sample_id stringlengths 12 25 | task_id stringclasses 10
values | question stringlengths 35 781 | answer bool 2
classes | reference_explanation stringlengths 0 708 | instruction stringclasses 10
values | input_type stringclasses 5
values | evidence listlengths 1 8 |
|---|---|---|---|---|---|---|---|
grasp_0016_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper jaws are positioned on opposite sides of the monitor base. Due to gravity, the monitor will fall. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0016/sample_02/views.png",
"sha256": "aa217bccc30f29c71b5700f4f54832b7f5c522e86fc6ab95beac819b7de71bc2",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0017_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the top edge of the cabinet object. The jaws are positioned to oppose each other across the object's width, establishing contact with the upper corners. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0017/sample_01/views.png",
"sha256": "09bbf782bed8c47a0c719b304e9fbfce953db6a3724e3ef8ec885e120f789a80",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0017_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted gripper jaws are positioned at an angle and do not face each other to oppose the object. One jaw is visibly separated from the cabinet surface while the other rests on the top edge, failing to establish the required opposing contact. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0017/sample_02/views.png",
"sha256": "09bbf782bed8c47a0c719b304e9fbfce953db6a3724e3ef8ec885e120f789a80",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0018_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned such that the jaws do not oppose each other across the object. Instead of aligning to contact opposite sides, the gripper is oriented to miss the object entirely or approach from a single direction without establishing a grasp configuration. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0018/sample_01/views.png",
"sha256": "811e9a9da78a6135ee2596744371171666cf70ff801516d815451849a7015ad0",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0018_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel jaws are aligned and positioned at the object with visible contact on opposing sides. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0018/sample_02/views.png",
"sha256": "811e9a9da78a6135ee2596744371171666cf70ff801516d815451849a7015ad0",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0019_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned and positioned to contact the white wireframe object at the base of the vertical support. The gripper fingers are placed on opposite sides of the structure, establishing a clear contact configuration. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0019/sample_01/views.png",
"sha256": "930ce7ac039b56d3deec22d693d59854045eb4396ea0bc2df187425661784434",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0019_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted gripper jaws are positioned at the object but are angled, failing to align flush with both sides of the target, which prevents stable grasping. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0019/sample_02/views.png",
"sha256": "930ce7ac039b56d3deec22d693d59854045eb4396ea0bc2df187425661784434",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0020_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned at an angle that prevents them from opposing each other across the object. One jaw is misaligned and fails to make contact with the intended surface, resulting in a one-sided placement. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0020/sample_01/views.png",
"sha256": "a06c24fb325a21f22d4283ec904d2e88a8e3bca7aa06169834b65430f2350e6e",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0020_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is positioned with its jaws aligned to oppose the object. The fingers are placed on opposite sides of the object, establishing contact at the intended grasp points. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0020/sample_02/views.png",
"sha256": "a06c24fb325a21f22d4283ec904d2e88a8e3bca7aa06169834b65430f2350e6e",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0021_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at the tip of the white object, but the jaws fail to oppose each other across the object's width. Instead of contacting opposite sides, the gripper is aligned along the object's longitudinal axis, resulting in a one-sided placement that misses the necessary opposing co... | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0021/sample_01/views.png",
"sha256": "41892e21b7e61ec7c47092378b4333ff6cd56120ed96450bc8fc9ca5bc9f0357",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0021_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is positioned at the object with its jaws aligned to oppose the surface geometry. The fingers are placed on opposite sides of the target region, establishing a contact configuration consistent with the pose. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0021/sample_02/views.png",
"sha256": "41892e21b7e61ec7c47092378b4333ff6cd56120ed96450bc8fc9ca5bc9f0357",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0022_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel jaws are aligned and positioned at the object with visible contact on opposing sides. The configuration shows the fingers placed to oppose each other across the object's geometry. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0022/sample_01/views.png",
"sha256": "900a79134103bb4c17486bd2078ba8ef4e7141208aa85cc9b8833b1201ce954b",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0022_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The parallel jaws are positioned on one side of the circular base at an angle, which prevents the gripper from stably grasping the object. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0022/sample_02/views.png",
"sha256": "900a79134103bb4c17486bd2078ba8ef4e7141208aa85cc9b8833b1201ce954b",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0023_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned and positioned to oppose each other across the top edge of the object. The fingers are placed on the upper rim, establishing a clear contact configuration suitable for the grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0023/sample_01/views.png",
