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_0066_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the white office chair object, with the jaws positioned to oppose each other across the chair's base structure. The visible configuration shows the gripper jaws are 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_0066/sample_02/views.png",
"sha256": "6ab1875648a6ecd3efb4b439aaee5d861df1e6605bc527771252e62a979c2483",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0067_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The parallel jaws are positioned at the object but fail to oppose each other, with one jaw contacting the side while the other remains separated and misaligned. | 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_0067/sample_01/views.png",
"sha256": "16969df43cb6a9b58937f7f6112a5ffad99e63edca2ed6d693ca571c3a69e550",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0067_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel jaws are aligned and positioned to oppose each other at the sides of the object. The visible configuration shows the jaws making contact with 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_0067/sample_02/views.png",
"sha256": "16969df43cb6a9b58937f7f6112a5ffad99e63edca2ed6d693ca571c3a69e550",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0068_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned above the chair backrest with both jaws located on the outer sides of adjacent surfaces, failing to oppose each other across the object and thus unable to achieve a valid 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_0068/sample_01/views.png",
"sha256": "85512408d26bbcec26e2f75db412b338e1827ac9b4cb59a170e90e6c61fe5ab1",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0068_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is positioned to align with the chair's seat and backrest structure. The jaws are placed on opposite sides of the object, maintaining separation to accommodate the chair's geometry 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_0068/sample_02/views.png",
"sha256": "85512408d26bbcec26e2f75db412b338e1827ac9b4cb59a170e90e6c61fe5ab1",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0069_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel jaws are aligned and positioned to contact the object from opposing sides. The configuration shows the gripper fingers placed directly against the object's surface without any 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_0069/sample_01/views.png",
"sha256": "64b8f66179a975bc13cbd821aff21ebd31fc0c1f8d9396cfd87bd1b6ed646028",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0069_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are both positioned on the outer arc at the front of the object, which results 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_0069/sample_02/views.png",
"sha256": "64b8f66179a975bc13cbd821aff21ebd31fc0c1f8d9396cfd87bd1b6ed646028",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0070_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is positioned with its jaws aligned to oppose the vertical sides of the white object. The jaws are placed at the object's surface, establishing contact on both opposing faces without 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_0070/sample_01/views.png",
"sha256": "60a119c1808a02481aad7637053521b988b2da44a27f29f4f652f158f0b8325e",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0070_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | One highlighted jaw lies near the TV's right-side housing, while the opposing jaw is visibly separated in empty space. The pair therefore does not establish two-sided contact across the TV body. | 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_0070/sample_02/views.png",
"sha256": "60a119c1808a02481aad7637053521b988b2da44a27f29f4f652f158f0b8325e",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0071_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at the corner of the object but fails to oppose the object's geometry, with the jaws misaligned and not facing each other across the target 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_0071/sample_01/views.png",
"sha256": "8abf6d0b546422a2e3591fef6b9751cd0aca55aca3338a659fe8f0a8d2eb6f39",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0071_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the desk object, with the jaws positioned on opposite sides of the drawer front. The fingers are placed to oppose each other across the object's width, establishing contact 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_0071/sample_02/views.png",
"sha256": "8abf6d0b546422a2e3591fef6b9751cd0aca55aca3338a659fe8f0a8d2eb6f39",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0072_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is positioned directly over the highlighted rectangular object with its jaws aligned to oppose the object's parallel edges. The configuration shows the jaws 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_0072/sample_01/views.png",
"sha256": "689de5887d398b76679289cf01b2ab77f2158246e3ad5191202f2b8d4b546f07",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0072_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned above the object but fails to oppose the object's surface with both jaws. Instead of aligning to grasp the flat face, the jaws are angled such that they miss the opposing sides, leaving the object unengaged. | 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_0072/sample_02/views.png",
