|
pulling
| 27
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
133,
121
] |
[
397.0149230957031,
361.19403076171875
] | 336
| 336
|
{"random_seed": 224761, "camera_metadata": {"dist": 5.213537323266347, "theta": 3.3283024591397927, "phi": 0.5583303224800148, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.8334004069343277, -0.18562689368799257, 0.5205635581381427, -4.344964126777479], [0.15743774940111904, 0.9826203012047668, 0.09833971081797896, -0.820807582593788], [-0.5297708153392439, 0.0, 0.8481408392565427, 2.7619799185483913], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.9345899028178393, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.05607539415359497], "action_type_0": "PRISMATIC", "pixel_locs": [133, 121], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.5297709107398987, -2.358288071491188e-07, 0.8481407761573792], "norm_world": [-6.857790074580192e-08, -2.529549914029817e-07, 0.999999997023505], "gripper_direction_camera": [0.5297709107398987, 2.358288071491188e-07, -0.8481407761573792], "gripper_direction_world": [6.857790074580192e-08, 2.529549914029817e-07, -0.999999997023505], "position_cam": [5.263491630554199, 0.46428510546684265, 0.34574419260025024], "position_world": [0.13542996521399164, 0.4980810478083114, 0.26677543557845906], "gripper_forward_direction_world": [0.9799894998327586, -0.19847919952010004, -0.015052826159897299], "gripper_forward_direction_camera": [0.793450077464498, -0.3769420975161262, 0.47786151727433096], "gripper_up_direction_world": [-0.01977965691025482, -0.021854030818686396, -0.9995654888547767], "gripper_up_direction_camera": [0.5096156004701006, -0.017802578075131047, -0.8602180002600377], "contact_rotmat_world": [[0.9799895286560059, -0.19806399941444397, -0.01977965608239174, 0.1376057267189026], [-0.19847920536994934, -0.9798614382743835, -0.021854029968380928, 0.5004850029945374], [-0.015052826143801212, 0.02534257061779499, -0.9995654821395874, 0.3767276406288147], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.9799895286560059, -0.19806399941444397, -0.01977965608239174, 0.1393858939409256], [-0.19847920536994934, -0.9798614382743835, -0.021854029968380928, 0.5024518370628357], [-0.015052826143801212, 0.02534257061779499, -0.9995654821395874, 0.4666885435581207], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.9799895286560059, -0.19806399941444397, -0.01977965608239174, 0.14531978964805603], [-0.19847920536994934, -0.9798614382743835, -0.021854029968380928, 0.5090080499649048], [-0.015052826143801212, 0.02534257061779499, -0.9995654821395874, 0.7665581703186035], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.13542996521399164, 0.4980810478083114, 0.26677543557845906], "touch_position_world_xyz_end": [0.13542996521399678, 0.4980810329071844, 0.32284582294189684], "result": "VALID", "final_target_part_qpos": 0.05607040226459503, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_10_pulling_4
|
100015
|
KitchenPot
| 10
|
pulling
| 4
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
177,
149
] |
[
528.3582153320312,
444.776123046875
] | 336
| 336
|
{"random_seed": 2667199, "camera_metadata": {"dist": 5.243365565991416, "theta": 3.4354471095971344, "phi": 0.7649927051023013, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.6904648277194032, -0.28964360065234307, 0.6628460652999012, -3.620359502192114], [0.2089452467250315, 0.9571345697451042, 0.2005873856200078, -1.095576311855611], [-0.6925317361344754, 0.0, 0.7213874094039688, 3.6311970586037616], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "random-closed-middle", "scale": 0.7565289876938603, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.045391738414764404], "action_type_0": "PRISMATIC", "pixel_locs": [177, 149], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.6925316452980042, -1.486275351680888e-07, 0.721387505531311], "norm_world": [1.6948603340792064e-07, -1.0399477079307463e-07, 1.0000000064379153], "gripper_direction_camera": [0.6925316452980042, 1.486275351680888e-07, -0.721387505531311], "gripper_direction_world": [-1.6948603340792064e-07, 1.0399477079307463e-07, -1.0000000064379153], "position_cam": [4.846458911895752, 0.17281880974769592, -0.08186162263154984], "position_world": [-0.3783676013170103, 0.06605868947862226, 0.21581651036441674], "gripper_forward_direction_world": [-0.5789489493959442, 0.8152841813589395, -0.011393753517448209], "gripper_forward_direction_camera": [-0.22150359627341445, 0.9480255324419107, -0.22843762097381456], "gripper_up_direction_world": [-0.008604003015634902, -0.020081724788264314, -0.9997613192465667], "gripper_up_direction_camera": [0.6822296997374827, -0.01672881860148285, -0.7309464983323357], "contact_rotmat_world": [[-0.578948974609375, 0.8153184056282043, -0.008604003116488457, -0.37742117047309875], [0.8152841925621033, 0.5787127614021301, -0.02008172497153282, 0.06826768070459366], [-0.011393753811717033, -0.018641000613570213, -0.9997613430023193, 0.32579025626182556], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.578948974609375, 0.8153184056282043, -0.008604003116488457, -0.3766467869281769], [0.8152841925621033, 0.5787127614021301, -0.02008172497153282, 0.07007503509521484], [-0.011393753811717033, -0.018641000613570213, -0.9997613430023193, 0.4157687723636627], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.578948974609375, 0.8153184056282043, -0.008604003116488457, -0.3740656077861786], [0.8152841925621033, 0.5787127614021301, -0.02008172497153282, 0.07609955221414566], [-0.011393753811717033, -0.018641000613570213, -0.9997613430023193, 0.715697169303894], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.3783676013170103, 0.06605868947862226, 0.21581651036441674], "touch_position_world_xyz_end": [-0.37836759386643504, 0.0660586671268814, 0.26120824877919036], "result": "VALID", "final_target_part_qpos": 0.045391738414764404, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_10_pulling_54
|
100015
|
KitchenPot
| 10
|
pulling
| 54
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
160,
161
] |
[
477.6119384765625,
480.5970153808594
] | 336
| 336
|
{"random_seed": 5180582, "camera_metadata": {"dist": 5.246608847279664, "theta": 2.2936446468670675, "phi": 0.5620359190766536, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5597624958305683, 0.7499245434134441, 0.3525324487868748, -2.9368548630000055], [-0.634565078550628, 0.6615233776565552, -0.39964231745136525, 3.3293147552984403], [-0.5329100386984358, -0.0, 0.8461719037254969, 2.7959705238393613], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.7490350829401469, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.04494210332632065], "action_type_0": "PRISMATIC", "pixel_locs": [160, 161], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.5329095721244812, 6.96785562581681e-08, 0.8461721539497375], "norm_world": [4.0163642503969005e-07, -3.499777396354945e-07, 0.9999999630907779], "gripper_direction_camera": [0.532909631729126, -6.967856336359546e-08, -0.8461722135543823], "gripper_direction_world": [-3.892845570662721e-07, 3.3597524721021477e-07, -1.000000045290467], "position_cam": [4.962630271911621, 0.06519624590873718, 0.07451000064611435], "position_world": [-0.08380109817815828, 0.19355437845767698, 0.21438330268222083], "gripper_forward_direction_world": [-0.11891481878192374, -0.9928980942584679, 0.0035553188274624905], "gripper_forward_direction_camera": [0.5615997363293559, -0.7460024421627449, 0.3578911740208443], "gripper_up_direction_world": [-0.019069563252426886, -0.0012962213218461493, -0.9998173190976672], "gripper_up_direction_camera": [0.5229607966760432, -0.015158214222188134, -0.8522219392162776], "contact_rotmat_world": [[-0.11891482025384903, -0.9927213191986084, -0.01906956359744072, -0.08170344680547714], [-0.9928981065750122, 0.1189608946442604, -0.0012962212786078453, 0.19369696080684662], [0.003555318806320429, 0.018779993057250977, -0.9998173117637634, 0.32436320185661316], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.11891482025384903, -0.9927213191986084, -0.01906956359744072, -0.07998718321323395], [-0.9928981065750122, 0.1189608946442604, -0.0012962212786078453, 0.19381362199783325], [0.003555318806320429, 0.018779993057250977, -0.9998173117637634, 0.41434675455093384], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.11891482025384903, -0.9927213191986084, -0.01906956359744072, -0.07426631450653076], [-0.9928981065750122, 0.1189608946442604, -0.0012962212786078453, 0.1942024827003479], [0.003555318806320429, 0.018779993057250977, -0.9998173117637634, 0.7142919898033142], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.08380109817815828, 0.19355437845767698, 0.21438330268222083], "touch_position_world_xyz_end": [-0.08380108327700242, 0.19355438590826274, 0.2593254134591282], "result": "VALID", "final_target_part_qpos": 0.04494210332632065, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_10_pulling_96