"sha256": "bdddd6542200a84a4f84a52bbaad4913f4bfce15607791aa5dc523429b898d97",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0023_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at the bottom of the object but fails to align with both sides of the object, resulting in an unstable grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0023/sample_02/views.png",
"sha256": "bdddd6542200a84a4f84a52bbaad4913f4bfce15607791aa5dc523429b898d97",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0024_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The lower red jaw contacts the horse's near-side abdomen, while the opposing jaw remains offset on the same lateral side instead of reaching the far side. The jaws therefore do not establish opposing contacts across the torso. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0024/sample_01/views.png",
"sha256": "02e637051032186cf906cb0ec3f1df814c791cf61e6b18152f8a2fe469bff5a6",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0024_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is positioned around the torso of the object with the jaws aligned to oppose each other across the body. The fingers are placed in close proximity to the surface, establishing a clear contact configuration without visible separation from the target region. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0024/sample_02/views.png",
"sha256": "02e637051032186cf906cb0ec3f1df814c791cf61e6b18152f8a2fe469bff5a6",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0025_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned on both the top surface and the side of the object, making it unable to achieve a stable grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0025/sample_01/views.png",
"sha256": "3315d79c04de90ed9e5b4f8a4732021a3b8ef27aa13f2d39ffb08bf3124e956b",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0025_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the object, with both jaws positioned to oppose each other across the device's width. The visible placement shows the jaws contacting the top and bottom surfaces of the object without displacement into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0025/sample_02/views.png",
"sha256": "3315d79c04de90ed9e5b4f8a4732021a3b8ef27aa13f2d39ffb08bf3124e956b",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0026_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the central spherical part of the object. The jaws are positioned to oppose each other across the object's width, establishing contact on opposite sides of the sphere. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0026/sample_01/views.png",
"sha256": "1937b79a53a26c79d84026f7e5b3c0eb86123e250e2fe10f5c780374d6d91add",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0026_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned such that one jaw contacts the object while the opposing jaw remains separated in empty space, failing to establish opposing contact. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0026/sample_02/views.png",
"sha256": "1937b79a53a26c79d84026f7e5b3c0eb86123e250e2fe10f5c780374d6d91add",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0027_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned on opposite sides of the circular base, which prevents the gripper from stably grasping the object. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0027/sample_01/views.png",
"sha256": "10f12a5d01024230fab6e6b13acff463dde6c29a17e2004aa398e27310415cd2",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0027_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel jaws are aligned with the cylindrical handle of the object and positioned to make contact on opposing sides. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0027/sample_02/views.png",
"sha256": "10f12a5d01024230fab6e6b13acff463dde6c29a17e2004aa398e27310415cd2",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0028_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at the top of the clipboard but fails to oppose the object with both jaws. The jaws are misaligned and do not make contact with the object's surface, leaving the grasp incomplete. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0028/sample_01/views.png",
"sha256": "b16b80ad274e48da89b84a8fc89219999c01187b5a8077e90bdaa04c4c3a812f",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0028_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the white clip mechanism at the top of the clipboard. The gripper fingers are positioned to oppose each other across the clip, establishing contact with the object's surface. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0028/sample_02/views.png",
"sha256": "b16b80ad274e48da89b84a8fc89219999c01187b5a8077e90bdaa04c4c3a812f",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0029_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at the corner of the white object, but the jaws are not aligned to oppose each other across the object's width. Instead, the jaws are oriented to pinch the corner edge, failing to establish the opposing contact required for a parallel-jaw grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0029/sample_01/views.png",
"sha256": "a33462cb4474b5b3aad43302e041c02d0840fb42d5ed4b4d7031c787e1015fac",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0029_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned and positioned to contact the opposing sides of the white object. The configuration shows the gripper fingers placed at the object's edges without any visible separation or miss into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0029/sample_02/views.png",
"sha256": "a33462cb4474b5b3aad43302e041c02d0840fb42d5ed4b4d7031c787e1015fac",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0030_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned and positioned to oppose each other across the object's body. The fingers are placed on opposite sides of the white model, establishing a clear contact configuration. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0030/sample_01/views.png",
"sha256": "d98d0013b03be724cb8237fa0ca3b7b162f988ed1be3ffe591300ead97e792f5",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0030_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper jaws are positioned on the same side of the horse model rather than opposing each other across the object. This placement results in a one-sided contact configuration that fails to align the jaws for a grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0030/sample_02/views.png",