"sha256": "689de5887d398b76679289cf01b2ab77f2158246e3ad5191202f2b8d4b546f07",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0073_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's thickness. Instead of a symmetric approach, the jaws are misaligned and fail to establish opposing contact with the plate. | 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_0073/sample_01/views.png",
"sha256": "4232663148ef36e9d41c785261a0d6edc8aa9aea48d0b5c173b2cd86c82703a7",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0073_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper jaws are aligned with the edges of the gray plate-like object. The jaws are positioned to oppose each other across the object's thickness, establishing contact 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_0073/sample_02/views.png",
"sha256": "4232663148ef36e9d41c785261a0d6edc8aa9aea48d0b5c173b2cd86c82703a7",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0074_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel jaws are positioned at the object but fail to oppose each other, with the tips angled away from a central contact point rather than facing inward to close on 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_0074/sample_01/views.png",
"sha256": "dfe73b33db6d0560f2b7ca7d6348d985f36b141c1c02c3aaf1cc420411164ad6",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0074_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the object and positioned to contact opposing sides of the rectangular block. The jaws are oriented to oppose each other across the object's width, establishing the required 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_0074/sample_02/views.png",
"sha256": "dfe73b33db6d0560f2b7ca7d6348d985f36b141c1c02c3aaf1cc420411164ad6",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0075_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the object and positioned to contact the opposing sides of the white component. The gripper fingers are placed directly against the object's surfaces 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_0075/sample_01/views.png",
"sha256": "07571d74f2222808cb0578a2a62d3021a3db374687b8c8ebdc12b51b3f3c548d",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0075_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper jaws are positioned at an angle with one end contacting a corner of the white object, failing to achieve 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_0075/sample_02/views.png",
"sha256": "07571d74f2222808cb0578a2a62d3021a3db374687b8c8ebdc12b51b3f3c548d",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0076_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaw is positioned against the side of the object, while the opposing jaw remains separated in empty space. The gripper fails to oppose the object with both jaws simultaneously. | 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_0076/sample_01/views.png",
"sha256": "58a2bafd86021001e7966b88946dacebe42946db602e5a026881de59fb1b3770",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0076_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel jaws are aligned and positioned at the object with the fingers placed on opposite sides of the handle 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_0076/sample_02/views.png",
"sha256": "58a2bafd86021001e7966b88946dacebe42946db602e5a026881de59fb1b3770",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0077_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned at the base of the white object but fail to oppose each other, with one jaw angled away from the surface rather than facing the opposing jaw. | 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_0077/sample_01/views.png",
"sha256": "82dfaa9aebd9b6a40182166641e4dcf0a61904da5da7ff3d6fd6b5ee1c1c59a3",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0077_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the base of the white object and positioned to contact opposing sides. The gripper configuration shows the fingers placed correctly to engage the object's geometry 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_0077/sample_02/views.png",
"sha256": "82dfaa9aebd9b6a40182166641e4dcf0a61904da5da7ff3d6fd6b5ee1c1c59a3",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0078_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 vertical stem. The fingers are placed on opposite sides of the geometry, 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_0078/sample_01/views.png",
"sha256": "90ff96c9dec6a64c859971b1660d5cbfaacf7d006fcfaeb13ad60ba0185d8229",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0078_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The gripper is displaced above the desk's top frame rather than centered around a graspable member. At most one jaw reaches the frame while the opposing jaw remains in empty space, so the pair cannot 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_0078/sample_02/views.png",
"sha256": "90ff96c9dec6a64c859971b1660d5cbfaacf7d006fcfaeb13ad60ba0185d8229",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0079_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the object and positioned to make contact on opposing sides of the calculator body. | 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_0079/sample_01/views.png",
"sha256": "12fd234cd2ed0b484a25d330c7ae4c18b1e262a211b98a4062a179beb9c7c11d",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0079_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The parallel jaws are positioned on the same side of the calculator rather than opposing each other across the object's thickness. This one-sided placement prevents the gripper from engaging 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_0079/sample_02/views.png",