|
100015
|
KitchenPot
| 10
|
pulling
| 96
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
157,
178
] |
[
468.6567077636719,
531.34326171875
] | 336
| 336
|
{"random_seed": 3929233, "camera_metadata": {"dist": 5.310073169863999, "theta": 2.535369803660954, "phi": 1.0288338148376939, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.42390252993577704, 0.569767447387258, 0.7040395592662785, -2.250953450849441], [-0.29389645561241423, 0.8218059721721473, -0.4881186510272395, 1.5606116836656068], [-0.8566980322683762, -0.0, 0.515818264030552, 4.549129235823588], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.9263771608519387, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.05558262765407562], "action_type_0": "PRISMATIC", "pixel_locs": [157, 178], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.8669328093528748, -0.0727788507938385, 0.4930828809738159], "norm_world": [-0.061812177007045534, -0.04570456501284328, 0.9970407875686002], "gripper_direction_camera": [0.8669328093528748, 0.0727788507938385, -0.4930828809738159], "gripper_direction_world": [0.061812177007045534, 0.04570456501284328, -0.9970407875686002], "position_cam": [5.044859409332275, -0.09468089044094086, 0.10414885729551315], "position_world": [-0.09304595773764746, -0.05070093674414289, 0.2809299895489632], "gripper_forward_direction_world": [-0.8555365846269148, -0.5158836272919635, -0.043831899993048054], "gripper_forward_direction_camera": [-0.17349705063175103, -0.9114131418236558, -0.37312847429969287], "gripper_up_direction_world": [0.04016746678124663, 0.01826859265551664, -0.9990259421730571], "gripper_up_direction_camera": [0.867521575003917, 0.037899353563447175, -0.49595358240685805], "contact_rotmat_world": [[-0.8555365800857544, -0.5161818861961365, 0.040167465806007385, -0.09746438264846802], [-0.5158836245536804, 0.8564638495445251, 0.018268592655658722, -0.052710480988025665], [-0.043831899762153625, -0.005092289298772812, -0.9990259408950806, 0.3908228576183319], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.8555365800857544, -0.5161818861961365, 0.040167465806007385, -0.10107944905757904], [-0.5158836245536804, 0.8564638495445251, 0.018268592655658722, -0.05435465648770332], [-0.043831899762153625, -0.005092289298772812, -0.9990259408950806, 0.480735182762146], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.8555365800857544, -0.5161818861961365, 0.040167465806007385, -0.11312969028949738], [-0.5158836245536804, 0.8564638495445251, 0.018268592655658722, -0.05983523279428482], [-0.043831899762153625, -0.005092289298772812, -0.9990259408950806, 0.7804429531097412], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.09304595773764746, -0.05070093674414289, 0.2809299895489632], "touch_position_world_xyz_end": [-0.09304595773764614, -0.05070092184298197, 0.33651263210420446], "result": "VALID", "final_target_part_qpos": 0.05558262765407562, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_11_pulling_49
|
100015
|
KitchenPot
| 11
|
pulling
| 49
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
106,
166
] |
[
316.41790771484375,
495.52239990234375
] | 336
| 336
|
{"random_seed": 4664786, "camera_metadata": {"dist": 5.242119695048414, "theta": 3.599063594159776, "phi": 1.0344422716915467, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.45845996253663196, -0.4416805195859314, 0.7711891994635376, -2.4033019990044364], [0.22570114065911048, 0.897172401837184, 0.37965863151899343, -1.1831523946440154], [-0.8595774879881899, 0.0, 0.5110054228126288, 4.506008079203132], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.1265811324320525, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.06759487092494965], "action_type_0": "PRISMATIC", "pixel_locs": [106, 166], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.8595776557922363, 1.3254714659183264e-08, 0.5110051035881042], "norm_world": [-3.2896829163745816e-07, -1.471781466680131e-07, 0.9999999811151179], "gripper_direction_camera": [0.8595777153968811, -1.3254715547361684e-08, -0.511005163192749], "gripper_direction_world": [3.103281769116533e-07, 1.3800156432096744e-07, -1.0000000628082253], "position_cam": [5.232937335968018, 0.019642069935798645, 0.6089059114456177], "position_world": [0.45669639874137813, 0.24672623920623593, 0.3190471718835095], "gripper_forward_direction_world": [0.21609873863587722, -0.976370742574779, 0.001228089556040135], "gripper_forward_direction_camera": [-0.12235100882169811, -0.971419487361928, -0.20340700630460548], "gripper_up_direction_world": [-0.026911121924734157, -0.007213522498578188, -0.999611802956485], "gripper_up_direction_camera": [0.8452780303431489, 0.005414345008600974, -0.5342992946723157], "contact_rotmat_world": [[0.21609874069690704, -0.9760005474090576, -0.026911122724413872, 0.45965662598609924], [-0.9763707518577576, -0.21598179638385773, -0.007213522680103779, 0.24751973152160645], [0.0012280895607545972, 0.02783406525850296, -0.9996117949485779, 0.4290044605731964], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.21609874069690704, -0.9760005474090576, -0.026911122724413872, 0.46207863092422485], [-0.9763707518577576, -0.21598179638385773, -0.007213522680103779, 0.2481689453125], [0.0012280895607545972, 0.02783406525850296, -0.9996117949485779, 0.5189695358276367], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.21609874069690704, -0.9760005474090576, -0.026911122724413872, 0.47015196084976196], [-0.9763707518577576, -0.21598179638385773, -0.007213522680103779, 0.2503330111503601], [0.0012280895607545972, 0.02783406525850296, -0.9996117949485779, 0.8188530802726746], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.45669639874137813, 0.24672623920623593, 0.3190471718835095], "touch_position_world_xyz_end": [0.4566963689390618, 0.24672628390972412, 0.386639166884363], "result": "VALID", "final_target_part_qpos": 0.06759198755025864, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_11_pulling_68
|
100015
|
KitchenPot
| 11
|
pulling
| 68
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
178,
150
] |
[
531.34326171875,
447.7611999511719
] | 336
| 336
|
{"random_seed": 78385, "camera_metadata": {"dist": 5.3032087421716145, "theta": 3.691971346694675, "phi": 0.7025568439621078, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.6504892310547531, -0.5230100366023023, 0.5507488192407266, -3.449680176818058], [0.3991573503916964, 0.8523265228850141, 0.33795400280958654, -2.116814750099303], [-0.6461711614658121, 0.0, 0.7631925249174834, 3.4267805524246806], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.9011335620093384, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.05406801030039787], "action_type_0": "PRISMATIC", "pixel_locs": [178, 150], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.6461710333824158, 1.4901162970204496e-08, 0.7631926536560059], "norm_world": [1.4642600141255642e-07, 1.0733378453286934e-07, 1.0000000154884812], "gripper_direction_camera": [0.6461710333824158, -1.4901162970204496e-08, -0.7631926536560059], "gripper_direction_world": [-1.4642600141255642e-07, -1.0733378453286934e-07, -1.0000000154884812], "position_cam": [4.7996954917907715, 0.16214331984519958, -0.09007970243692398], "position_world": [-0.4619438204678623, -0.09322475890689153, 0.2566075862653636], "gripper_forward_direction_world": [0.34874863289175084, 0.9371944095262975, -0.006405451489908033], "gripper_forward_direction_camera": [0.6050842853785255, 0.6163966170851056, 0.5039129071913093], "gripper_up_direction_world": [-0.007846149895172927, -0.003914738660101839, -0.9999615556375383], "gripper_up_direction_camera": [0.6394798871043748, 0.0007669795536934393, -0.7688074438579144], "contact_rotmat_world": [[0.3487486243247986, 0.9371834397315979, -0.007846149615943432, -0.46108072996139526], [0.9371944069862366, -0.34878548979759216, -0.003914738539606333, -0.09279413521289825], [-0.006405451335012913, -0.005988107994198799, -0.9999615550041199, 0.3666033446788788], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.3487486243247986, 0.9371834397315979, -0.007846149615943432, -0.4603745937347412], [0.9371944069862366, -0.34878548979759216, -0.003914738539606333, -0.09244181215763092], [-0.006405451335012913, -0.005988107994198799, -0.9999615550041199, 0.4565998911857605], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.3487486243247986, 0.9371834397315979, -0.007846149615943432, -0.45802074670791626], [0.9371944069862366, -0.34878548979759216, -0.003914738539606333, -0.09126739203929901], [-0.006405451335012913, -0.005988107994198799, -0.9999615550041199, 0.756588339805603], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.4619438204678623, -0.09322475890689153, 0.2566075862653636], "touch_position_world_xyz_end": [-0.4619438055666945, -0.09322474400572901, 0.31067424428537954], "result": "VALID", "final_target_part_qpos": 0.054066676646471024, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_11_pulling_89
