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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], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.596662750960317, -0.15087411574646656, 0.7881818082233241, -2.9495043771717575], [0.09106336883508755, 0.9885529835055488, 0.1202932319737191, -0.4501568173089467], [-0.7973086130682847, 0.0, 0.6035718478583377, 3.9413642638436706], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.0605002975148754, "joint_angles": [-1.8661060333251953], "joint_angles_lower": [-1.8661060333251953], "joint_angles_upper": [1.0367255210876465], "action_type_0": "REVOLUTE", "pixel_locs": [187, 98], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.7901712656021118, -0.0017905028071254492, 0.612883448600769], "norm_world": [0.011867964212116148, 6.656101330325924e-08, 0.9999295514573877], "gripper_direction_camera": [0.7901712656021118, 0.0017905028071254492, -0.612883448600769], "gripper_direction_world": [-0.011867964212116148, -6.656101330325924e-08, -0.9999295514573877], "position_cam": [4.979371547698975, 0.6541623473167419, -0.17755842208862305], "position_world": [-0.21714333536129393, 0.6285965941858698, -0.1359008237267183], "gripper_forward_direction_world": [0.4226459474819324, 0.905709788514247, -0.0325604371373871], "gripper_forward_direction_camera": [0.3606147952107285, 0.8315757800257744, 0.42242004160509383], "gripper_up_direction_world": [-0.013964224745837198, -0.029414774078128484, -0.9994697451614935], "gripper_up_direction_camera": [0.7858752951454655, -0.02697122261346248, -0.61779654711787], "contact_rotmat_world": [[0.4226459562778473, 0.9061872959136963, -0.013964224606752396, -0.21560727059841156], [0.9057098031044006, -0.4228765070438385, -0.029414774850010872, 0.6318322420120239], [-0.03256043791770935, -0.0002154999820049852, -0.9994697570800781, -0.02595915086567402], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.4226459562778473, 0.9061872959136963, -0.013964224606752396, -0.21435049176216125], [0.9057098031044006, -0.4228765070438385, -0.029414774850010872, 0.6344795227050781], [-0.03256043791770935, -0.0002154999820049852, -0.9994697570800781, 0.06399312615394592], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.4226459562778473, 0.9061872959136963, -0.013964224606752396, -0.2101612240076065], [0.9057098031044006, -0.4228765070438385, -0.029414774850010872, 0.6433039903640747], [-0.03256043791770935, -0.0002154999820049852, -0.9994697570800781, 0.36383405327796936], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": -1.8661060333251953, "touch_position_world_xyz_start": [-0.21714333536129393, 0.6285965941858698, -0.1359008237267183], "touch_position_world_xyz_end": [-0.03305533902297694, 0.6285966051621769, 0.15807509939571163], "result": "VALID", "final_target_part_qpos": -1.0288472175598145, "mani_succ": "True"}
|
|||||||
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], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.4292670733536579, 0.6331204825129549, 0.6441181835322991, -2.026317524413368], [-0.3511099163967191, 0.7740532634273711, -0.5268428342355297, 1.6573835282349685], [-0.8321367714157777, -0.0, 0.5545704586954897, 3.928028556803315], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.0484645777276054, "joint_angles": [-1.8661060333251953], "joint_angles_lower": [-1.8661060333251953], "joint_angles_upper": [1.0367255210876465], "action_type_0": "REVOLUTE", "pixel_locs": [266, 158], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.826983630657196, 0.0075139193795621395, 0.5621758699417114], "norm_world": [0.011868073592100108, -1.4205321606508559e-09, 0.9999296184898879], "gripper_direction_camera": [0.826983630657196, -0.0075139193795621395, -0.5621758699417114], "gripper_direction_world": [-0.011868073592100108, 1.4205321606508559e-09, -0.9999296184898879], "position_cam": [4.344160079956055, 0.08153021335601807, -0.7989965677261353], "position_world": [-0.6245424105437938, 