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The dataset generation failed
Error code: DatasetGenerationError
Exception: CastError
Message: Couldn't cast
scene: string
tar: string
episodes: int64
files: int64
bytes: int64
tar_bytes: int64
match_p99_mm: null
random_cam: null
match_tier: string
fail_frame: int64
grasp_used: list<item: string>
child 0, item: string
house: string
failure_mode: string
audit: struct<max_penetration_mm: double, penetration_pair: list<item: string>, penetration_frame: int64, p (... 95 chars omitted)
child 0, max_penetration_mm: double
child 1, penetration_pair: list<item: string>
child 0, item: string
child 2, penetration_frame: int64
child 3, penetration_step: int64
child 4, rise_without_contact_frames: int64
child 5, tolerance_mm: double
child 6, passed: bool
task_type: string
strategy: string
failed_step: int64
condition: string
outcome: string
episode: string
strategy_id: int64
frames: int64
trials: int64
path: string
seconds: double
disturbed: string
top: double
disturbed_cm: double
caption: string
grasp_adjusted: list<item: struct<step: int64, reason: string, changed_to: string>>
child 0, item: struct<step: int64, reason: string, changed_to: string>
child 0, step: int64
child 1, reason: string
child 2, changed_to: string
to
{'scene': Value('string'), 'episode': Value('string'), 'condition': Value('string'), 'task_type': Value('string'), 'caption': Value('string'), 'strategy_id': Value('int64'), 'house': Value('string'), 'top': Value('float64'), 'match_tier': Value('string'), 'match_p99_mm': Json(decode=True), 'strategy': Value('string'), 'grasp_used': List(Value('string')), 'grasp_adjusted': List({'step': Value('int64'), 'reason': Value('string'), 'changed_to': Value('string')}), 'trials': Value('int64'), 'random_cam': Json(decode=True), 'frames': Value('int64'), 'seconds': Value('float64'), 'audit': {'max_penetration_mm': Value('float64'), 'penetration_pair': List(Value('string')), 'penetration_frame': Value('int64'), 'penetration_step': Value('int64'), 'rise_without_contact_frames': Value('int64'), 'tolerance_mm': Value('float64'), 'passed': Value('bool')}, 'outcome': Value('string'), 'failure_mode': Value('string'), 'failed_step': Value('int64'), 'fail_frame': Value('int64'), 'tar': Value('string'), 'path': Value('string'), 'disturbed': Value('string'), 'disturbed_cm': Value('float64')}
because column names don't match
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1827, in _prepare_split_single
for key, table in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
for item in generator(*args, **kwargs):
~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2378, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2306, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
scene: string
tar: string
episodes: int64
files: int64
bytes: int64
tar_bytes: int64
match_p99_mm: null
random_cam: null
match_tier: string
fail_frame: int64
grasp_used: list<item: string>
child 0, item: string
house: string
failure_mode: string
audit: struct<max_penetration_mm: double, penetration_pair: list<item: string>, penetration_frame: int64, p (... 95 chars omitted)
child 0, max_penetration_mm: double
child 1, penetration_pair: list<item: string>
child 0, item: string
child 2, penetration_frame: int64
child 3, penetration_step: int64
child 4, rise_without_contact_frames: int64
child 5, tolerance_mm: double
child 6, passed: bool
task_type: string
strategy: string
failed_step: int64
condition: string
outcome: string
episode: string
strategy_id: int64
frames: int64
trials: int64
path: string
seconds: double
disturbed: string
top: double
disturbed_cm: double
caption: string
grasp_adjusted: list<item: struct<step: int64, reason: string, changed_to: string>>
child 0, item: struct<step: int64, reason: string, changed_to: string>
child 0, step: int64
child 1, reason: string
child 2, changed_to: string
to