|
100015
|
KitchenPot
| 11
|
pulling
| 89
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
137,
183
] |
[
408.9552307128906,
546.2686767578125
] | 336
| 336
|
{"random_seed": 3729855, "camera_metadata": {"dist": 4.555455896751803, "theta": 2.7661279670078205, "phi": 0.6595526138725144, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.7352143730382393, 0.36670488393153644, 0.5700766209719068, -3.349236651033727], [-0.289794567703109, 0.9303373195248906, -0.22470331646197342, 1.3201463722897675], [-0.6127633590610301, -0.0, 0.7902664524021269, 2.791416457348012], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "random-closed-middle", "scale": 0.9398861851150904, "joint_angles": [0.012497598880811438], "joint_angles_lower": [0.0], "joint_angles_upper": [0.05639317259192467], "action_type_0": "PRISMATIC", "pixel_locs": [137, 183], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.9232893586158752, -0.20990660786628723, 0.3216768503189087], "norm_world": [-0.5724089333270289, -1.5654636162099056e-06, 0.8199683120921817], "gripper_direction_camera": [0.9232893586158752, 0.20990660786628723, -0.3216768503189087], "gripper_direction_world": [0.5724089333270289, 1.5654636162099056e-06, -0.8199683120921817], "position_cam": [4.380250930786133, -0.12331145256757736, 0.254843533039093], "position_world": [-0.02875178091538988, -0.12121198592975202, 0.3087534782417256], "gripper_forward_direction_world": [0.8088254356933011, 0.22461581016368776, 0.5434603503477063], "gripper_forward_direction_camera": [0.1965550541994168, 0.5055687082673833, 0.8400990369530927], "gripper_up_direction_world": [0.5597432110454792, -0.010798922069817125, -0.8285957524454408], "gripper_up_direction_camera": [0.9223938394962652, 0.1952139290257061, -0.3332883537924555], "contact_rotmat_world": [[0.8088254332542419, 0.18024691939353943, 0.5597432255744934, -0.0903235375881195], [0.22461581230163574, -0.9743875861167908, -0.010798921808600426, -0.12002410739660263], [0.5434603691101074, 0.13446161150932312, -0.828595757484436, 0.3998990058898926], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.8088254332542419, 0.18024691939353943, 0.5597432255744934, -0.14070042967796326], [0.22461581230163574, -0.9743875861167908, -0.010798921808600426, -0.11905220150947571], [0.5434603691101074, 0.13446161150932312, -0.828595757484436, 0.47447264194488525], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.8088254332542419, 0.18024691939353943, 0.5597432255744934, -0.30862337350845337], [0.22461581230163574, -0.9743875861167908, -0.010798921808600426, -0.1158125251531601], [0.5434603691101074, 0.13446161150932312, -0.828595757484436, 0.7230513691902161], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.02875178091538988, -0.12121198592975202, 0.3087534782417256], "touch_position_world_xyz_end": [-0.028751780915388506, -0.1212120008309216, 0.3651466545589588], "result": "VALID", "final_target_part_qpos": 0.05639317259192467, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_11_pulling_99
|
100015
|
KitchenPot
| 11
|
pulling
| 99
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
166,
152
] |
[
495.52239990234375,
453.7313537597656
] | 336
| 336
|
{"random_seed": 1770249, "camera_metadata": {"dist": 5.078202569018371, "theta": 3.3112355143741565, "phi": 1.0340273829166817, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5040214705305804, -0.1688303473144106, 0.8470293212574678, -2.5595231264888114], [0.08633342539257954, 0.9856451257048328, 0.14508695955973577, -0.4384186226207534], [-0.859365403599758, 0.0, 0.5113620078729206, 4.364031600285801], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.075191608771575, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.0645114928483963], "action_type_0": "PRISMATIC", "pixel_locs": [166, 152], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.9052058458328247, 0.09549158066511154, 0.41410598158836365], "norm_world": [-0.1216051497653819, 0.0760526674764376, 0.9896606532621981], "gripper_direction_camera": [0.9052058458328247, -0.09549158066511154, -0.41410598158836365], "gripper_direction_world": [0.1216051497653819, -0.0760526674764376, -0.9896606532621981], "position_cam": [4.720712661743164, 0.14175565540790558, 0.017719410359859467], "position_world": [-0.18910638517079592, 0.11142829792985504, 0.3162754917083417], "gripper_forward_direction_world": [0.6060765579843856, -0.7833674791883352, 0.1378644203988572], "gripper_forward_direction_camera": [0.11936888691181281, -0.8744464532812908, 0.4702068365955625], "gripper_up_direction_world": [0.13051125193222804, -0.07303603269234732, -0.98875302833804], "gripper_up_direction_camera": [0.9091751674984566, -0.09402186961618754, -0.40566045264239153], "contact_rotmat_world": [[0.6060765385627747, -0.7846260666847229, 0.13051125407218933, -0.203462615609169], [-0.7833674550056458, -0.6172528862953186, -0.07303602993488312, 0.1194622591137886], [0.13786442577838898, -0.05797284469008446, -0.9887530207633972, 0.42503833770751953], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.6060765385627747, -0.7846260666847229, 0.13051125407218933, -0.21520863473415375], [-0.7833674550056458, -0.6172528862953186, -0.07303602993488312, 0.12603551149368286], [0.13786442577838898, -0.05797284469008446, -0.9887530207633972, 0.5140261054039001], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.6060765385627747, -0.7846260666847229, 0.13051125407218933, -0.254362016916275], [-0.7833674550056458, -0.6172528862953186, -0.07303602993488312, 0.1479463130235672], [0.13786442577838898, -0.05797284469008446, -0.9887530207633972, 0.8106520175933838], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.18910638517079592, 0.11142829792985504, 0.3162754917083417], "touch_position_world_xyz_end": [-0.18910638517079692, 0.1114282830287063, 0.3807869994579329], "result": "VALID", "final_target_part_qpos": 0.0645114928483963, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_12_pulling_61
|
100015
|
KitchenPot
| 12
|
pulling
| 61
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
125,
191
] |
[
373.13433837890625,
570.1492309570312
] | 336
| 336
|
{"random_seed": 285766, "camera_metadata": {"dist": 5.1884410090818465, "theta": 2.6366410528242517, "phi": 0.9882153980290411, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.48151721463712654, 0.48376508198274076, 0.7308300195410252, -2.498323663002133], [-0.26615833705728387, 0.8751978893108872, -0.4039658329124744, 1.38094683089704], [-0.8350454548244692, -0.0, 0.5501809596641775, 4.332584082258679], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "random-closed-middle", "scale": 0.8433718633502503, "joint_angles": [0.01035317034015778], "joint_angles_lower": [0.0], "joint_angles_upper": [0.05060230940580368], "action_type_0": "PRISMATIC", "pixel_locs": [125, 191], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.835045337677002, -1.4256416136504413e-07, 0.5501811504364014], "norm_world": [1.2686302697778932e-07, -2.3301708844876952e-07, 1.000000007135785], "gripper_direction_camera": [0.835045337677002, 1.4256416136504413e-07, -0.5501811504364014], "gripper_direction_world": [-1.2686302697778932e-07, 2.3301708844876952e-07, -1.000000007135785], "position_cam": [5.176742076873779, -0.22345881164073944, 0.417770653963089], "position_world": [0.19158452761530587, -0.36122198214863777, 0.23961859948359], "gripper_forward_direction_world": [-0.937950858297716, 0.3465752335988746, 0.011566973435753454], "gripper_forward_direction_camera": [-0.5535423211875359, -0.150425960927014, -0.8191232684605533], "gripper_up_direction_world": [-0.013431815708905654, -0.002979163943553006, -0.9999053509752608], "gripper_up_direction_camera": [0.8292916974199227, -0.009105201422904503, -0.558741779266086], "contact_rotmat_world": [[-0.937950849533081, 0.3465079665184021, -0.013431815430521965, 0.19306202232837677], [0.34657523036003113, 0.9380174279212952, -0.0029791640117764473, -0.36089426279067993], [0.01156697329133749, -0.00744944391772151, -0.9999053478240967, 0.3496081829071045], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.937950849533081, 0.3465079665184021, -0.013431815430521965, 0.19427089393138885], [0.34657523036003113, 0.9380174279212952, -0.0029791640117764473, -0.3606261610984802], [0.01156697329133749, -0.00744944391772151, -0.9999053478240967, 0.4395996630191803], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.937950849533081, 0.3465079665184021, -0.013431815430521965, 0.19830043613910675], [0.34657523036003113, 0.9380174279212952, -0.0029791640117764473, -0.35973238945007324], [0.01156697329133749, -0.00744944391772151, -0.9999053478240967, 0.7395712733268738], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.19158452761530587, -0.36122198214863777, 0.23961859948359], "touch_position_world_xyz_end": [0.19158452016473101, -0.36122198214866214, 0.2902209014388243], "result": "VALID", "final_target_part_qpos": 0.05060230940580368, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_12_pulling_81