"sha256": "12fd234cd2ed0b484a25d330c7ae4c18b1e262a211b98a4062a179beb9c7c11d",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0080_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned above the object without opposing each other across a graspable surface. The gripper remains separated from the structure, failing to establish contact with the intended target area. | 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_0080/sample_01/views.png",
"sha256": "429865468a89cc4a7d5a42bd1fc9770aa8088b2a88e2f3823cc971b168500756",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0080_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the object's leg structure, with the jaws positioned to oppose the vertical supports. The configuration shows the fingers placed on opposite sides of the leg, establishing the necessary contact points 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_0080/sample_02/views.png",
"sha256": "429865468a89cc4a7d5a42bd1fc9770aa8088b2a88e2f3823cc971b168500756",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0081_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned on the outer sides of the two chair legs rather than opposing each other across the object. This placement fails to align the gripper for 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_0081/sample_01/views.png",
"sha256": "c046a6c38241cfd770db9675f9e602d25e4b89de5ce55c861af9b45f023bf861",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0081_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the chair's leg structure, with the jaws positioned 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_0081/sample_02/views.png",
"sha256": "c046a6c38241cfd770db9675f9e602d25e4b89de5ce55c861af9b45f023bf861",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0082_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the rectangular object and positioned to make contact with opposing vertical faces. The gripper configuration shows the fingers placed directly against the object's sides without any 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_0082/sample_01/views.png",
"sha256": "78353d0036828b8d6412bb0fd2682661c7278ac6ac83206cf950e663df8664f7",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0082_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted gripper jaws are positioned on the outer sides of adjacent surfaces of the rectangular object rather than opposing each other across the object's width. This alignment prevents the jaws from contacting opposite faces 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_0082/sample_02/views.png",
"sha256": "78353d0036828b8d6412bb0fd2682661c7278ac6ac83206cf950e663df8664f7",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0083_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The gripper is skewed across the junction between the table's horizontal side rail and end frame. The two fingers do not contact opposite faces of a single structural member, so they cannot form an opposing clamp. | 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_0083/sample_01/views.png",
"sha256": "a9c22353477f9ec2ab772d3512e16f58f154e30e9c5eddbc746e2d456c94ef70",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0083_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel jaws are aligned and positioned to oppose the horizontal bar of the object. The fingers are placed on opposite sides of the bar with the jaws facing each other 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_0083/sample_02/views.png",
"sha256": "a9c22353477f9ec2ab772d3512e16f58f154e30e9c5eddbc746e2d456c94ef70",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0084_01 | 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 volume. The fingers are placed at the object's surface, 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_0084/sample_01/views.png",
"sha256": "40c964f279445d4e80c3bfdf8bdd140a77b877fa810befb5ff9ba259dbf17fa6",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0084_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | One highlighted jaw contacts the lower corner of the chest of drawers, while the opposing jaw remains outside the object's surface in empty space. This missing opposing contact leaves the gripper unable to clamp the cabinet. | 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_0084/sample_02/views.png",
"sha256": "40c964f279445d4e80c3bfdf8bdd140a77b877fa810befb5ff9ba259dbf17fa6",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0085_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The gripper is placed at the phone's bottom corner. One jaw reaches the corner edge while the opposing jaw remains separated from the opposite face, so the pose provides only an unstable edge contact rather than an opposing clamp. | 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_0085/sample_01/views.png",
"sha256": "1a404dc9c09c82774c8c1967520f36d72d836d37be99219cc2f132121d41862a",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0085_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 at the lower section of the device. The fingers are placed on opposite sides of the object, establishing a 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_0085/sample_02/views.png",