0.6161601897490865, -0.13000667970462754], "gripper_forward_direction_world": [0.7478820777145503, -0.6637650284655164, -0.009401320095587853], "gripper_forward_direction_camera": [0.5619188185171601, -0.0402900245272676, 0.8262105998593041], "gripper_up_direction_world": [-0.03286144265501128, -0.022873610091956684, -0.9991981402844946], "gripper_up_direction_camera": [0.825394330473371, -0.03851064496785694, -0.563241626166404], "contact_rotmat_world": [[0.747882068157196, -0.663017749786377, -0.03286144137382507, -0.620927631855011], [-0.663765013217926, -0.7475913166999817, -0.022873610258102417, 0.6186763048171997], [-0.009401320479810238, 0.03891903907060623, -0.9991981387138367, -0.02009488455951214], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.747882068157196, -0.663017749786377, -0.03286144137382507, -0.6179701089859009], [-0.663765013217926, -0.7475913166999817, -0.022873610258102417, 0.6207349300384521], [-0.009401320479810238, 0.03891903907060623, -0.9991981387138367, 0.0698329508304596], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.747882068157196, -0.663017749786377, -0.03286144137382507, -0.6081116795539856], [-0.663765013217926, -0.7475913166999817, -0.022873610258102417, 0.6275969743728638], [-0.009401320479810238, 0.03891903907060623, -0.9991981387138367, 0.3695923984050751], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": -1.8661060333251953, "touch_position_world_xyz_start": [-0.6245424105437938, 0.6161601897490865, -0.13000667970462754], "touch_position_world_xyz_end": [-0.5718776258673206, 0.6161601536196283, 0.10379635062514311], "result": "VALID", "final_target_part_qpos": -1.5763145685195923, "mani_succ": "True"}
|
|||||||
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], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.7112125845813936, -0.37713790086578675, 0.593248399292912, -3.6363176481427613], [0.289610927294368, 0.926157116115051, 0.24157505471622748, -1.480734943175036], [-0.6405483356662092, 0.0, 0.7679178534682273, 3.2750225009621494], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "random-closed-middle", "scale": 0.9015817478149801, "joint_angles": [-1.8661060333251953], "joint_angles_lower": [-1.8661060333251953], "joint_angles_upper": [1.0367255210876465], "action_type_0": "REVOLUTE", "pixel_locs": [193, 92], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.6320627331733704, -0.004475848283618689, 0.7749043107032776], "norm_world": [0.011867783878361984, -6.174309243479198e-08, 0.9999295866893748], "gripper_direction_camera": [0.6320627331733704, 0.004475848283618689, -0.7749043107032776], "gripper_direction_world": [-0.011867783878361984, 6.174309243479198e-08, -0.9999295866893748], "position_cam": [5.004276275634766, 0.713785707950592, -0.23479799926280975], "position_world": [-0.4857025649735349, 0.5729145227292411, -0.11076391420212683], "gripper_forward_direction_world": [0.9848844272885738, -0.1727535805327881, -0.012604177781966722], "gripper_forward_direction_camera": [0.6585044594950289, -0.5314342034478116, 0.5328691811607701], "gripper_up_direction_world": [-0.01343265801223263, -0.0036274676349853257, -0.9999031979033188], "gripper_up_direction_camera": [0.6298822995561145, 0.0017063594821626919, -0.7766887259663412], "contact_rotmat_world": [[0.9848844408988953, -0.17269113659858704, -0.013432658277451992, -0.48422497510910034], [-0.17275358736515045, -0.9849584102630615, -0.003627467667683959, 0.5733135342597961], [-0.012604177929461002, 0.005893175955861807, -0.9999032020568848, -0.0007745624170638621], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.9848844408988953, -0.17269113659858704, -0.013432658277451992, -0.4830160439014435], [-0.17275358736515045, -0.9849584102630615, -0.003627467667683959, 0.573639988899231], [-0.012604177929461002, 0.005893175955861807, -0.9999032020568848, 