|
100015
|
KitchenPot
| 12
|
pulling
| 81
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
139,
148
] |
[
414.9253845214844,
441.7910461425781
] | 336
| 336
|
{"random_seed": 4790737, "camera_metadata": {"dist": 4.764864213212486, "theta": 2.755962683663589, "phi": 0.6108912387768278, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.7589810577979111, 0.3761429173265273, 0.5314736678792782, -3.616441680807424], [-0.30811263002925915, 0.926561657821588, -0.21575472525848338, 1.4681148444651955], [-0.5735977345844533, -0.0, 0.8191371306927696, 2.733115318301215], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.9414114698612757, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.05648468807339668], "action_type_0": "PRISMATIC", "pixel_locs": [139, 148], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.5153523683547974, 0.15645694732666016, 0.8425753712654114], "norm_world": [0.11551410996204264, 0.12196396436136578, 0.9857897230117886], "gripper_direction_camera": [0.5153523683547974, -0.15645694732666016, -0.8425753712654114], "gripper_direction_world": [-0.11551410996204264, -0.12196396436136578, -0.9857897230117886], "position_cam": [4.645751953125, 0.17438088357448578, 0.25285232067108154], "position_world": [0.10957253541463219, 0.14372054932409406, 0.2754432469909336], "gripper_forward_direction_world": [0.10850154233812817, -0.9875300877125102, 0.11406901933816063], "gripper_forward_direction_camera": [0.32119137685598476, -0.8741954285501102, 0.36416816463750123], "gripper_up_direction_world": [-0.12539769372359766, -0.12742611448638008, -0.983889223315159], "gripper_up_direction_camera": [0.5084437506166857, -0.16523560623147618, -0.8450929812110343], "contact_rotmat_world": [[0.10850153863430023, -0.9861555695533752, -0.1253976970911026, 0.12336628139019012], [-0.9875301122665405, -0.09244950860738754, -0.1274261176586151, 0.15773741900920868], [0.11406902223825455, 0.1376599222421646, -0.9838892221450806, 0.3836710751056671], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.10850153863430023, -0.9861555695533752, -0.1253976970911026, 0.13465207815170288], [-0.9875301122665405, -0.09244950860738754, -0.1274261176586151, 0.16920576989650726], [0.11406902223825455, 0.1376599222421646, -0.9838892221450806, 0.47222110629081726], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.10850153863430023, -0.9861555695533752, -0.1253976970911026, 0.17227138578891754], [-0.9875301122665405, -0.09244950860738754, -0.1274261176586151, 0.20743361115455627], [0.11406902223825455, 0.1376599222421646, -0.9838892221450806, 0.767387866973877], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.10957253541463219, 0.14372054932409406, 0.2754432469909336], "touch_position_world_xyz_end": [0.109572520513471, 0.1437205493241012, 0.33192797604253726], "result": "VALID", "final_target_part_qpos": 0.05648468807339668, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_12_pulling_98
|
100015
|
KitchenPot
| 12
|
pulling
| 98
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
162,
153
] |
[
483.58209228515625,
456.7164306640625
] | 336
| 336
|
{"random_seed": 1213303, "camera_metadata": {"dist": 4.9615295380237585, "theta": 2.67157188893277, "phi": 0.7348964326132951, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.661447714674061, 0.4529047983911483, 0.5977994348832518, -3.281792374213665], [-0.3360101606807958, 0.8915588839747342, -0.30367734246234507, 1.6671243372938778], [-0.6705103225691067, -0.0, 0.7419002003829575, 3.3267567709764614], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.7039151827084613, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.042234908789396286], "action_type_0": "PRISMATIC", "pixel_locs": [162, 153], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.6705102920532227, 3.0651797544578585e-08, 0.7419003248214722], "norm_world": [1.0845628187004936e-07, -2.0714922185029787e-08, 1.0000000718597437], "gripper_direction_camera": [0.6705102920532227, -3.0651797544578585e-08, -0.7419003248214722], "gripper_direction_world": [-1.0845628187004936e-07, 2.0714922185029787e-08, -1.0000000718597437], "position_cam": [4.720491409301758, 0.13288968801498413, 0.053155846893787384], "position_world": [-0.06747120679994412, 0.18332801597942705, 0.20105488690286943], "gripper_forward_direction_world": [0.5862720248647562, -0.8101118532941005, 0.0019743387188380377], "gripper_forward_direction_camera": [0.6586702905276667, -0.45673700659384914, 0.5979504621487384], "gripper_up_direction_world": [-0.011626429598805763, -0.010850772547091115, -0.999873535438315], "gripper_up_direction_camera": [0.6663812213141679, -0.01493976841580424, -0.745461515572414], "contact_rotmat_world": [[0.5862720012664795, -0.8100308179855347, -0.011626429855823517, -0.06619229912757874], [-0.8101118803024292, -0.5861749053001404, -0.010850772261619568, 0.1845216006040573], [0.0019743386656045914, 0.015780212357640266, -0.9998735189437866, 0.3110409677028656], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.5862720012664795, -0.8100308179855347, -0.011626429855823517, -0.06514591723680496], [-0.8101118803024292, -0.5861749053001404, -0.010850772261619568, 0.1854981631040573], [0.0019743386656045914, 0.015780212357640266, -0.9998735189437866, 0.4010295867919922], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.5862720012664795, -0.8100308179855347, -0.011626429855823517, -0.061657991260290146], [-0.8101118803024292, -0.5861749053001404, -0.010850772261619568, 0.1887533962726593], [0.0019743386656045914, 0.015780212357640266, -0.9998735189437866, 0.7009916305541992], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.06747120679994412, 0.18332801597942705, 0.20105488690286943], "touch_position_world_xyz_end": [-0.06747121425052376, 0.1833280383311716, 0.243289799417559], "result": "VALID", "final_target_part_qpos": 0.042234908789396286, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_13_pulling_3
|
100015
|
KitchenPot
| 13
|
pulling
| 3
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
132,
166
] |
[
394.02984619140625,
495.52239990234375
] | 336
| 336
|
{"random_seed": 4353757, "camera_metadata": {"dist": 5.309939615186746, "theta": 2.4129580530712875, "phi": 0.7997444424485777, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5199386628286374, 0.6658515529495748, 0.5350752249269333, -2.7608429032210062], [-0.4640252969652329, 0.746084250895728, -0.4775340975696791, 2.4639463068044845], [-0.7171780188156187, -0.0, 0.6968900123604185, 3.8081719732501993], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.9850094354760439, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.05910056456923485], "action_type_0": "PRISMATIC", "pixel_locs": [132, 166], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.7171779274940491, 4.223947058790145e-08, 0.6968901753425598], "norm_world": [1.6281453789434594e-07, -8.86908445322052e-08, 1.0000000480868043], "gripper_direction_camera": [0.7171779274940491, -4.223947058790145e-08, -0.6968901753425598], "gripper_direction_world": [-1.6281453789434594e-07, 8.86908445322052e-08, -1.0000000480868043], "position_cam": [5.264908313751221, 0.019762074574828148, 0.35571834444999695], "position_world": [0.18008116655855266, -0.13422780297925252, 0.2801920210088049], "gripper_forward_direction_world": [0.07746933907724125, 0.996957188597097, -0.008652491404676999], "gripper_forward_direction_camera": [-0.41612867428692707, 