"sha256": "1a404dc9c09c82774c8c1967520f36d72d836d37be99219cc2f132121d41862a",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0086_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the object, and the jaws are positioned to oppose each other across the object's thickness. The visible configuration shows the jaws contacting the object surfaces 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_0086/sample_01/views.png",
"sha256": "ac623e223c6af3bd6aebd3765c4f83b7226795c3e77a346da14ba617d110ef14",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0086_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper jaws are positioned at the bottom edge of the object but fail to oppose each other, with one jaw missing the object entirely while the other rests against the side. | 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_0086/sample_02/views.png",
"sha256": "ac623e223c6af3bd6aebd3765c4f83b7226795c3e77a346da14ba617d110ef14",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0087_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are positioned on an arc and are asymmetric, 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_0087/sample_01/views.png",
"sha256": "e84855bc12fd4091286305bb7237e84c0142a2d1658f43cfccf18468d0fd1d0a",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0087_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the guitar body, and the jaws are positioned to oppose each other across the object's width. The visible configuration shows the jaws contacting the sides of the guitar body 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_0087/sample_02/views.png",
"sha256": "e84855bc12fd4091286305bb7237e84c0142a2d1658f43cfccf18468d0fd1d0a",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0088_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the bottom edge of the white diary object. The jaws are positioned to oppose each other across the object's thickness, establishing contact at the intended grasp point. | 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_0088/sample_01/views.png",
"sha256": "833045211090e763fb33d1bead4a8b5941111475bdf3afd9756b73fb5878d6df",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0088_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper jaws are positioned at the top edge of the white diary object but fail to oppose each other. One jaw rests on the cover while the other remains separated and angled away, preventing the formation of 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_0088/sample_02/views.png",
"sha256": "833045211090e763fb33d1bead4a8b5941111475bdf3afd9756b73fb5878d6df",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0089_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the object and positioned to make contact with opposing sides. The jaws are placed at the object with the correct separation and orientation 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_0089/sample_01/views.png",
"sha256": "9091f36be5350b997241ce1335b5f79c4d5c3aabb3829cdd932f5c4279531e66",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0089_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The gripper is offset around the television's upper-right corner. One finger passes above the top surface while the other remains outside the side, leaving the television outside the space between opposed jaw 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_0089/sample_02/views.png",
"sha256": "9091f36be5350b997241ce1335b5f79c4d5c3aabb3829cdd932f5c4279531e66",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0090_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned above the object with both jaws resting on the top surface rather than opposing each other across the object. The jaws fail to align for a grasp, leaving the object unsupported by the gripper mechanism. | 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_0090/sample_01/views.png",
"sha256": "3975c389720c2b6415a57e2df7054348a2c6484c2d8a56ebb0605511f288876e",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0090_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the object, with the jaws positioned to oppose each other across the target area. The visible configuration shows the jaws placed at the object without any 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_0090/sample_02/views.png",
"sha256": "3975c389720c2b6415a57e2df7054348a2c6484c2d8a56ebb0605511f288876e",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0091_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned on the lamp shade, but the jaws fail to oppose each other across the object. Instead of clamping the shade, the jaws are aligned on the same side, leaving the object ungrasped. | 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_0091/sample_01/views.png",
"sha256": "88b4890f0c80efe421bd6c38ea54269431c73b47caa10f0a2c77a3dc90945375",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0091_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the lamp shade, and the jaws are positioned to oppose each other across the object's cylindrical neck. The visible configuration shows the jaws bracketing the target part without missing 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_0091/sample_02/views.png",
"sha256": "88b4890f0c80efe421bd6c38ea54269431c73b47caa10f0a2c77a3dc90945375",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0092_01 | 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 object's edges. The configuration shows the jaws placed on opposite sides of the object's rim, establishing the necessary contact 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_0092/sample_01/views.png",