0.08921672403812408], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.9848844408988953, -0.17269113659858704, -0.013432658277451992, -0.4789862334728241], [-0.17275358736515045, -0.9849584102630615, -0.003627467667683959, 0.57472825050354], [-0.012604177929461002, 0.005893175955861807, -0.9999032020568848, 0.38918769359588623], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": -1.8661060333251953, "touch_position_world_xyz_start": [-0.4857025649735349, 0.5729145227292411, -0.11076391420212683], "touch_position_world_xyz_end": [-0.3909303125626858, 0.5729145640280691, 0.17888899765728172], "result": "VALID", "final_target_part_qpos": -1.4019663333892822, "mani_succ": "True"}
|
|||||||
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], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.43903601432295825, 0.4799064288476446, 0.7595638206748081, -2.327236347200997], [-0.2401589873784758, 0.8773196792222895, -0.4154922878112715, 1.273031610848759], [-0.8657777075605241, -0.0, 0.5004287772413211, 4.58930311842038], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "random-closed-middle", "scale": 0.8644498873909918, "joint_angles": [-1.8195889492061201], "joint_angles_lower": [-1.8661060333251953], "joint_angles_upper": [1.0367255210876465], "action_type_0": "REVOLUTE", "pixel_locs": [203, 212], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.8605061769485474, 0.005695585161447525, 0.5094082355499268], "norm_world": [0.011868211384766434, -5.218283113169603e-08, 0.9999296056530926], "gripper_direction_camera": [0.8605061769485474, -0.005695585161447525, -0.5094082355499268], "gripper_direction_world": [-0.011868211384766434, 5.218283113169603e-08, -0.9999296056530926], "position_cam": [5.225677013397217, -0.431527316570282, -0.34326037764549255], "position_world": [-0.5007968364761215, -0.21792705638190268, -0.10674891775091577], "gripper_forward_direction_world": [-0.3657400433000461, 0.9306543782306305, -0.010800416984507882], "gripper_forward_direction_camera": [-0.3747273037064266, 0.6409604025094077, -0.6698874609006273], "gripper_up_direction_world": [-0.001590222116440604, -0.01222924841227143, -0.9999239554470587], "gripper_up_direction_camera": [0.8679506690170067, -0.01149211811115915, -0.49651743914413476], "contact_rotmat_world": [[-0.365740031003952, 0.9307156801223755, -0.0015902221202850342, -0.5006219148635864], [0.9306544065475464, 0.365695059299469, -0.012229247950017452, -0.21658183634281158], [-0.010800416581332684, -0.005952673032879829, -0.9999239444732666, 0.003242717357352376], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.365740031003952, 0.9307156801223755, -0.0015902221202850342, -0.5004788041114807], [0.9306544065475464, 0.365695059299469, -0.012229247950017452, -0.2154812067747116], [-0.010800416581332684, -0.005952673032879829, -0.9999239444732666, 0.09323587268590927], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.365740031003952, 0.9307156801223755, -0.0015902221202850342, -0.5000017285346985], [0.9306544065475464, 0.365695059299469, -0.012229247950017452, -0.21181243658065796], [-0.010800416581332684, -0.005952673032879829, -0.9999239444732666, 0.39321306347846985], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": -1.8661060333251953, "touch_position_world_xyz_start": [-0.5007968364761215, -0.21792705638190268, -0.10674891775091577], "touch_position_world_xyz_end": [-0.4405084804778638, -0.217927229106556, 0.12274931993535795], "result": "VALID", "final_target_part_qpos": -1.5101791620254517, "mani_succ": "True"}
|
|||||||