0.7953971369601343, -0.44065896218257705], "gripper_up_direction_world": [-0.01741391684696493, -0.007324188776922127, -0.9998215399554099], "gripper_up_direction_camera": [0.7113944714266224, -0.01705954547253535, -0.7025858509334695], "contact_rotmat_world": [[0.0774693414568901, 0.996842622756958, -0.017413916066288948, 0.18199670314788818], [0.9969571828842163, -0.0776061862707138, -0.007324188947677612, -0.1334221363067627], [-0.008652491495013237, -0.01679353043437004, -0.9998215436935425, 0.39017239212989807], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.0774693414568901, 0.996842622756958, -0.017413916066288948, 0.1835639476776123], [0.9969571828842163, -0.0776061862707138, -0.007324188947677612, -0.13276296854019165], [-0.008652491495013237, -0.01679353043437004, -0.9998215436935425, 0.4801563322544098], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.0774693414568901, 0.996842622756958, -0.017413916066288948, 0.18878813087940216], [0.9969571828842163, -0.0776061862707138, -0.007324188947677612, -0.13056570291519165], [-0.008652491495013237, -0.01679353043437004, -0.9998215436935425, 0.7801027894020081], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.18008116655855266, -0.13422780297925252, 0.2801920210088049], "touch_position_world_xyz_end": [0.1800811814597164, -0.1342278178804137, 0.33929169523366254], "result": "VALID", "final_target_part_qpos": 0.05909968540072441, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_13_pulling_32
|
100015
|
KitchenPot
| 13
|
pulling
| 32
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
128,
202
] |
[
382.08953857421875,
602.9850463867188
] | 336
| 336
|
{"random_seed": 8782297, "camera_metadata": {"dist": 5.447451861536471, "theta": 3.5339426273274355, "phi": 0.8558745022314328, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.6057445184916247, -0.3823608753517277, 0.697763383474377, -3.2997641048727133], [0.25065987791367494, 0.9240130740418452, 0.2887377090094764, -1.365457618553353], [-0.7551444920819138, 0.0, 0.6555583849500735, 4.113613269120633], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.0573241383908498, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.06343945115804672], "action_type_0": "PRISMATIC", "pixel_locs": [128, 202], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.7551445364952087, -3.34981990590677e-07, 0.6555583477020264], "norm_world": [7.519057384936569e-08, -3.3141528570487147e-07, 1.0000000091201857], "gripper_direction_camera": [0.7551445364952087, 3.34981990590677e-07, -0.6555583477020264], "gripper_direction_world": [-7.519057384936569e-08, 3.3141528570487147e-07, -1.0000000091201857], "position_cam": [5.401711940765381, -0.344685822725296, 0.40551260113716125], "position_world": [0.3870395112262077, -0.21287259016448812, 0.30037743511693105], "gripper_forward_direction_world": [0.937781585120917, -0.3464643406517604, -0.022981715881136483], "gripper_forward_direction_camera": [0.49856586156640176, -0.6787085682270787, 0.539246475274248], "gripper_up_direction_world": [-0.025104868396553782, -0.001640693077140954, -0.9996834767610288], "gripper_up_direction_camera": [0.7392870789563124, 0.008083097601927979, -0.6733418733610738], "contact_rotmat_world": [[0.937781572341919, -0.34631696343421936, -0.025104869157075882, 0.3898010551929474], [-0.3464643359184265, -0.9380617141723633, -0.0016406930517405272, -0.21269211173057556], [-0.022981716319918633, 0.010236553847789764, -0.9996834993362427, 0.41034260392189026], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.937781572341919, -0.34631696343421936, -0.025104869157075882, 0.3920604884624481], [-0.3464643359184265, -0.9380617141723633, -0.0016406930517405272, -0.21254445612430573], [-0.022981716319918633, 0.010236553847789764, -0.9996834993362427, 0.5003141164779663], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.937781572341919, -0.34631696343421936, -0.025104869157075882, 0.39959195256233215], [-0.3464643359184265, -0.9380617141723633, -0.0016406930517405272, -0.21205224096775055], [-0.022981716319918633, 0.010236553847789764, -0.9996834993362427, 0.8002191781997681], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.3870395112262077, -0.21287259016448812, 0.30037743511693105], "touch_position_world_xyz_end": [0.38703952612737114, -0.2128725752633494, 0.3638169235279137], "result": "VALID", "final_target_part_qpos": 0.06343945115804672, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_13_pulling_35
|
100015
|
KitchenPot
| 13
|
pulling
| 35
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
152,
205
] |
[
453.7313537597656,
611.9403076171875
] | 336
| 336
|
{"random_seed": 199885, "camera_metadata": {"dist": 5.178042000883436, "theta": 3.5863835832412705, "phi": 0.9714969486709966, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5091810129693879, -0.43026916176814356, 0.7453879154257915, -2.636560671207864], [0.24269938175592093, 0.9027006416477941, 0.3552865908867862, -1.2567075923206017], [-0.8257310131796926, 0.0, 0.564064086672107, 4.275669867676482], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.1680410290747762, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.07008245587348938], "action_type_0": "PRISMATIC", "pixel_locs": [152, 205], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.8257309198379517, -1.4438788298321015e-07, 0.5640642642974854], "norm_world": [2.420533060466081e-07, -4.4577136670707376e-08, 1.0000000231169264], "gripper_direction_camera": [0.8257309198379517, 1.4438788298321015e-07, -0.5640642642974854], "gripper_direction_world": [-2.420533060466081e-07, 4.4577136670707376e-08, -1.0000000231169264], "position_cam": [4.877533435821533, -0.3386998772621155, 0.1464647352695465], "position_world": [0.10189190042230445, -0.3266408830043708, 0.33075473902722985], "gripper_forward_direction_world": [-0.08635314966681143, -0.996260869459928, -0.0027227790159644765], "gripper_forward_direction_camera": [-0.2835129982304683, -0.8621702287868882, -0.4198605440237695], "gripper_up_direction_world": [-0.013210901469000681, 0.003877823571672946, -0.9999052127910543], "gripper_up_direction_camera": [0.8198671496327924, 0.009184757327614692, -0.5724801282016988], "contact_rotmat_world": [[-0.08635315299034119, -0.9961770176887512, -0.0132109010592103, 0.10334509611129761], [-0.9962608814239502, 0.08630899339914322, 0.0038778234738856554, -0.32706743478775024], [-0.002722779056057334, 0.013496366329491138, -0.9999052286148071, 0.4407443106174469], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.08635315299034119, -0.9961770176887512, -0.0132109010592103, 0.1045340821146965], [-0.9962608814239502, 0.08630899339914322, 0.0038778234738856554, -0.32741644978523254], [-0.002722779056057334, 0.013496366329491138, -0.9999052286148071, 0.5307357907295227], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.08635315299034119, -0.9961770176887512, -0.0132109010592103, 0.10849735140800476], [-0.9962608814239502, 0.08630899339914322, 0.0038778234738856554, -0.32857978343963623], [-0.002722779056057334, 0.013496366329491138, -0.9999052286148071, 0.8307073712348938], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.10189190042230445, -0.3266408830043708, 0.33075473902722985], "touch_position_world_xyz_end": [0.10189191532347151, -0.3266408830043712, 0.4008372247030603], "result": "VALID", "final_target_part_qpos": 0.07008245587348938, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_13_pulling_36
|
100015
|
KitchenPot
| 13
|
pulling
| 36
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
121,
118
] |
[
361.19403076171875,
352.2388000488281
] | 336
| 336
|