"sha256": "d98d0013b03be724cb8237fa0ca3b7b162f988ed1be3ffe591300ead97e792f5",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0031_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned such that both jaws make contact with the white object on the same side of the base, resulting in an unstable grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0031/sample_01/views.png",
"sha256": "69478c745a9f43a4eee274608cc352162035d4f9071b0c197684aaef2023ca46",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0031_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned and positioned to contact the white object from opposing sides. The configuration shows the fingers placed directly against the object's surface without any visible gap or miss. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0031/sample_02/views.png",
"sha256": "69478c745a9f43a4eee274608cc352162035d4f9071b0c197684aaef2023ca46",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0032_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at an angle that prevents the jaws from aligning flush with both sides of the object. The tilted orientation and the upper jaw's suspension result in an unstable grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0032/sample_01/views.png",
"sha256": "6ef52fcaea357a3c50e7dcaa5106e22b67a9cb30af247b38127c11a0ebd9d953",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0032_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned to oppose the object, with the fingers positioned on opposite sides to make contact. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0032/sample_02/views.png",
"sha256": "6ef52fcaea357a3c50e7dcaa5106e22b67a9cb30af247b38127c11a0ebd9d953",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0033_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned and positioned to contact the cylindrical base of the object. The gripper configuration shows the fingers opposing each other at the target location without missing the object. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0033/sample_01/views.png",
"sha256": "cf8645cf6736284f880310bdc8a4593cdf99419103940de2996a9c8cc8f88f8b",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0033_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned on the same side of the object rather than opposing each other. This one-sided placement fails to align the gripper across the object for a grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0033/sample_02/views.png",
"sha256": "cf8645cf6736284f880310bdc8a4593cdf99419103940de2996a9c8cc8f88f8b",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0034_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the object's shaft and positioned to make contact on opposing sides. The gripper configuration shows the fingers placed directly at the object without any visible separation or displacement into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0034/sample_01/views.png",
"sha256": "af3dd25df34428d135ba191f0551f31517a4149d3910ca22d13961b79a3f2b72",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0034_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned on the side of the object rather than opposing the object's main axis. The jaws are aligned with the lateral surface instead of engaging the ends of the object, resulting in a non-opposing placement that fails to grasp the intended geometry. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0034/sample_02/views.png",
"sha256": "af3dd25df34428d135ba191f0551f31517a4149d3910ca22d13961b79a3f2b72",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0035_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned on the same side of the white object rather than opposing each other. This alignment prevents the gripper from contacting the object from opposite sides. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0035/sample_01/views.png",
"sha256": "3133bcdd4a78975cf2adf073f19bd55970478562ff20c88a92b9e5cdbe46e814",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0035_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the object's central axis and positioned to make contact with the opposing sides of the white base. The gripper fingers are placed symmetrically around the object, ensuring the jaws oppose each other at the intended grasp location. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0035/sample_02/views.png",
"sha256": "3133bcdd4a78975cf2adf073f19bd55970478562ff20c88a92b9e5cdbe46e814",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0036_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the object's central axis and positioned to contact opposite sides of the spiky geometry. The gripper fingers are placed at a separation distance that matches the object's width, ensuring the jaws oppose each other across the target volume. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0036/sample_01/views.png",
"sha256": "fc4e3dfa722332d34dc76c8a761a23942439f7166455a87a5975f3f4526b06a4",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0036_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper jaws are positioned on the same side of the white spiky object rather than opposing each other. This one-sided placement fails to align the jaws across the object to form a functional grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0036/sample_02/views.png",
"sha256": "fc4e3dfa722332d34dc76c8a761a23942439f7166455a87a5975f3f4526b06a4",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0037_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned at the object but fail to oppose each other, with one jaw contacting the surface while the other remains separated in empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0037/sample_01/views.png",
"sha256": "70b7cbc7ef37009393bb10713125059cb52a2aa688b646db4eed551e17c7d20b",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0037_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the object's geometry, with both jaws positioned to oppose each other across the target surface. The visible configuration shows the jaws correctly placed to make contact with the object without missing into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0037/sample_02/views.png",
"sha256": "70b7cbc7ef37009393bb10713125059cb52a2aa688b646db4eed551e17c7d20b",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0038_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper jaws are positioned on the same side of the white cylindrical object rather than opposing each other. This one-sided placement fails to align the jaws across the object's diameter for a grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0038/sample_01/views.png",