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], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5132938685024376, -0.5710524710578062, 0.6406469229275791, -2.416733611028711], [0.3570628453078976, 0.8209135614050806, 0.4456535080102646, -1.681153492097565], [-0.7804072840885268, 0.0, 0.6252715177757333, 3.674379589319831], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "random-closed-middle", "scale": 0.9596518318852959, "joint_angles": [-1.8661060333251953], "joint_angles_lower": [-1.8661060333251953], "joint_angles_upper": [1.0367255210876465], "action_type_0": "REVOLUTE", "pixel_locs": [230, 126], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.7742605209350586, -0.006777104455977678, 0.6328306794166565], "norm_world": [0.011867931729184357, 1.3068893416501998e-07, 0.9999295497337983], "gripper_direction_camera": [0.7742605209350586, 0.006777104455977678, -0.6328306794166565], "gripper_direction_world": [-0.011867931729184357, -1.3068893416501998e-07, -0.9999295497337983], "position_cam": [4.444338798522949, 0.3503235876560211, -0.517144501209259], "position_world": [-0.666841940008827, -0.03712711230989307, -0.11737050918521774], "gripper_forward_direction_world": [0.5487601122330976, 0.835772210428751, -0.01863200195786012], "gripper_forward_direction_camera": [0.5946389544179851, 0.3727259236777931, 0.7123762346592015], "gripper_up_direction_world": [-0.01797105583013184, -0.010488706410289714, -0.9997834906569467], "gripper_up_direction_camera": [0.767268758497556, 0.0016520945055114242, -0.6413235710757592], "contact_rotmat_world": [[0.5487601161003113, 0.8357867002487183, -0.017971055582165718, -0.6648651361465454], [0.8357722163200378, -0.5489761233329773, -0.010488706640899181, -0.035973355174064636], [-0.01863200217485428, -0.00926392525434494, -0.9997835159301758, -0.007394324988126755], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.5487601161003113, 0.8357867002487183, -0.017971055582165718, -0.6632477045059204], [0.8357722163200378, -0.5489761233329773, -0.010488706640899181, -0.035029370337724686], [-0.01863200217485428, -0.00926392525434494, -0.9997835159301758, 0.08258619159460068], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.5487601161003113, 0.8357867002487183, -0.017971055582165718, -0.6578564047813416], [0.8357722163200378, -0.5489761233329773, -0.010488706640899181, -0.03188275918364525], [-0.01863200217485428, -0.00926392525434494, -0.9997835159301758, 0.38252124190330505], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": -1.8661060333251953, "touch_position_world_xyz_start": [-0.666841940008827, -0.03712711230989307, -0.11737050918521774], "touch_position_world_xyz_end": [-0.6152304044641231, -0.03712727510472402, 0.12102350299767728], "result": "VALID", "final_target_part_qpos": -1.579738736152649, "mani_succ": "True"}
|
|||||||
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], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5721350053159822, -0.703741352130273, 0.42120024334505807, -2.9502644593258167], [0.5667274400318616, 0.7104562683950753, 0.4172192462160362, -2.9223798734833304], [-0.5928587896008741, 0.0, 0.8053064358323396, 3.057128475109442], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.9064678921050899, "joint_angles": [-1.8661060333251953], "joint_angles_lower": [-1.8661060333251953], "joint_angles_upper": [1.0367255210876465], "action_type_0": "REVOLUTE", "pixel_locs": [233, 170], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.5860269069671631, -0.008351895958185196, 0.8102485537528992], "norm_world": [0.011867955032200646, 1.0523265160222034e-07, 0.9999295776991515], "gripper_direction_camera": [0.5860269069671631, 0.008351895958185196, -0.8102485537528992], "gripper_direction_world": [-0.011867955032200646, -1.0523265160222034e-07, -0.9999295776991515], "position_cam": [4.583930969238281, -0.01720609702169895, -0.5591965317726135], "position_world": [-0.5510621631499797, -0.5700721449606205, -0.11081985685873619], "gripper_forward_direction_world": [-0.621951548580938, 0.7828271147087731, 0.018920351331584942], "gripper_forward_direction_camera": [0.0765922575635265, 0.9938574544723449, 0.07988107580067635], "gripper_up_direction_world": [-0.016800186412675527, 0.010816784284962393, -0.9998003555281584], "gripper_up_direction_camera": [0.5892586223456158, 