{"random_seed": 5173682, "camera_metadata": {"dist": 4.671126846406278, "theta": 2.886878639675776, "phi": 0.7217889663604488, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.726406293362853, 0.25196866008433816, 0.6394104247649893, -3.3931359383256967], [-0.18913395273157887, 0.9677353947930722, -0.1664828927812874, 0.883468684171414], [-0.6607285712658184, -0.0, 0.7506249097339033, 3.0863469674274278], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.9993088158363719, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.059958528727293015], "action_type_0": "PRISMATIC", "pixel_locs": [121, 118], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.6607284545898438, -2.5211627985299856e-07, 0.7506250143051147], "norm_world": [8.809268381138278e-08, -2.834585536741646e-07, 1.0000000014026063], "gripper_direction_camera": [0.6607284545898438, 2.5211627985299856e-07, -0.7506250143051147], "gripper_direction_world": [-8.809268381138278e-08, 2.834585536741646e-07, -1.0000000014026063], "position_cam": [4.713514804840088, 0.4423111081123352, 0.4157724380493164], "position_world": [0.40808864823929536, 0.3508041144784646, 0.2840822135657666], "gripper_forward_direction_world": [0.9099093305516427, -0.41480714849647504, -0.0001993270795142467], "gripper_forward_direction_camera": [0.7395496808152091, -0.17215492479589023, 0.6507141857026352], "gripper_up_direction_world": [-0.005350034046323987, -0.0112551924755818, -0.9999223458739388], "gripper_up_direction_camera": [0.6589197036067594, -0.012240089043887013, -0.7521136911524601], "contact_rotmat_world": [[0.9099093079566956, -0.4147726893424988, -0.0053500342182815075, 0.4086771607398987], [-0.41480714082717896, -0.9098397493362427, -0.011255192570388317, 0.35204219818115234], [-0.0001993270852835849, 0.012460436671972275, -0.9999223351478577, 0.3940736651420593], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.9099093079566956, -0.4147726893424988, -0.0053500342182815075, 0.4091586470603943], [-0.41480714082717896, -0.9098397493362427, -0.011255192570388317, 0.3530551493167877], [-0.0001993270852835849, 0.012460436671972275, -0.9999223351478577, 0.4840666949748993], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.9099093079566956, -0.4147726893424988, -0.0053500342182815075, 0.4107636511325836], [-0.41480714082717896, -0.9098397493362427, -0.011255192570388317, 0.3564317226409912], [-0.0001993270852835849, 0.012460436671972275, -0.9999223351478577, 0.7840433716773987], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.40808864823929536, 0.3508041144784646, 0.2840822135657666], "touch_position_world_xyz_end": [0.40808867804161353, 0.3508040995773402, 0.34404070131488884], "result": "VALID", "final_target_part_qpos": 0.059958525002002716, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_13_pulling_52
|
100015
|
KitchenPot
| 13
|
pulling
| 52
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
172,
210
] |
[
513.432861328125,
626.8656616210938
] | 336
| 336
|
{"random_seed": 4837947, "camera_metadata": {"dist": 4.948727393051538, "theta": 2.8051517444212535, "phi": 0.6294758144951832, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.7630173356761479, 0.3301296375786488, 0.5557148260122835, -3.7759647904337537], [-0.2668557428317688, 0.9439356028841108, -0.19435429021638526, 1.320596324544691], [-0.5887211207145345, -0.0, 0.8083362184293257, 2.9134203369480183], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.1120504272367704, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.06672302633523941], "action_type_0": "PRISMATIC", "pixel_locs": [172, 210], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.588720977306366, -1.389865644796373e-07, 0.8083363771438599], "norm_world": [1.5173935418716646e-07, -2.0031051050963452e-07, 1.0000000438672887], "gripper_direction_camera": [0.588720977306366, 1.389865644796373e-07, -0.8083363771438599], "gripper_direction_world": [-1.5173935418716646e-07, 2.0031051050963452e-07, -1.0000000438672887], "position_cam": [4.367363452911377, -0.34425613284111023, -0.03278634324669838], "position_world": [-0.575459774065914, -0.1634431477277165, 0.3157588416661712], "gripper_forward_direction_world": [0.9973628179796077, -0.0724113676565145, 0.004899300551033512], "gripper_forward_direction_camera": [0.7774441876715771, 0.2609073576495128, 0.5722830469095093], "gripper_up_direction_world": [0.005239088428780499, 0.004503275876042453, -0.9999761359446634], "gripper_up_direction_camera": [0.591502861706354, 0.005980380793241384, -0.8062807201209526], "contact_rotmat_world": [[0.9973627924919128, -0.07238757610321045, 0.005239088553935289, -0.5760360956192017], [-0.07241136580705643, -0.9973646998405457, 0.004503275733441114, -0.163938507437706], [0.004899300634860992, -0.004870769567787647, -0.9999761581420898, 0.42575621604919434], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.9973627924919128, -0.07238757610321045, 0.005239088553935289, -0.576507568359375], [-0.07241136580705643, -0.9973646998405457, 0.004503275733441114, -0.16434380412101746], [0.004899300634860992, -0.004870769567787647, -0.9999761581420898, 0.5157540440559387], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.9973627924919128, -0.07238757610321045, 0.005239088553935289, -0.578079342842102], [-0.07241136580705643, -0.9973646998405457, 0.004503275733441114, -0.16569478809833527], [0.004899300634860992, -0.004870769567787647, -0.9999761581420898, 0.8157469034194946], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.575459774065914, -0.1634431477277165, 0.3157588416661712], "touch_position_world_xyz_end": [-0.575459774065914, -0.16344316262888578, 0.3824818307485211], "result": "VALID", "final_target_part_qpos": 0.06672302633523941, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_13_pulling_57
|
100015
|
KitchenPot
| 13
|
pulling
| 57
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
121,
173
] |
[
361.19403076171875,
516.4179077148438
] | 336
| 336
|
{"random_seed": 7910387, "camera_metadata": {"dist": 5.286526883805402, "theta": 3.826749603921063, "phi": 0.9229466528947247, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.4672811862261204, -0.6327945490494241, 0.6174296329886069, -2.470294553280864], [0.38187453128690996, 0.774319739315314, 0.5045798090104944, -2.0187899758888364], [-0.7973833051635285, 0.0, 0.6034731681247206, 4.2153882794446], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.8366135877362406, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.0501968152821064], "action_type_0": "PRISMATIC", "pixel_locs": [121, 173], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.7973834276199341, 3.548729310409726e-08, 0.6034730672836304], "norm_world": [-1.4194001750489937e-07, -7.016684902962311e-08, 1.0000000367898014], "gripper_direction_camera": [0.7973834276199341, -3.548729310409726e-08, -0.6034730672836304], "gripper_direction_world": [1.4194001750489937e-07, 7.016684902962311e-08, -1.0000000367898014], "position_cam": [5.344750881195068, -0.05015462636947632, 0.47145286202430725], "position_world": [0.3500335203143816, 0.22128413957463522, 0.23808230878886993], "gripper_forward_direction_world": [0.9755588728952624, 0.21958553847201037, -0.008190043301627032], "gripper_forward_direction_camera": [0.5462450357385815, -0.4472989201378622, 0.7081949145358628], "gripper_up_direction_world": [-0.007449272256677004, -0.004201279083456167, -0.9999634281297036], "gripper_up_direction_camera": [0.7922688771072937, 0.001460725553717723, -0.610170380015291], "contact_rotmat_world": [[0.975558876991272, 0.21961191296577454, -0.007449272088706493, 0.35085293650627136], [0.21958553791046143, -0.9755842089653015, -0.004201279021799564, 0.2217462807893753], [-0.008190043270587921, 0.002462842734530568, -0.9999634027481079, 0.34807828068733215], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.975558876991272, 0.21961191296577454, -0.007449272088706493, 0.35152336955070496], [0.21958553791046143, -0.9755842089653015, -0.004201279021799564, 0.2221243977546692], [-0.008190043270587921, 0.002462842734530568, -0.9999634027481079, 0.4380750060081482], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.975558876991272, 0.21961191296577454, -0.007449272088706493, 0.35375815629959106], [0.21958553791046143, -0.9755842089653015, -0.004201279021799564, 0.2233847826719284], [-0.008190043270587921, 0.002462842734530568, -0.9999634027481079, 0.7380640506744385], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.3500335203143816, 0.22128413957463522, 0.23808230878886993], "touch_position_world_xyz_end": [0.35003353521554575, 0.22128412467348152, 0.28827512683449596], "result": "VALID", "final_target_part_qpos": 0.05019284784793854, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_13_pulling_7
|
100015
|
KitchenPot
| 13
|
pulling
| 7
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
173,
186
] |
[
516.4179077148438,
555.223876953125
] | 336
| 336
|
