Datasets:
id stringlengths 21 33 | shape_id 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], ... | |||||||
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]... | |||||||
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],... | |||||||
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], [... | |||||||
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], ... | |||||||
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], [... | |||||||
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],... | |||||||
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], ... | |||||||
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], ... | |||||||
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],... | |||||||
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], ... | |||||||
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],... | |||||||
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... | |||||||
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], ... | |||||||
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],... | |||||||
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], ... | |||||||
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],... | |||||||
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],... | |||||||
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], ... | |||||||
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], ... | |||||||
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], [... | |||||||
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],... | |||||||
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],... | |||||||
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],... | |||||||
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], ... | |||||||
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], ... | |||||||
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],... | |||||||
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],... | |||||||
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], ... | |||||||
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], ... | |||||||
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],... | |||||||
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], ... | |||||||
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],... | |||||||
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],... | |||||||
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.... | |||||||
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], ... | |||||||
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],... | |||||||
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... |
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