0.019507838101225788, -0.8077089328736954], "contact_rotmat_world": [[-0.6219515204429626, 0.7828754782676697, -0.016800185665488243, -0.5492141246795654], [0.7828271389007568, 0.6221452355384827, 0.01081678457558155, -0.571262001991272], [0.018920350819826126, -0.006424125749617815, -0.9998003840446472, -0.000841817760374397], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.6219515204429626, 0.7828754782676697, -0.016800185665488243, -0.5477021336555481], [0.7828271389007568, 0.6221452355384827, 0.01081678457558155, -0.5722355246543884], [0.018920350819826126, -0.006424125749617815, -0.9998003840446472, 0.08914021402597427], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.6219515204429626, 0.7828754782676697, -0.016800185665488243, -0.5426620841026306], [0.7828271389007568, 0.6221452355384827, 0.01081678457558155, -0.5754805207252502], [0.018920350819826126, -0.006424125749617815, -0.9998003840446472, 0.38908031582832336], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": -1.8661060333251953, "touch_position_world_xyz_start": [-0.5510621631499797, -0.5700721449606205, -0.11081985685873619], "touch_position_world_xyz_end": [-0.4385107965956908, -0.5700721942976007, 0.2251650211444867], "result": "VALID", "final_target_part_qpos": -1.3749315738677979, "mani_succ": "True"}
|
|||||||
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], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.6439102086123977, 0.6649308526682568, 0.37847933155537505, -2.989912415134389], [-0.5732399827027391, 0.7469049211043297, -0.3369405898093882, 2.6617645103465786], [-0.5067302689554887, -0.0, 0.8621046540439845, 2.3529353969078115], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.7913923964510892, "joint_angles": [-1.809557318687439], "joint_angles_lower": [-1.809557318687439], "joint_angles_upper": [1.3383184671401978], "action_type_0": "REVOLUTE", "pixel_locs": [202, 191], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.5164375305175781, -0.01008443534374237, 0.8562654852867126], "norm_world": [-0.015166061697383874, -7.096978476509724e-08, 0.9998849887007866], "gripper_direction_camera": [0.5164375305175781, 0.01008443534374237, -0.8562654852867126], "gripper_direction_world": [0.015166061697383874, 7.096978476509724e-08, -0.9998849887007866], "position_cam": [4.413213729858398, -0.190500408411026, -0.28160926699638367], "position_world": [-0.3814519278211548, 0.08453384818203036, -0.1261502430808874], "gripper_forward_direction_world": [-0.3045361784204158, 0.9524987460957381, -0.0019633438658191384], "gripper_forward_direction_camera": [-0.7411094331478353, 0.5089305000191908, -0.4378887464293994], "gripper_up_direction_world": [-0.0007733992796997971, -0.002308523887370779, -0.999997036281116], "gripper_up_direction_camera": [0.5075541056511546, -0.002238504894467934, -0.8616169792503476], "contact_rotmat_world": [[-0.3045361638069153, 0.9525004625320435, -0.0007733992533758283, -0.3813668489456177], [0.952498733997345, 0.3045337498188019, -0.0023085239809006453, 0.08478778600692749], [-0.0019633439369499683, -0.0014396909391507506, -0.9999970197677612, -0.016150569543242455], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.3045361638069153, 0.9525004625320435, -0.0007733992533758283, -0.3812972605228424], [0.952498733997345, 0.3045337498188019, -0.0023085239809006453, 0.08499555289745331], [-0.0019633439369499683, -0.0014396909391507506, -0.9999970197677612, 0.0738491639494896], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.3045361638069153, 0.9525004625320435, -0.0007733992533758283, -0.3810652196407318], [0.952498733997345, 0.3045337498188019, -0.0023085239809006453, 0.08568810671567917], [-0.0019633439369499683, -0.0014396909391507506, -0.9999970197677612, 0.3738482892513275], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": -1.809557318687439, "touch_position_world_xyz_start": [-0.3814519278211548, 0.08453384818203036, -0.1261502430808874], "touch_position_world_xyz_end": [-0.35154747422007715, 0.08453373070055081, 0.024068806780428442], "result": "VALID", "final_target_part_qpos": -1.5166388750076294, "mani_succ": "True"}