"sha256": "9afbb1bc6c11acae6f949320de628bbc64af3f616bbbc7408bacd6abe9e5fd58",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0038_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the white cylindrical object, with both jaws positioned to oppose each other across the object's diameter. The visible configuration shows the jaws contacting the object surface without displacement into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0038/sample_02/views.png",
"sha256": "9afbb1bc6c11acae6f949320de628bbc64af3f616bbbc7408bacd6abe9e5fd58",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0039_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned and positioned at the object. The fingers are placed on opposite sides of the white object, establishing contact without visible separation or misalignment. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0039/sample_01/views.png",
"sha256": "21169d8d1cd9a8d86ed41001df70939edaaa617ee2902ebced4ec28c3b52c3ac",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0039_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned on one side, such that the jaws do not oppose each other across the object. Instead of aligning to contact opposite sides, the jaws are angled and separated, failing to establish the necessary opposing placement for a grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0039/sample_02/views.png",
"sha256": "21169d8d1cd9a8d86ed41001df70939edaaa617ee2902ebced4ec28c3b52c3ac",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0040_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper jaws are positioned on adjacent sides of the object rather than opposing sides, causing the grasp to fail and the object to slip. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0040/sample_01/views.png",
"sha256": "72d26eb8a7899b3e61054a276dac8cf7601130714122a769aec86e87431aad13",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0040_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper jaws are aligned with and positioned at the object's surface. The fingers are placed on opposite sides of the object, establishing contact without displacement. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0040/sample_02/views.png",
"sha256": "72d26eb8a7899b3e61054a276dac8cf7601130714122a769aec86e87431aad13",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0041_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper jaws are aligned to oppose each other and are positioned to contact the horizontal bar of the object. The configuration shows the jaws placed on opposite sides of the target structure without missing the object. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0041/sample_01/views.png",
"sha256": "47702c7a9d2f19d1bb866b690c4424b7a9c49876192993b412ed6705a68401a4",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0041_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper has one side resting on a surface while the other side is positioned on the edge of an adjacent surface, resulting in an unstable grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0041/sample_02/views.png",
"sha256": "47702c7a9d2f19d1bb866b690c4424b7a9c49876192993b412ed6705a68401a4",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0042_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned such that the jaws fail to oppose each other across the object. Instead of aligning to contact opposite sides, the jaws are misaligned and do not form a functional grasp configuration. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0042/sample_01/views.png",
"sha256": "7f54759cedf7b9352e6a7417ed61b7742eeb28437c00d00f52c283b127dd0985",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0042_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned and positioned to oppose each other across the object's upper structure. The fingers are placed on opposite sides of the target region, establishing the necessary contact configuration for the grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0042/sample_02/views.png",
"sha256": "7f54759cedf7b9352e6a7417ed61b7742eeb28437c00d00f52c283b127dd0985",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0043_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the white object, with the jaws positioned to oppose each other across the target section. The configuration shows the jaws placed on opposite sides of the object's geometry, indicating a correct approach for the grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0043/sample_01/views.png",
"sha256": "5beac2fba53617048ecff132804d1346542204344a7ee4c12343deadb4ef6500",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0043_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at an angle that prevents the jaws from opposing each other across the white object. The jaws fail to align with the object's geometry, resulting in a configuration where contact is not established on both sides. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0043/sample_02/views.png",
"sha256": "5beac2fba53617048ecff132804d1346542204344a7ee4c12343deadb4ef6500",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0044_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned and positioned to oppose each other across the object. The fingers are placed on opposite sides of the object with no visible separation or misalignment. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0044/sample_01/views.png",
"sha256": "3eb3b490564e160054d351b45745a172028fa9856177e2a930d475b0a53492e9",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0044_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted gripper jaws are positioned on the same side of the rectangular object rather than opposing each other. This placement prevents the jaws from closing around the object to form a grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0044/sample_02/views.png",
"sha256": "3eb3b490564e160054d351b45745a172028fa9856177e2a930d475b0a53492e9",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0045_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned only at the bottom of the white object, failing to oppose each other across the object's width. This one-sided placement leaves the upper portion of the object unsupported by the gripper. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0045/sample_01/views.png",