{'scene': Value('string'), 'episode': Value('string'), 'condition': Value('string'), 'task_type': Value('string'), 'caption': Value('string'), 'strategy_id': Value('int64'), 'house': Value('string'), 'top': Value('float64'), 'match_tier': Value('string'), 'match_p99_mm': Json(decode=True), 'strategy': Value('string'), 'grasp_used': List(Value('string')), 'grasp_adjusted': List({'step': Value('int64'), 'reason': Value('string'), 'changed_to': Value('string')}), 'trials': Value('int64'), 'random_cam': Json(decode=True), 'frames': Value('int64'), 'seconds': Value('float64'), 'audit': {'max_penetration_mm': Value('float64'), 'penetration_pair': List(Value('string')), 'penetration_frame': Value('int64'), 'penetration_step': Value('int64'), 'rise_without_contact_frames': Value('int64'), 'tolerance_mm': Value('float64'), 'passed': Value('bool')}, 'outcome': Value('string'), 'failure_mode': Value('string'), 'failed_step': Value('int64'), 'fail_frame': Value('int64'), 'tar': Value('string'), 'path': Value('string'), 'disturbed': Value('string'), 'disturbed_cm': Value('float64')}
because column names don't match
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1694, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1879, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
scene string | episode string | condition string | task_type string | caption string | strategy_id int64 | house string | top float64 | match_tier string | match_p99_mm unknown | strategy string | grasp_used list | grasp_adjusted list | trials int64 | random_cam unknown | frames int64 | seconds float64 | audit dict | outcome string | failure_mode string | failed_step int64 | fail_frame int64 | tar string | path string | disturbed string | disturbed_cm float64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
scene_00000 | place_beige-egg_ceramic-bowl_k0 | place_beige-egg_ceramic-bowl | pick_place | Pick up the beige egg and place it in or on the ceramic bowl | 0 | train_2126.xml | 0.79 | strict | {
"beige egg": 0.77,
"ceramic bowl": 1.67
} | grasp 13 + direct path | [
"grasp 13"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.971,
0.9499000000000001,
1.4896
],
"look": [
-0.39430000000000004,
0.0551,
0.7679
],
"roll": 1.0420105746,
"fovy": 66.9136662613,
"azimuth_deg": -57.199566818,
"elevation_deg": -34.1354642416,
"distance": 1.2861089504,
"clear_frac": 1
} | 179 | 172.5 | {
"max_penetration_mm": 0.19,
"penetration_pair": [
"world",
"beige egg"
],
"penetration_frame": 90,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-egg_ceramic-bowl_k0 | null | null |
scene_00000 | place_beige-egg_ceramic-bowl_k1 | place_beige-egg_ceramic-bowl | pick_place | Pick up the beige egg and place it in or on the ceramic bowl | 1 | train_2126.xml | 0.79 | strict | {
"beige egg": 0.77,
"ceramic bowl": 1.67
} | grasp 0 flipped + curved path | [
"grasp 0 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.8899,
-0.7452000000000001,
1.1889
],
"look": [
-0.3769,
0.0397,
0.8902
],
"roll": 1.0696745973,
"fovy": 67.6880906844,
"azimuth_deg": 56.8353737615,
"elevation_deg": -17.6673605796,
"distance": 0.9841004077000001,
"clear_frac": 1
} | 222 | 189 | {
"max_penetration_mm": 0.15,
"penetration_pair": [
"ceramic bowl",
"beige egg"
],
"penetration_frame": 196,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-egg_ceramic-bowl_k1 | null | null |
scene_00000 | place_beige-egg_ceramic-bowl_k2 | place_beige-egg_ceramic-bowl | pick_place | Pick up the beige egg and place it in or on the ceramic bowl | 2 | train_2126.xml | 0.79 | strict | {
"beige egg": 0.77,
"ceramic bowl": 1.67
} | grasp 2 + direct path | [
"grasp 2"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.3385,
0.22060000000000002,
1.6716000000000002
],
"look": [
-0.4007,
-0.007,
0.7699
],
"roll": -3.1041498181,
"fovy": 55.8800351728,
"azimuth_deg": -13.643433526599999,
"elevation_deg": -43.0563375942,
"distance": 1.3207547079,
"clear_frac": 1
} | 152 | 132.5 | {
"max_penetration_mm": 0.5,
"penetration_pair": [
"ceramic bowl",
"beige egg"
],
"penetration_frame": 133,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-egg_ceramic-bowl_k2 | null | null |