|
|||||||
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], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5111760912659513, -0.13204004297244362, 0.8492728835715284, -2.395020301038595], [0.0680918996436725, 0.9912443831123761, 0.11312853818148978, -0.3190319046006229], [-0.8567744726128224, 0.0, 0.5156912866037393, 4.014257103139333], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 1.0712517767683176, "joint_angles": [-1.809557318687439], "joint_angles_lower": [-1.809557318687439], "joint_angles_upper": [1.3383184671401978], "action_type_0": "REVOLUTE", "pixel_locs": [264, 232], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.8644284605979919, 0.002002563327550888, 0.5027517676353455], "norm_world": [-0.015166136794996928, 2.6202835524177098e-08, 0.9998849443345339], "gripper_direction_camera": [0.8644285202026367, -0.0020025635603815317, -0.5027518272399902], "gripper_direction_world": [0.015166116673600662, -2.9118020438822362e-08, -0.999885026139868], "position_cam": [4.413198471069336, -0.5300861597061157, -0.7951292395591736], "position_world": [-0.7443878594022622, -0.6339255741119468, -0.17689991001133354], "gripper_forward_direction_world": [0.31697269413268436, -0.9484327177891264, 0.0019211979073632712], "gripper_forward_direction_camera": [0.09580224406244474, -0.9819816924228482, 0.1628922520531883], "gripper_up_direction_world": [-0.0022800582079443928, -0.0027876533485471744, -0.9999935151406617], "gripper_up_direction_camera": [0.8554135886962364, -0.0024621867400551295, -0.5179396971755338], "contact_rotmat_world": [[0.3169727027416229, -0.9484319090843201, -0.002280058106407523, -0.7441370487213135], [-0.9484327435493469, -0.3169662654399872, -0.0027876533567905426, -0.633618950843811], [0.0019211978651583195, 0.003046091878786683, -0.9999935030937195, -0.06690062582492828], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.3169727027416229, -0.9484319090843201, -0.002280058106407523, -0.7439318299293518], [-0.9484327435493469, -0.3169662654399872, -0.0027876533567905426, -0.6333680152893066], [0.0019211978651583195, 0.003046091878786683, -0.9999935030937195, 0.023098792880773544], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.3169727027416229, -0.9484319090843201, -0.002280058106407523, -0.7432478070259094], [-0.9484327435493469, -0.3169662654399872, -0.0027876533567905426, -0.6325317621231079], [0.0019211978651583195, 0.003046091878786683, -0.9999935030937195, 0.3230968415737152], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": -1.809557318687439, "touch_position_world_xyz_start": [-0.7443878594022622, -0.6339255741119468, -0.17689991001133354], "touch_position_world_xyz_end": [-0.7291297656507142, -0.6339257229038551, -0.0352975308064131], "result": "VALID", "final_target_part_qpos": -1.6575690507888794, "mani_succ": "True"}
|
|||||||
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], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.325471036486177, -0.7661204697133226, 0.5541913300430199, -1.6869867432137025], [0.3879744665716875, 0.6426969938363162, 0.6606181857943183, -2.0109555334876688], [-0.8622902166307049, 0.0, 0.5064144372971329, 4.469436604755004], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.7457759032574356, "joint_angles": [-1.809557318687439], "joint_angles_lower": [-1.809557318687439], "joint_angles_upper": [1.3383184671401978], "action_type_0": "REVOLUTE", "pixel_locs": [198, 147], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.8671270608901978, 0.01161910779774189, 0.4979513883590698], "norm_world": [-0.01516603738531945, 1.4954544990796598e-07, 0.9998849533185394], "gripper_direction_camera": [0.8671271204948425, -0.011619108729064465, -0.4979514181613922], "gripper_direction_world": [0.015166040982221594, -1.4670688398572135e-07, -0.9998850198073679], "position_cam": [5.1511688232421875, 