"sha256": "e0ebd2a5d6ca4e412338a9025a5231193ee0d18015835fab06bb5d882b587edb",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0045_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the white object, and the jaws are positioned to oppose each other across the object's width. The visible configuration shows the jaws making contact with the object's surface without missing into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0045/sample_02/views.png",
"sha256": "e0ebd2a5d6ca4e412338a9025a5231193ee0d18015835fab06bb5d882b587edb",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0046_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper jaws are positioned on the same side of the white object rather than opposing each other. This placement results in a one-sided configuration that fails to align with the object for a grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0046/sample_01/views.png",
"sha256": "5142cbef746c449f5af7cbba2fc3937a290ae1f8e25bc1ceeafe9dc277f39c28",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0046_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the object, with both jaws positioned to oppose each other across the target area. The visible configuration shows the jaws contacting the object surfaces without any separation or displacement into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0046/sample_02/views.png",
"sha256": "5142cbef746c449f5af7cbba2fc3937a290ae1f8e25bc1ceeafe9dc277f39c28",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0047_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is positioned at the base of the object with its jaws aligned to oppose the vertical sides. The fingers are placed in close proximity to the object's surface, indicating a correct alignment for contact. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0047/sample_01/views.png",
"sha256": "9ebb92dbe5d6135b78c681a49b2f2e992d913cb2cc9520f696b4f9b406342679",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0047_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at the top corner of the cabinet, but the jaws are angled outward and fail to oppose each other across the object's width. The fingers remain separated and do not make contact with the cabinet surfaces. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0047/sample_02/views.png",
"sha256": "9ebb92dbe5d6135b78c681a49b2f2e992d913cb2cc9520f696b4f9b406342679",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0048_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel jaws are aligned with the object and positioned to make contact with the opposing sides of the structure. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0048/sample_01/views.png",
"sha256": "0b4cad8701cc9880cdd4f5acbd8e697c3e4dea8163b97da75b3b9afb6ef6b00e",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0048_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are angled and positioned above the object rather than opposing each other at the target location. The gripper fails to align with the object's geometry, resulting in a miss into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0048/sample_02/views.png",
"sha256": "0b4cad8701cc9880cdd4f5acbd8e697c3e4dea8163b97da75b3b9afb6ef6b00e",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0049_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the object's fuselage and positioned to oppose each other across the body. The fingers are placed at the object with visible contact on the opposing sides. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0049/sample_01/views.png",
"sha256": "bc0e2264d63a3e2cfadf888f663867954a4309318efc29e6eb13c32fff51304d",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0049_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned above the object's tail section but fails to make contact with the surface. The jaws remain separated and do not oppose each other across the object, resulting in a clear miss into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0049/sample_02/views.png",
"sha256": "bc0e2264d63a3e2cfadf888f663867954a4309318efc29e6eb13c32fff51304d",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0050_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is positioned at the corner of the white object with its jaws aligned to oppose the vertical and horizontal surfaces. The configuration shows the jaws properly placed to engage the object's geometry without missing the target. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0050/sample_01/views.png",
"sha256": "0f4c6cb6bca6d2717b5fd935867e0e740a55ece0d872afaa2060fb0ca39f6ce7",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0050_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned on the same side of the object's top surface rather than opposing each other. This one-sided placement fails to align the gripper for a parallel grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0050/sample_02/views.png",
"sha256": "0f4c6cb6bca6d2717b5fd935867e0e740a55ece0d872afaa2060fb0ca39f6ce7",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0051_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the object's geometry and positioned to oppose each other across the target section. The configuration shows the jaws placed at the object with the necessary separation to accommodate the part without obstruction. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0051/sample_01/views.png",
"sha256": "3d116b6ca088b427b7a776fbeb680a9846b1c7b3c3492f183a5b0980eb7f73f9",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0051_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned such that the jaws fail to oppose each other across the object, resulting in a one-sided contact configuration rather than a proper grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0051/sample_02/views.png",
"sha256": "3d116b6ca088b427b7a776fbeb680a9846b1c7b3c3492f183a5b0980eb7f73f9",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0052_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned and positioned to oppose each other across the object's central body. The fingers are placed on opposite sides of the object, establishing a clear contact configuration without missing the target. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0052/sample_01/views.png",