"sha256": "5bee73a9a6d8eab2e759f28e6fa849402efc554bae649e3450fa4fc865182dd0",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0092_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at the edge of the white-framed object, but the jaws fail to oppose each other across the object's thickness. Instead of aligning to grasp the object, the jaws are oriented to miss the target or contact only a single side. | 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_0092/sample_02/views.png",
"sha256": "5bee73a9a6d8eab2e759f28e6fa849402efc554bae649e3450fa4fc865182dd0",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0093_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted jaws are not aligned with the diameter plane. This one-sided placement prevents the gripper from engaging the mug 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_0093/sample_01/views.png",
"sha256": "d20a2c5bc5027674eee7c178a48d4a79fedce92d79506d19efb74949ec45479d",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0093_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the cylindrical body of the white mug and positioned to oppose each other across the object's diameter. The fingers are placed on the curved surface without missing the target, establishing a direct 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_0093/sample_02/views.png",
"sha256": "d20a2c5bc5027674eee7c178a48d4a79fedce92d79506d19efb74949ec45479d",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0094_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 with the opposing sides of the and striped 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_0094/sample_01/views.png",
"sha256": "3557c66db8f636cfde23cede6082905f1732b3f5051e71ad3d5dcb66d933187f",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0094_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at an oblique angle relative to the object, causing the jaws to fail to oppose each other across the target surface. Instead of aligning with the object's geometry, the gripper rests on top of the surface without establishing the necessary opposing contact 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_0094/sample_02/views.png",
"sha256": "3557c66db8f636cfde23cede6082905f1732b3f5051e71ad3d5dcb66d933187f",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0095_01 | grasp | The displayed parallel-jaw grasp pose is valid. | false | At the bench end, one jaw lies beside the lower end frame while the opposing jaw remains outside and below it. The jaws do not bracket the same leg or crossbar and therefore do not 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_0095/sample_01/views.png",
"sha256": "ab166ef75ee0dabcd23214a2648772ce95317e20a3b6bfd414a4bc45d042c660",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0095_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the bench leg, with the jaws positioned to oppose each other across the structural element. The visible configuration shows the jaws are correctly placed to contact the object 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_0095/sample_02/views.png",
"sha256": "ab166ef75ee0dabcd23214a2648772ce95317e20a3b6bfd414a4bc45d042c660",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0096_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel-jaw gripper is aligned with the top edge of the gray smartphone object. The jaws are positioned to oppose each other across the device's thickness, establishing contact with the upper 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_0096/sample_01/views.png",
"sha256": "db03e70d3a953bb04cc0467e4da9b308d9302b4712fc4a5eb1a5c0728ab78a66",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0096_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at the bottom corner of the object, but the jaws fail to oppose each other across the object's thickness. Instead of clamping the device, the jaws are misaligned and remain separated, with one jaw contacting the side while the other is displaced 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_0096/sample_02/views.png",
"sha256": "db03e70d3a953bb04cc0467e4da9b308d9302b4712fc4a5eb1a5c0728ab78a66",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0097_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel-jaw gripper is positioned with its jaws aligned to oppose each other across the white planar object. The fingers are placed on opposite sides of the object surface, establishing the required contact configuration for 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_0097/sample_01/views.png",
"sha256": "b1f0b6c8cb011020d4934175ed7d3e682bf7bf3c135d9e1dde57346bf5097d62",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0097_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at the edge of the white object but fails to oppose the object with both jaws. One jaw contacts the surface while the other remains separated in empty space, resulting in a one-sided placement rather than a grasping 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_0097/sample_02/views.png",
"sha256": "b1f0b6c8cb011020d4934175ed7d3e682bf7bf3c135d9e1dde57346bf5097d62",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0098_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 object rather than opposing each other. This alignment prevents the jaws from contacting opposite surfaces 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_0098/sample_01/views.png",
"sha256": "a77287a3dbbe33ec69859761cbaf49bc2001edddf591e628b6e9d5f6c4076f13",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0098_02 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel-jaw gripper is aligned with the object, with its jaws positioned on opposite sides of the panel. The configuration shows the jaws facing each other across the object's thickness, establishing the necessary contact points 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_0098/sample_02/views.png",