0.20301958918571472, -0.2900281250476837], "position_world": [-0.32669902259581174, -0.07355133120835977, -0.11924030548620035], "gripper_forward_direction_world": [-0.9081147998529225, -0.41846460748345804, 0.014658873483391262], "gripper_forward_direction_camera": [-0.4705588512156486, 0.42677939176042845, -0.7722912134105943], "gripper_up_direction_world": [-0.0032872759439192514, -0.027882575524678904, -0.9996058002027495], "gripper_up_direction_camera": [0.8500626615276226, -0.015401598079892526, -0.5264563251145913], "contact_rotmat_world": [[-0.9081147909164429, -0.4187083840370178, -0.0032872760202735662, -0.32633742690086365], [-0.4184646010398865, 0.9078050255775452, -0.02788257598876953, -0.07048425078392029], [0.014658873900771141, -0.023944970220327377, -0.9996057748794556, -0.009283667430281639], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.9081147909164429, -0.4187083840370178, -0.0032872760202735662, -0.326041579246521], [-0.4184646010398865, 0.9078050255775452, -0.02788257598876953, -0.06797481328248978], [0.014658873900771141, -0.023944970220327377, -0.9996057748794556, 0.08068085461854935], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.9081147909164429, -0.4187083840370178, -0.0032872760202735662, -0.32505539059638977], [-0.4184646010398865, 0.9078050255775452, -0.02788257598876953, -0.059610042721033096], [0.014658873900771141, -0.023944970220327377, -0.9996057748794556, 0.38056260347366333], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": -1.809557318687439, "touch_position_world_xyz_start": [-0.32669902259581174, -0.07355133120835977, -0.11924030548620035], "touch_position_world_xyz_end": [-0.18955819938960788, -0.0735512131867111, 0.18542603399105764], "result": "VALID", "final_target_part_qpos": -1.0692481994628906, "mani_succ": "True"}
|
|||||||
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], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.5801994040601963, -0.5427011298146581, 0.6073253948470183, -2.807028696789682], [0.37488411732827376, 0.8399258798833941, 0.3924110279759062, -1.8137048537918805], [-0.7230702248766672, 0.0, 0.6907745289867063, 3.498243632825917], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "random-closed-middle", "scale": 0.8743600651870163, "joint_angles": [-1.809557318687439], "joint_angles_lower": [-1.809557318687439], "joint_angles_upper": [1.3383184671401978], "action_type_0": "REVOLUTE", "pixel_locs": [202, 80], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.7317864894866943, 0.008230664767324924, 0.6814842820167542], "norm_world": [-0.015166165509974159, -3.6181637957412305e-08, 0.999885005436818], "gripper_direction_camera": [0.7317864894866943, -0.008230664767324924, -0.6814842820167542], "gripper_direction_world": [0.015166165509974159, 3.6181637957412305e-08, -0.999885005436818], "position_cam": [4.747540473937988, 0.7840871214866638, -0.30294281244277954], "position_world": [-0.6620183729460121, 0.5057696312319573, -0.14382670385057228], "gripper_forward_direction_world": [-0.6437082133591646, -0.7651840261597794, -0.011538724533606673], "gripper_forward_direction_camera": [-0.6519911518769399, -0.293356691783977, -0.6991776521455346], "gripper_up_direction_world": [0.015328925798842754, 0.0021824630587357705, -0.999880123259209], "gripper_up_direction_camera": [0.7326955499254932, -0.006485918144955247, -0.6805256527017892], "contact_rotmat_world": [[-0.6437082290649414, -0.7651174664497375, 0.015328926034271717, -0.6637045741081238], [-0.7651840448379517, 0.6438079476356506, 0.002182462951168418, 0.5055295825004578], [-0.011538724415004253, -0.010324579663574696, -0.9998801350593567, -0.033839888870716095], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[-0.6437082290649414, -0.7651174664497375, 0.015328926034271717, -0.665084183216095], [-0.7651840448379517, 0.6438079476356506, 0.002182462951168418, 