"sha256": "14e4e7d87bb571753918c2d9f8c820a25be4f4517bdf4a904c204a78f952fd58",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0052_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned at an angle that prevents them from opposing each other across the object. The fingers are misaligned and fail to make contact with the object's surface. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0052/sample_02/views.png",
"sha256": "14e4e7d87bb571753918c2d9f8c820a25be4f4517bdf4a904c204a78f952fd58",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0053_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned and positioned to oppose each other across the chair's backrest. The fingers are placed on opposite sides of the vertical support structure, establishing a clear contact configuration. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0053/sample_01/views.png",
"sha256": "f717e8099503c8d622de1055f21f0c18bb8a78cd6d2d4235684e204eecd1bd37",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0053_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned such that the jaws fail to oppose each other across the object. Instead of aligning with the chair's seat or backrest, the jaws are misaligned and do not establish the necessary contact points for a grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0053/sample_02/views.png",
"sha256": "f717e8099503c8d622de1055f21f0c18bb8a78cd6d2d4235684e204eecd1bd37",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0054_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel-jaw gripper jaws are aligned with the object and positioned to make contact on opposing sides. The configuration shows the jaws correctly placed to grasp the object without missing or failing to oppose each other. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0054/sample_01/views.png",
"sha256": "c510b6f8a95ec031e12b42e3173334c4c4b4f2c19a5ac5fe471296526e362343",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0054_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The parallel-jaw gripper jaws are positioned at an angle that prevents them from opposing each other across the object. Instead of aligning to contact opposite sides, the jaws approach from a skewed orientation that fails to establish the necessary opposing placement for a grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0054/sample_02/views.png",
"sha256": "c510b6f8a95ec031e12b42e3173334c4c4b4f2c19a5ac5fe471296526e362343",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0055_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper jaws are positioned on the same side of the white object rather than opposing each other. This one-sided placement fails to align the jaws across the object for a grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0055/sample_01/views.png",
"sha256": "593082be049038e517cc877b61a85e91bdce02fd5be741d72f7423ccf5d7fb02",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0055_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the object's axis, and the jaws are positioned to oppose each other across the object's width. The visible configuration shows the jaws contacting the object at the intended grasp points without displacement into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0055/sample_02/views.png",
"sha256": "593082be049038e517cc877b61a85e91bdce02fd5be741d72f7423ccf5d7fb02",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0056_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel jaws are aligned and positioned to contact the opposing sides of the object. The gripper fingers are placed at the object with no visible separation or displacement into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0056/sample_01/views.png",
"sha256": "29faba930f0c06ad3f0831da085760e342ca22b503901e86eb8e5dd897be69f3",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0056_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned on the same side of the object rather than opposing each other. This alignment prevents the gripper from engaging the object from opposite sides. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0056/sample_02/views.png",
"sha256": "29faba930f0c06ad3f0831da085760e342ca22b503901e86eb8e5dd897be69f3",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0057_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted gripper jaws are positioned on the same side of the white object rather than opposing each other. This one-sided placement fails to align the jaws for a parallel grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0057/sample_01/views.png",
"sha256": "9e86337682892acfc20b65842c09046c0102197fb8f43e141dd7ca6f436d7e3b",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0057_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is positioned at the top edge of the white cabinet object. The jaws are aligned to oppose the vertical sides of the object's upper section, establishing a clear contact configuration. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0057/sample_02/views.png",
"sha256": "9e86337682892acfc20b65842c09046c0102197fb8f43e141dd7ca6f436d7e3b",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0058_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at an angle that prevents the jaws from opposing each other across the white object. The jaws remain separated and fail to align with the object's geometry to establish contact. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0058/sample_01/views.png",
"sha256": "ca40ced52a7f45e7f80a1e6952d4a62494d62567ac8c497b3b2ba4ee2e567211",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0058_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the object's central axis and positioned to make contact with opposing sides of the white structure. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0058/sample_02/views.png",
"sha256": "ca40ced52a7f45e7f80a1e6952d4a62494d62567ac8c497b3b2ba4ee2e567211",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0059_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned near the chair's leg structure but fails to make opposing contact with the object. The jaws remain separated and do not align with a graspable surface, resulting in a clear miss. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0059/sample_01/views.png",
"sha256": "5aa66f5b44c2563d0c9065637311271608b35ceee2dc2a04a6f9b595f00bc423",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0059_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the chair's leg structure. The jaws are positioned to oppose the vertical leg, establishing contact on both sides of the target part. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0059/sample_02/views.png",