"sha256": "a77287a3dbbe33ec69859761cbaf49bc2001edddf591e628b6e9d5f6c4076f13",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0099_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The parallel-jaw gripper jaws are aligned and positioned to oppose each other across the planar object. The configuration shows the jaws placed on opposite sides of the object with appropriate separation 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_0099/sample_01/views.png",
"sha256": "f5d8e2817f6233be253bef4b3ffd72720f74358f1a1f439f9f05540c93106836",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0099_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The parallel-jaw gripper is positioned at an angle that prevents the jaws from opposing each other across the object. The jaws are not aligned to close on the planar surface, resulting in a configuration where contact cannot be 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_0099/sample_02/views.png",
"sha256": "f5d8e2817f6233be253bef4b3ffd72720f74358f1a1f439f9f05540c93106836",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0100_01 | grasp | The displayed parallel-jaw grasp pose is valid. | true | The highlighted parallel jaws are aligned with the extended drawer handle of the stove. The fingers are positioned on opposite sides of the handle, establishing contact with 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_0100/sample_01/views.png",
"sha256": "59639078fb405fc8c0f02abf55cc13a6d870d17cb1b3f5c13907666031d18cba",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
grasp_0100_02 | grasp | The displayed parallel-jaw grasp pose is valid. | false | The highlighted parallel-jaw gripper is positioned at the top corner of the stove, but the jaws fail to oppose each other across the object's width. Instead of aligning with the stove's geometry, the jaws are angled such that one jaw rests on the top surface while the other extends into empty space, resulting in a one-... | 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_0100/sample_02/views.png",
"sha256": "59639078fb405fc8c0f02abf55cc13a6d870d17cb1b3f5c13907666031d18cba",
"type": "image"
},
{
"evidence_id": "media_001",
"label": "Annotated Global Contact ... |
identity_0001_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0001/sample_01/pair.png",
"sha256": "9aa0dc22a5860d5ed6eb1025551b40312829b21909c6fd83bdf1147343a20f64",
"type": "image"
}
] | |
identity_0002_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0002/sample_01/pair.png",
"sha256": "05095767ce9313bfcafdb5782887615a55a2b42eb8081892324e50c5494350ac",
"type": "image"
}
] | |
identity_0003_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set has a broader lower face and altered cheek, mouth, and chin proportions that persist across frontal and profile views. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0003/sample_01/pair.png",
"sha256": "7714fdfbe14d855405a46ba5caa37791500913d1b028639bc7ac4aea355cd516",
"type": "image"
}
] |
identity_0004_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set has a substantially fuller jaw and cheeks, while the nose-to-mouth structure and facial proportions differ across views. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0004/sample_01/pair.png",
"sha256": "01ab68c12d7adbf48b9432697d87c181287b25748764e665455d007f411b1470",
"type": "image"
}
] |
identity_0005_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0005/sample_01/pair.png",
"sha256": "46ade4dce2fe01e451408b9881ebca28b4aecdc8dc91e5678ce3b5d2ab6669d1",
"type": "image"
}
] | |
identity_0006_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0006/sample_01/pair.png",
"sha256": "345b36427586ba803e332e4756d9e818fa422203d6698b99779f0404c089a05b",
"type": "image"
}
] | |
identity_0007_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0007/sample_01/pair.png",
"sha256": "ccf4e9850c74f8ac0ef964da578845f5768725b49cbbf805346bfab8184b8b92",
"type": "image"
}
] | |
identity_0008_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0008/sample_01/pair.png",
"sha256": "52e413b45499b88afae070f98b34320a9b5dc833a931a5912bc9d63a452d558c",
"type": "image"
}
] | |
identity_0009_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0009/sample_01/pair.png",
"sha256": "7eab24398d14c888a455e1d13fe4a7fc67ded9b0e59a884d03fa8ee273212440",
"type": "image"
}
] | |
identity_0010_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0010/sample_01/pair.png",
"sha256": "a192c44a029321947d31bd3cfd9d3a655b9293bb44e58422a7f22c835d297d0e",
"type": "image"
}
] | |
identity_0011_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set has more hollowed cheeks and a larger, more projecting nose; its overall facial projection differs from the upper set across oblique and side views. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0011/sample_01/pair.png",
"sha256": "66f45ee01e6eeefaf07c0d7dd522c258f953385264d370fc08295bf6996bb611",
"type": "image"
}
] |
identity_0012_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set has a more projecting overall profile, including a larger, more projecting nose and mouth; the eye-opening size and ear contours also differ from the upper set. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0012/sample_01/pair.png",
"sha256": "7e4abb3e60b3df40f8dbef38a58f97af0dcb9242b491c792d845fe8e15149b22",
"type": "image"
}
] |