{"random_seed": 8399487, "camera_metadata": {"dist": 5.279288770737942, "theta": 2.2060536558717105, "phi": 0.9457478930230971, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.34721105472431063, 0.8049190279977706, 0.4811962612535096, -1.8330274222821303], [-0.47098754327870856, 0.5933846630703595, -0.6527368349566022, 2.486479248388737], [-0.81093478008624, -0.0, 0.5851365502568452, 4.281158878310129], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "random-closed-middle", "scale": 1.0873044029902947, "joint_angles": [0.05828232153133246], "joint_angles_lower": [0.0], "joint_angles_upper": [0.06523825973272324], "action_type_0": "PRISMATIC", "pixel_locs": [173, 186], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.8109346628189087, -2.2252653764098795e-07, 0.5851367115974426], "norm_world": [-6.076283837498272e-08, -2.9258823766728987e-07, 0.999999999310123], "gripper_direction_camera": [0.8109346628189087, 2.2252653764098795e-07, -0.5851367115974426], "gripper_direction_world": [6.076283837498272e-08, 2.9258823766728987e-07, -0.999999999310123], "position_cam": [4.866342067718506, -0.16439488530158997, -0.045665282756090164], "position_world": [-0.2976781949163809, 0.126750761668601, 0.3081524177820021], "gripper_forward_direction_world": [-0.7930314426789903, -0.6089960249011627, 0.014999085874210089], "gripper_forward_direction_camera": [-0.0006830224123133277, -0.9996949990600074, 0.024686885886971432], "gripper_up_direction_world": [-0.0083177593159304, -0.013794663296588731, -0.9998702526550612], "gripper_up_direction_camera": [0.8144386600429956, -0.014880664376113528, -0.5800588201683476], "contact_rotmat_world": [[-0.7930314540863037, -0.609123945236206, -0.00831775926053524, -0.29676324129104614], [-0.6089960336685181, 0.7930533289909363, -0.013794663362205029, 0.12826816737651825], [0.014999086037278175, -0.005874119233340025, -0.999870240688324, 0.41813814640045166], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.7930314540863037, -0.609123945236206, -0.00831775926053524, -0.2960146367549896], [-0.6089960336685181, 0.7930533289909363, -0.013794663362205029, 0.12950968742370605], [0.014999086037278175, -0.005874119233340025, -0.999870240688324, 0.5081264972686768], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.7930314540863037, -0.609123945236206, -0.00831775926053524, -0.2935193181037903], [-0.6089960336685181, 0.7930533289909363, -0.013794663362205029, 0.1336480975151062], [0.014999086037278175, -0.005874119233340025, -0.999870240688324, 0.8080875277519226], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.2976781949163809, 0.126750761668601, 0.3081524177820021], "touch_position_world_xyz_end": [-0.2976781949163767, 0.12675074676744882, 0.37338707888431893], "result": "VALID", "final_target_part_qpos": 0.06523464620113373, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_13_pulling_70
|
100015
|
KitchenPot
| 13
|
pulling
| 70
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
145,
208
] |
[
432.8358154296875,
620.8955078125
] | 336
| 336
|
{"random_seed": 2215644, "camera_metadata": {"dist": 5.390072095750572, "theta": 2.2688772684043785, "phi": 0.6738991359521397, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5022402575303512, 0.7660770695093938, 0.40109929853808735, -2.707111197476927], [-0.5986083358468741, 0.6427487250643903, -0.4780608085617734, 3.226542087331923], [-0.6240374860298717, -0.0, 0.7813944049131125, 3.363607040151949], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "random-closed-middle", "scale": 0.7123241272263918, "joint_angles": [0.0008706226164180001], "joint_angles_lower": [0.0], "joint_angles_upper": [0.042739447206258774], "action_type_0": "PRISMATIC", "pixel_locs": [145, 208], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.6240373253822327, 2.1094525237685957e-08, 0.7813946008682251], "norm_world": [1.7544120177498946e-07, -1.762849960710378e-07, 1.0000000528680795], "gripper_direction_camera": [0.6240373253822327, -2.1094525237685957e-08, -0.7813946008682251], "gripper_direction_world": [-1.7544120177498946e-07, 1.762849960710378e-07, -1.0000000528680795], "position_cam": [5.352389812469482, -0.40181005001068115, 0.23104068636894226], "position_world": [-0.2340727680346908, -0.3461574658128246, 0.20404905696257325], "gripper_forward_direction_world": [-0.023967980638832948, 0.9996090837022852, -0.01439498815471698], "gripper_forward_direction_camera": [-0.6014290026414744, 0.6241361437425723, -0.4987356302249049], "gripper_up_direction_world": [0.0032067985170194497, -0.014322175958622027, -0.9998922900588251], "gripper_up_direction_camera": [0.6341542282182933, -0.006748905527126842, -0.7731771253128531], "contact_rotmat_world": [[-0.023967981338500977, 0.9997075796127319, 0.0032067985739558935, -0.23442551493644714], [0.999609112739563, 0.024011561647057533, -0.014322175644338131, -0.3445820212364197], [-0.014394988305866718, 0.002862271387130022, -0.9998922944068909, 0.3140372037887573], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.023967981338500977, 0.9997075796127319, 0.0032067985739558935, -0.23471412062644958], [0.999609112739563, 0.024011561647057533, -0.014322175644338131, -0.34329304099082947], [-0.014394988305866718, 0.002862271387130022, -0.9998922944068909, 0.40402752161026], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.023967981338500977, 0.9997075796127319, 0.0032067985739558935, -0.23567616939544678], [0.999609112739563, 0.024011561647057533, -0.014322175644338131, -0.33899638056755066], [-0.014394988305866718, 0.002862271387130022, -0.9998922944068909, 0.7039952278137207], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.2340727680346908, -0.3461574658128246, 0.20404905696257325], "touch_position_world_xyz_end": [-0.23407276058411045, -0.34615745091169686, 0.24678852279530092], "result": "VALID", "final_target_part_qpos": 0.042739447206258774, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_13_pulling_81
|
100015
|
KitchenPot
| 13
|
pulling
| 81
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
115,
161
] |
[
343.2835693359375,
480.5970153808594
] | 336
| 336
|
{"random_seed": 3564372, "camera_metadata": {"dist": 4.86360370135365, "theta": 3.398525096388965, "phi": 0.76355352686147, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.6986704115593725, -0.25411489045401126, 0.6687938983431314, -3.3980559996864423], [0.1835683629502543, 0.9671740393794416, 0.1757186207384347, -0.892803769496287], [-0.6914928142325275, 0.0, 0.7223833385847013, 3.363147010760773], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.0528791624671596, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.06317275017499924], "action_type_0": "PRISMATIC", "pixel_locs": [115, 161], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.6914929151535034, 3.029286688160937e-08, 0.7223833203315735], "norm_world": [-9.041594893444927e-08, 7.565161665706391e-09, 1.0000000566003742], "gripper_direction_camera": [0.6914929151535034, -3.029286688160937e-08, -0.7223833203315735], "gripper_direction_world": [9.041594893444927e-08, -7.565161665706391e-09, -1.0000000566003742], "position_cam": [4.944807052612305, 0.06496209651231766, 0.4918562173843384], "position_world": [0.3691769798537723, 0.16416431566740075, 0.2991572025307816], "gripper_forward_direction_world": [0.7991876341192847, 0.6009707702811604, -0.011543774880388203], "gripper_forward_direction_camera": [0.676670411103654, 0.378157849345382, 0.631754537550216], "gripper_up_direction_world": [-0.010663146722117425, -0.0050270626429545365, -0.999930510557192], "gripper_up_direction_camera": [0.6830719280134856, -0.002152380121413893, -0.7303479365478848], "contact_rotmat_world": [[0.7991876602172852, 0.6009870171546936, -0.010663147084414959, 0.3703499138355255], [0.6009707450866699, -0.7992551922798157, -0.005027062725275755, 0.16471728682518005], [-0.011543774977326393, -0.0023906731512397528, -0.9999305009841919, 0.40914955735206604], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.7991876602172852, 0.6009870171546936, -0.010663147084414959, 0.3713096082210541], [0.6009707450866699, -0.7992551922798157, -0.005027062725275755, 0.16516973078250885], [-0.011543774977326393, -0.0023906731512397528, -0.9999305009841919, 0.4991433024406433], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.7991876602172852, 0.6009870171546936, -0.010663147084414959, 0.3745085597038269], [0.6009707450866699, -0.7992551922798157, -0.005027062725275755, 0.16667784750461578], [-0.011543774977326393, -0.0023906731512397528, -0.9999305009841919, 0.7991224527359009], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.3691769798537723, 0.16416431566740075, 0.2991572025307816], "touch_position_world_xyz_end": [0.36917700965609995, 0.16416431566740308, 0.36232993035403527], "result": "VALID", "final_target_part_qpos": 0.06317275017499924, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_13_pulling_9
|
100015
|
KitchenPot
| 13
|
pulling
| 9
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
129,
161
] |
[
385.0746154785156,
480.5970153808594
] | 336
| 336
|
