id stringlengths 21 33 | shape_id stringclasses 545
values | category stringclasses 26
values | episode_id int32 0 87 | primact_type stringclasses 1
value | trial_id int32 0 99 | instruction stringclasses 1
value | point_2d listlengths 2 2 | point_2d_norm listlengths 2 2 | width int32 336 336 | height int32 336 336 | image imagewidth (px) 336 336 | interaction_mask imagewidth (px) 336 336 | affordance_map imagewidth (px) 336 336 | contact_point imagewidth (px) 336 336 | gt_normal imagewidth (px) 336 336 | hinge_lines images listlengths 1 57 | hinge_points images listlengths 1 57 | result stringlengths 3.27k 7.52k |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
9992_Laptop_4_pulling_19 | 9992 | Laptop | 4 | pulling | 19 | You control a suction gripper. Specify ONE contact point on the image to manipulate the object. | [
187,
98
] | [
558.208984375,
292.5373229980469
] | 336 | 336 | {"random_seed": 908595, "camera_metadata": {"dist": 4.943335866743128, "theta": 3.293045104453485, "phi": 0.9228228926469139, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [... | |||||||
9992_Laptop_4_pulling_27 | 9992 | Laptop | 4 | pulling | 27 | You control a suction gripper. Specify ONE contact point on the image to manipulate the object. | [
266,
158
] | [
794.0298461914062,
471.64178466796875
] | 336 | 336 | {"random_seed": 4305154, "camera_metadata": {"dist": 4.720412186713322, "theta": 2.4560147020422285, "phi": 0.9829496402498662, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0],... | |||||||
9992_Laptop_4_pulling_50 | 9992 | Laptop | 4 | pulling | 50 | You control a suction gripper. Specify ONE contact point on the image to manipulate the object. | [
193,
92
] | [
576.119384765625,
274.6268615722656
] | 336 | 336 | {"random_seed": 6998793, "camera_metadata": {"dist": 5.112842105125333, "theta": 3.528296702817834, "phi": 0.6952121082697054, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], ... | |||||||
9992_Laptop_4_pulling_55 | 9992 | Laptop | 4 | pulling | 55 | You control a suction gripper. Specify ONE contact point on the image to manipulate the object. | [
203,
212
] | [
605.9701538085938,
632.8358154296875
] | 336 | 336 | {"random_seed": 578308, "camera_metadata": {"dist": 5.300786885991235, "theta": 2.6410446000057943, "phi": 1.0467023710808552, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], ... | |||||||
9992_Laptop_4_pulling_63 | 9992 | Laptop | 4 | pulling | 63 | You control a suction gripper. Specify ONE contact point on the image to manipulate the object. | [
230,
126
] | [
686.567138671875,
376.1194152832031
] | 336 | 336 | {"random_seed": 9320483, "camera_metadata": {"dist": 4.708284589643863, "theta": 3.7493800108884803, "phi": 0.8953169242855551, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0],... | |||||||
9992_Laptop_4_pulling_83 | 9992 | Laptop | 4 | pulling | 83 | You control a suction gripper. Specify ONE contact point on the image to manipulate the object. | [
233,
170
] | [
695.5223999023438,
507.4626770019531
] | 336 | 336 | {"random_seed": 6559017, "camera_metadata": {"dist": 5.156587924027523, "theta": 3.9222426363198575, "phi": 0.6346041616010761, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0],... | |||||||
9996_Laptop_1_pulling_29 | 9996 | Laptop | 1 | pulling | 29 | You control a suction gripper. Specify ONE contact point on the image to manipulate the object. | [
202,
191
] | [
602.9850463867188,
570.1492309570312
] | 336 | 336 | {"random_seed": 8803081, "camera_metadata": {"dist": 4.643368555341804, "theta": 2.414191417896528, "phi": 0.5313878131170318, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], ... | |||||||
9996_Laptop_1_pulling_50 | 9996 | Laptop | 1 | pulling | 50 | You control a suction gripper. Specify ONE contact point on the image to manipulate the object. | [
264,
232
] | [
788.0596923828125,
692.5372924804688
] | 336 | 336 | {"random_seed": 5140070, "camera_metadata": {"dist": 4.685313616893184, "theta": 3.274019415296306, "phi": 1.0289820254757032, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], ... | |||||||
9996_Laptop_1_pulling_62 | 9996 | Laptop | 1 | pulling | 62 | You control a suction gripper. Specify ONE contact point on the image to manipulate the object. | [
198,
147
] | [
591.0447998046875,
438.80596923828125
] | 336 | 336 | {"random_seed": 9648088, "camera_metadata": {"dist": 5.18321618238786, "theta": 4.014375564308607, "phi": 1.0397748238080968, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], [... | |||||||
9996_Laptop_2_pulling_3 | 9996 | Laptop | 2 | pulling | 3 | You control a suction gripper. Specify ONE contact point on the image to manipulate the object. | [
202,
80
] | [
602.9850463867188,
238.80596923828125
] | 336 | 336 | {"random_seed": 7643454, "camera_metadata": {"dist": 4.838041330525823, "theta": 3.7152423487587463, "phi": 0.808236654326061, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], ... | |||||||
9996_Laptop_3_pulling_72 | 9996 | Laptop | 3 | pulling | 72 | You control a suction gripper. Specify ONE contact point on the image to manipulate the object. | [
243,
134
] | [
725.3731079101562,
400
] | 336 | 336 | {"random_seed": 6308608, "camera_metadata": {"dist": 4.662434033339569, "theta": 2.672146592150165, "phi": 0.8071020498138458, "near": 0.10000000149011612, "far": 100.0, "width": 336, "height": 336, "fov": 0.6108652353286743, "camera_matrix": [[532.8279418945312, 0.0, 168.0, 0.0], [0.0, 532.8279418945312, 168.0, 0.0], ... |
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