"sha256": "5aa66f5b44c2563d0c9065637311271608b35ceee2dc2a04a6f9b595f00bc423",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0060_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted gripper jaws are positioned on the same side of the piano object rather than opposing each other across a graspable volume. This one-sided placement fails to establish the necessary contact configuration for a parallel-jaw grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0060/sample_01/views.png",
"sha256": "ef9394ae89c9d857c0a1f63ba6a13f315ecd5a48902970fd44437f253d14086e",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0060_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the side edge of the piano casing and positioned to make contact with the object surface. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0060/sample_02/views.png",
"sha256": "ef9394ae89c9d857c0a1f63ba6a13f315ecd5a48902970fd44437f253d14086e",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0061_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at the top corner of the object, but the jaws fail to oppose each other across the object's geometry. Instead of clamping the target, the gripper remains open and rests against the side surface without establishing a two-sided contact. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0061/sample_01/views.png",
"sha256": "a3e6289a1d55022bf5a86fa373de54c62893390ee77fa2fe90e63eff208a444a",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0061_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned and positioned to contact the opposing vertical sides of the cabinet object. The gripper configuration shows the jaws placed at the object without any visible separation or miss into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0061/sample_02/views.png",
"sha256": "a3e6289a1d55022bf5a86fa373de54c62893390ee77fa2fe90e63eff208a444a",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0062_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The gripper is placed at the couch's lower corner, with its jaws directed toward adjacent faces of the corner rather than opposite sides of a single graspable section. The jaw tips therefore do not form an opposing-contact pinch around the geometry. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0062/sample_01/views.png",
"sha256": "354e34ae70f602f32ceda5587bbef94c420fbe7da5121243838b0a5e6df2bb21",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0062_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper jaws are aligned with and positioned to contact the opposing surfaces of the brown object's top protrusion. The configuration shows the jaws correctly placed to engage the object without missing into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0062/sample_02/views.png",
"sha256": "354e34ae70f602f32ceda5587bbef94c420fbe7da5121243838b0a5e6df2bb21",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0063_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws have been moved from the central stem to a peripheral support. Both jaw tips lie on the same outside of that support instead of bracketing it on opposite sides, so closure cannot produce an opposing-contact grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0063/sample_01/views.png",
"sha256": "0ef69e7f56152b7798738439318f9b09aa583463ab9560441a94fa063a291194",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0063_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel jaws are aligned with the object's central stem and positioned to oppose each other across the target section. The gripper fingers are placed on opposite sides of the stem, establishing a clear contact configuration suitable for the grasp. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0063/sample_02/views.png",
"sha256": "0ef69e7f56152b7798738439318f9b09aa583463ab9560441a94fa063a291194",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0064_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | One jaw meets the underside edge of the chair's curved seat shell, while the opposing jaw remains below and outside the shell in empty space. The pose therefore lacks paired contact on opposite sides of the same chair part. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0064/sample_01/views.png",
"sha256": "2b16de7afe89a27bbe6f6ac1790780472fa60dcafc0e85c2260b3a4f39ed295a",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0064_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the white chair object, with the jaws positioned on opposite sides of the seat back to establish contact. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0064/sample_02/views.png",
"sha256": "2b16de7afe89a27bbe6f6ac1790780472fa60dcafc0e85c2260b3a4f39ed295a",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0065_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The gripper lies below and to the side of the black monitor slab. Both jaw tips remain outside the target instead of bracketing it, so neither side of the monitor is contacted by an opposing jaw pair. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0065/sample_01/views.png",
"sha256": "7894b6f38d92981e3a1b6f569510049f8d8b2509e98d9628085f63726f38410d",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0065_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the object and positioned to oppose each other across the target area. The configuration shows the gripper fingers correctly placed to contact the object without missing into empty space. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0065/sample_02/views.png",
"sha256": "7894b6f38d92981e3a1b6f569510049f8d8b2509e98d9628085f63726f38410d",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0066_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The jaws approach the chair's caster and base assembly obliquely from one side. One finger enters the caster cluster, while the opposing finger does not land on the opposite face of the same graspable member, so the pose lacks an opposing contact pair. | Assess whether the displayed parallel-jaw 6-DoF pose is a valid grasp on the object. | annotated_multiview | [
{
"evidence_id": "media_000",
"label": "Raw Views Contact Sheet",
"path": "evidence/grasp/case_0066/sample_01/views.png",
"sha256": "6ab1875648a6ecd3efb4b439aaee5d861df1e6605bc527771252e62a979c2483",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
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