{"random_seed": 8860140, "camera_metadata": {"dist": 4.950760246304364, "theta": 3.441047552113861, "phi": 0.6021568617680569, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.78744057215211, -0.2949994074521058, 0.5412140934340718, -3.89842948093783], [0.2431136845718426, 0.9554974356862014, 0.16709394594358037, -1.203597564910857], [-0.5664212934756782, 0.0, 0.8241158403388081, 2.804216022399685], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.1517610613466651, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.06910566240549088], "action_type_0": "PRISMATIC", "pixel_locs": [129, 161], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.48369675874710083, 0.03040757216513157, 0.8747073411941528], "norm_world": [0.08355127245781158, 0.0576193571807097, 0.9948363192782697], "gripper_direction_camera": [0.48369675874710083, -0.03040757216513157, -0.8747073411941528], "gripper_direction_world": [-0.08355127245781158, -0.0576193571807097, -0.9948363192782697], "position_cam": [4.856227397918701, 0.06379838287830353, 0.3554483950138092], "position_world": [0.09911419550451672, 0.09737023705920556, 0.3464760710124333], "gripper_forward_direction_world": [0.4366626496082671, 0.8943929788550982, -0.09688616935245037], "gripper_forward_direction_camera": [0.6161634485541577, 0.7257749749008838, 0.3059302052322869], "gripper_up_direction_world": [-0.10869207490584537, -0.05445678906577319, -0.9925827375978831], "gripper_up_direction_camera": [0.46339225781983184, -0.019969224616086363, -0.8859282394533264], "contact_rotmat_world": [[0.4366626441478729, 0.8930351138114929, -0.10869207233190536, 0.11107032746076584], [0.8943929672241211, -0.44395455718040466, -0.054456789046525955, 0.10336048156023026], [-0.09688617289066315, -0.07343418151140213, -0.9925827383995056, 0.4556601643562317], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.4366626441478729, 0.8930351138114929, -0.10869207233190536, 0.12085261195898056], [0.8943929672241211, -0.44395455718040466, -0.054456789046525955, 0.1082615926861763], [-0.09688617289066315, -0.07343418151140213, -0.9925827383995056, 0.5449926257133484], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.4366626441478729, 0.8930351138114929, -0.10869207233190536, 0.15346023440361023], [0.8943929672241211, -0.44395455718040466, -0.054456789046525955, 0.12459862977266312], [-0.09688617289066315, -0.07343418151140213, -0.9925827383995056, 0.8427674174308777], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.09911419550451672, 0.09737023705920556, 0.3464760710124333], "touch_position_world_xyz_end": [0.09911421040567954, 0.09737023705921247, 0.4155607451324164], "result": "VALID", "final_target_part_qpos": 0.06908465921878815, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_1_pulling_33
|
100015
|
KitchenPot
| 1
|
pulling
| 33
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
140,
110
] |
[
417.91046142578125,
328.35821533203125
] | 336
| 336
|
{"random_seed": 2024134, "camera_metadata": {"dist": 4.535781411654353, "theta": 3.1239868700969513, "phi": 0.5652378791788645, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.844330339510328, 0.017604873981562734, 0.5355337022022684, -3.829697859246754], [-0.014866633224044665, 0.9998450221969869, -0.009429464697873145, 0.06743179863150481], [-0.5356167109033813, -0.0, 0.8444612122537328, 2.4294403210869997], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.8619641196224009, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.0517178438603878], "action_type_0": "PRISMATIC", "pixel_locs": [140, 110], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.5356166958808899, -2.875298044102692e-08, 0.8444613218307495], "norm_world": [7.085993807445421e-08, -3.0005110847990463e-08, 1.0000000844872432], "gripper_direction_camera": [0.5356166958808899, 2.875298044102692e-08, -0.8444613218307495], "gripper_direction_world": [-7.085993807445421e-08, 3.0005110847990463e-08, -1.0000000844872432], "position_cam": [4.445348739624023, 0.4838901460170746, 0.2336021214723587], "position_world": [0.057265585317753054, 0.4829568401941185, 0.24570518103468064], "gripper_forward_direction_world": [0.9025038485819646, -0.4306496370611946, 0.005262451311278081], "gripper_forward_direction_camera": [0.7655950342222084, -0.41469442940441364, 0.49182595884646324], "gripper_up_direction_world": [-0.0012171840145305958, -0.014769283746305081, -0.9998901873309368], "gripper_up_direction_camera": [0.5347497575349649, -0.014788423206346189, -0.8448810563359589], "contact_rotmat_world": [[0.9025038480758667, -0.4306800663471222, -0.0012171840062364936, 0.05739947408437729], [-0.43064963817596436, -0.9023983478546143, -0.014769284054636955, 0.48458147048950195], [0.005262451246380806, 0.01385351549834013, -0.9998902082443237, 0.35569310188293457], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.9025038480758667, -0.4306800663471222, -0.0012171840062364936, 0.05750902369618416], [-0.43064963817596436, -0.9023983478546143, -0.014769284054636955, 0.48591068387031555], [0.005262451246380806, 0.01385351549834013, -0.9998902082443237, 0.44568321108818054], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.9025038480758667, -0.4306800663471222, -0.0012171840062364936, 0.057874176651239395], [-0.43064963817596436, -0.9023983478546143, -0.014769284054636955, 0.4903414845466614], [0.005262451246380806, 0.01385351549834013, -0.9998902082443237, 0.7456502914428711], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [0.057265585317753054, 0.4829568401941185, 0.24570518103468064], "touch_position_world_xyz_end": [0.05726560021891475, 0.4829568550952822, 0.2974230286203604], "result": "VALID", "final_target_part_qpos": 0.0517178438603878, "mani_succ": "True"}
|
|||||||
100015_KitchenPot_1_pulling_45
|
100015
|
KitchenPot
| 1
|
pulling
| 45
|
You control a suction gripper. Specify ONE contact point on the image to manipulate the object.
|
[
169,
153
] |
[
504.47760009765625,
456.7164306640625
] | 336
| 336
|
{"random_seed": 247373, "camera_metadata": {"dist": 5.08006860207636, "theta": 2.3879329567308, "phi": 0.6636731164167768, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5744078951758265, 0.6843119487823925, 0.4491911917138636, -2.918031513067485], [-0.5390563756585317, 0.7291893833248289, -0.4215460438768744, 2.7384433687319865], [-0.616014442867669, -0.0, 0.7877348577906371, 3.129395629637607], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.8482854252798224, "joint_angles": [0.0], "joint_angles_lower": [0.0], "joint_angles_upper": [0.05089712515473366], "action_type_0": "PRISMATIC", "pixel_locs": [169, 153], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.6160141825675964, 9.551369473115301e-09, 0.7877351641654968], "norm_world": [2.936754214239056e-07, -2.625027665231223e-07, 1.0000000809935523], "gripper_direction_camera": [0.6160141825675964, -9.551369473115301e-09, -0.7877351641654968], "gripper_direction_world": [-2.936754214239056e-07, 2.625027665231223e-07, -1.0000000809935523], "position_cam": [4.676332950592041, 0.1316465586423874, -0.00877649337053299], "position_world": [-0.14576395619765936, 0.3173312459860118, 0.2417934426577908], "gripper_forward_direction_world": [0.039197157563717666, 0.9991282692831116, -0.014362602767577249], "gripper_forward_direction_camera": [-0.5072237361426867, 0.7553768098201139, -0.4148854741726226], "gripper_up_direction_world": [-0.007225782225106896, -0.014089854478974123, -0.9998746241764498], "gripper_up_direction_camera": [0.6193818890796452, -0.01521886141459979, -0.7849423301984505], "contact_rotmat_world": [[0.0391971580684185, 0.9992053508758545, -0.00722578214481473, -0.1449691206216812], [0.9991282820701599, -0.039296023547649384, -0.014089854434132576, 0.3188811242580414], [-0.01436260249465704, -0.006667200941592455, -0.9998746514320374, 0.35177963972091675], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.0391971580684185, 0.9992053508758545, -0.00722578214481473, -0.14431880414485931], [0.9991282820701599, -0.039296023547649384, -0.014089854434132576, 0.3201492130756378], [-0.01436260249465704, -0.006667200941592455, -0.9998746514320374, 0.4417683780193329], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.0391971580684185, 0.9992053508758545, -0.00722578214481473, -0.14215105772018433], [0.9991282820701599, -0.039296023547649384, -0.014089854434132576, 0.3243761658668518], [-0.01436260249465704, -0.006667200941592455, -0.9998746514320374, 0.7417307496070862], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": 0.0, "touch_position_world_xyz_start": [-0.14576395619765936, 0.3173312459860118, 0.2417934426577908], "touch_position_world_xyz_end": [-0.14576394129650028, 0.3173312161836939, 0.29269056408724103], "result": "VALID", "final_target_part_qpos": 0.05089712515473366, "mani_succ": "True"}
|
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