identity_0013_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set shows a wider, heavier lower face with altered nose, mouth, and chin geometry visible from several angles. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0013/sample_01/pair.png",
"sha256": "d792c11c7eaa293c154334077aa48e965ef8a14e33a67bb36089f160b357a6bf",
"type": "image"
}
] |
identity_0014_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set has wider-set eyes and a narrower, more pointed chin, with altered midface and mouth-to-chin proportions across views. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0014/sample_01/pair.png",
"sha256": "191a1e5f847ceeb3708a0de4be4d10df9832312494f0c44a666f8a6eacacf0fe",
"type": "image"
}
] |
identity_0015_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0015/sample_01/pair.png",
"sha256": "cede304310eb0602e8a2e98ef3f124d845470b65c5d250d18f9c074a1bf97ffc",
"type": "image"
}
] | |
identity_0016_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0016/sample_01/pair.png",
"sha256": "88fafa77438b84f204a81f1b3e4485466cbde0e3e65a7bf3e03dac7a7520a002",
"type": "image"
}
] | |
identity_0017_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set has a broader, squarer jaw and wider nose; in profile, its mouth is more recessed and the overall facial projection differs from the upper set. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0017/sample_01/pair.png",
"sha256": "d5623be2d7e99773d9236f991c911789f626cd482ee7c2f742d877c2ca63b9e0",
"type": "image"
}
] |
identity_0018_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0018/sample_01/pair.png",
"sha256": "9e25849a3aea269bba3ea4e6180eec6be4a083daba5fb6f5eb038effc57077a5",
"type": "image"
}
] | |
identity_0019_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0019/sample_01/pair.png",
"sha256": "6ea25c114d898f48375db0eb1dda9812baef2fadba61c7cc980111844be7ca46",
"type": "image"
}
] | |
identity_0020_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set has a lower face that is longer and narrower, with a different nose projection, mouth structure, and chin profile across views. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0020/sample_01/pair.png",
"sha256": "cc5957324cee37196e6a0c8e8377cbc4b8a2d2f8c690f76a81c4436f59eb3309",
"type": "image"
}
] |
identity_0021_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0021/sample_01/pair.png",
"sha256": "680a0d14aee870bb058adb1151ac7a098cbfcc384f4cc16bf4ef1a30c3c52a29",
"type": "image"
}
] | |
identity_0022_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set is markedly more elongated and gaunt, with a different nose, mouth projection, and receding lower-face contour. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0022/sample_01/pair.png",
"sha256": "c555f08fd91bc56f7112427a0673c0a445206eacfb6871b3c630c1e78d778042",
"type": "image"
}
] |
identity_0023_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set has a narrower chin, altered mouth-to-nose spacing, and a different side-profile projection across views. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0023/sample_01/pair.png",
"sha256": "754b246975e80b12a0f5ba20dc273b46f9e9c137f3fa7f930b9e74c608ae2fd4",
"type": "image"
}
] |
identity_0024_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0024/sample_01/pair.png",
"sha256": "4c9bfcdd115809a7ab83e513d372d8df34557a12e3136b1c9948f4da59737fd9",
"type": "image"
}
] | |
identity_0025_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0025/sample_01/pair.png",
"sha256": "bf114d77cc19f5203f509417d3b84c83d83a5a22acdb6c3f6081ed08c261d20a",
"type": "image"
}
] | |
identity_0026_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0026/sample_01/pair.png",
"sha256": "7b28d9919fd7af780a554aadac001b53566b9433545c41d94dbb6e28dcf2731f",
"type": "image"
}
] | |
identity_0027_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set is narrower and more elongated, with hollowed cheeks and different nose, lip, and chin geometry. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0027/sample_01/pair.png",
"sha256": "89fc06167ab7edbeab9f5fe57041446df7c8d575efc3f83a6ebfb1ef6a0b6de6",
"type": "image"
}
] |
identity_0028_01 | identity | The edit preserves the 3D asset's identity. | true | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0028/sample_01/pair.png",
"sha256": "31f445a5be54a89624f600be77a4244a5281edb014788e9e1602d6b6ffb5ad9f",
"type": "image"
}
] | |
identity_0029_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set has a longer, more angular outline with different cheek, nose, mouth, and chin proportions across viewpoints. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0029/sample_01/pair.png",
"sha256": "625adbd42d800a074e88ba6403b37f20c01c4053518275a429190debda2946f0",
"type": "image"
}
] |
identity_0030_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set changes the lower-face width, cheek volume, nose shape, and mouth-to-chin relationship in multiple views. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0030/sample_01/pair.png",
"sha256": "0cb4fc11c118145559b21f500d40dce16b96de1d17f762a1f0141438a43b5068",
"type": "image"
}
] |
identity_0031_01 | identity | The edit preserves the 3D asset's identity. | false | The lower set is substantially longer and narrower, with a more prominent nose and a differently shaped chin and jaw. | We edited the 3D asset. Please evaluate whether the edit preserves its identity. | pair_preview | [
{
"evidence_id": "media_000",
"label": "Pair Preview",
"path": "evidence/identity/case_0031/sample_01/pair.png",
"sha256": "2f584215d28154ca4e15ef0f0c985e5cdcea4528bfa1cdc1a7e7269655a3e5a3",
"type": "image"
}
] |
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