0.5053331255912781], [-0.011538724415004253, -0.010324579663574696, -0.9998801350593567, 0.05614932253956795], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[-0.6437082290649414, -0.7651174664497375, 0.015328926034271717, -0.6696828603744507], [-0.7651840448379517, 0.6438079476356506, 0.002182462951168418, 0.5046784281730652], [-0.011538724415004253, -0.010324579663574696, -0.9998801350593567, 0.35611334443092346], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": -1.809557318687439, "touch_position_world_xyz_start": [-0.6620183729460121, 0.5057696312319573, -0.14382670385057228], "touch_position_world_xyz_end": [-0.6538047168993073, 0.505769247382869, -0.05005859185036873], "result": "VALID", "final_target_part_qpos": -1.6947060823440552, "mani_succ": "True"}
|
|||||||
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], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "projection_matrix": [[3.1715946197509766, 0.0, 0.0, 0.0], [0.0, 3.1715946197509766, 0.0, 0.0], [0.0, 0.0, -1.0020020008087158, -0.20020020008087158], [0.0, 0.0, -1.0, 0.0]], "model_matrix": [[0.0, 0.0, -1.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mat44": [[0.6167771157771552, 0.45239234186668204, 0.6441483978665109, -2.8756826155844277], [-0.3128720477520827, 0.8918190225714964, -0.3267566567264382, 1.4587452835199533], [-0.722286003733308, -0.0, 0.6915944829240382, 3.3676108456110057], [0.0, 0.0, 0.0, 1.0]]}, "object_state": "closed", "scale": 0.9183929185281829, "joint_angles": [-1.809557318687439], "joint_angles_lower": [-1.809557318687439], "joint_angles_upper": [1.3383184671401978], "action_type_0": "REVOLUTE", "pixel_locs": [243, 134], "target_object_part_actor_id": 4, "target_object_part_joint_id": 0, "norm_cam": [-0.7315570116043091, -0.006861082278192043, 0.681745707988739], "norm_world": [-0.015166119170115485, -5.170308451079436e-08, 0.999884960816912], "gripper_direction_camera": [0.7315570116043091, 0.006861082278192043, -0.681745707988739], "gripper_direction_world": [0.015166119170115485, 5.170308451079436e-08, -0.999884960816912], "position_cam": [4.289917469024658, 0.27374160289764404, -0.6038419008255005], "position_world": [-0.4948848802975756, 0.5579873497371861, -0.1485502266058023], "gripper_forward_direction_world": [0.9387373596978327, 0.34462787499698483, 0.0019486617471260086], "gripper_forward_direction_camera": [0.46975980111797616, 0.7320232871821511, 0.4934243977314433], "gripper_up_direction_world": [0.008899139419831573, -0.018587314566854092, -0.9997876359781508], "gripper_up_direction_camera": [0.733436852887636, -0.012550618186504978, -0.6796417179730926], "contact_rotmat_world": [[0.9387373328208923, 0.3445184826850891, 0.008899139240384102, -0.49586379528045654], [0.34462788701057434, -0.9385553598403931, -0.01858731545507908, 0.5600319504737854], [0.0019486617529764771, 0.020515497773885727, -0.9997876286506653, -0.03857358545064926], [0.0, 0.0, 0.0, 1.0]], "start_rotmat_world": [[0.9387373328208923, 0.3445184826850891, 0.008899139240384102, -0.49666470289230347], [0.34462788701057434, -0.9385553598403931, -0.01858731545507908, 0.5617048144340515], [0.0019486617529764771, 0.020515497773885727, -0.9997876286506653, 0.05140729993581772], [0.0, 0.0, 0.0, 1.0]], "end_rotmat_world": [[0.9387373328208923, 0.3445184826850891, 0.008899139240384102, -0.499334454536438], [0.34462788701057434, -0.9385553598403931, -0.01858731545507908, 0.5672810077667236], [0.0019486617529764771, 0.020515497773885727, -0.9997876286506653, 0.3513436019420624], [0.0, 0.0, 0.0, 1.0]], "start_target_part_qpos": -1.809557318687439, "touch_position_world_xyz_start": [-0.4948848802975756, 0.5579873497371861, -0.1485502266058023], "touch_position_world_xyz_end": [-0.3985712655961848, 0.557987119181787, 0.16773490468016744], "result": "VALID", "final_target_part_qpos": -1.3040413856506348, "mani_succ": "True"}
|
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