scene_00000 | place_beige-egg_ceramic-bowl_k3 | place_beige-egg_ceramic-bowl | pick_place | Pick up the beige egg and place it in or on the ceramic bowl | 3 | train_2126.xml | 0.79 | strict | {
"beige egg": 0.77,
"ceramic bowl": 1.67
} | grasp 5 + curved path | [
"grasp 5"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.2597,
-0.6736000000000001,
1.5566
],
"look": [
-0.3919,
0.0678,
0.8408
],
"roll": 1.9885520506,
"fovy": 70.903185721,
"azimuth_deg": 40.5066282495,
"elevation_deg": -32.0940930623,
"distance": 1.3472441061,
"clear_frac": 1
} | 205 | 182.7 | {
"max_penetration_mm": 0.21,
"penetration_pair": [
"world",
"beige egg"
],
"penetration_frame": 85,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-egg_ceramic-bowl_k3 | null | null |
scene_00000 | place_beige-egg_ceramic-bowl_k4 | place_beige-egg_ceramic-bowl | pick_place | Pick up the beige egg and place it in or on the ceramic bowl | 4 | train_2126.xml | 0.79 | strict | {
"beige egg": 0.77,
"ceramic bowl": 1.67
} | grasp 8 flipped + direct path | [
"grasp 8 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.2908,
0.1257,
1.4811
],
"look": [
-0.3778,
0.0711,
0.8671000000000001
],
"roll": -4.8727056348,
"fovy": 68.568673122,
"azimuth_deg": -3.421689963,
"elevation_deg": -33.8758764379,
"distance": 1.1015985751,
"clear_frac": 1
} | 160 | 153.4 | {
"max_penetration_mm": 0.25,
"penetration_pair": [
"world",
"beige egg"
],
"penetration_frame": 78,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-egg_ceramic-bowl_k4 | null | null |
scene_00000 | place_beige-egg_ceramic-bowl_k5 | place_beige-egg_ceramic-bowl | pick_place | Pick up the beige egg and place it in or on the ceramic bowl | 5 | train_2126.xml | 0.79 | strict | {
"beige egg": 0.77,
"ceramic bowl": 1.67
} | grasp 10 flipped + curved path | [
"grasp 10 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.1694,
-0.68,
1.3009
],
"look": [
-0.31670000000000004,
0.0313,
0.8936000000000001
],
"roll": -4.6350612516,
"fovy": 62.072885658,
"azimuth_deg": 39.8346965074,
"elevation_deg": -20.141707224,
"distance": 1.18273919,
"clear_frac": 1
} | 166 | 155.6 | {
"max_penetration_mm": 0.37,
"penetration_pair": [
"world",
"beige egg"
],
"penetration_frame": 87,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-egg_ceramic-bowl_k5 | null | null |
scene_00000 | place_beige-mug_ceramic-bowl_k0 | place_beige-mug_ceramic-bowl | pick_place | Pick up the beige mug and place it in or on the ceramic bowl | 0 | train_2126.xml | 0.79 | strict | {
"beige mug": 1.8599999999999999,
"ceramic bowl": 1.67
} | grasp 3 flipped + direct path -> grasp 4 flipped (tight) | [
"grasp 4 flipped"
] | [
{
"step": 0,
"reason": "touched something in a trial run (grasp 3 flipped)",
"changed_to": "grasp 4 flipped (tight)"
}
] | 3 | {
"pos": [
-0.2602,
-0.9289000000000001,
1.512
],
"look": [
-0.292,
0.084,
0.8573000000000001
],
"roll": -2.5655816744,
"fovy": 69.8415214052,
"azimuth_deg": 91.7998885932,
"elevation_deg": -32.8630566939,
"distance": 1.2065161768000001,
"clear_frac": 1
} | 168 | 162.5 | {
"max_penetration_mm": 0.33,
"penetration_pair": [
"world",
"beige mug"
],
"penetration_frame": 79,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-mug_ceramic-bowl_k0 | null | null |
scene_00000 | place_beige-mug_ceramic-bowl_k1 | place_beige-mug_ceramic-bowl | pick_place | Pick up the beige mug and place it in or on the ceramic bowl | 1 | train_2126.xml | 0.79 | strict | {
"beige mug": 1.8599999999999999,
"ceramic bowl": 1.67
} | grasp 4 flipped + curved path | [
"grasp 4 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.7578,
-0.5364,
1.7093
],
"look": [
-0.2856,
0.0492,
0.7621
],
"roll": -5.9020929134,
"fovy": 62.5945535797,
"azimuth_deg": 51.1249961082,
"elevation_deg": -51.5422828552,
"distance": 1.2095485166,
"clear_frac": 1
} | 182 | 147.3 | {
"max_penetration_mm": 0.29,
"penetration_pair": [
"world",
"beige mug"
],
"penetration_frame": 92,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-mug_ceramic-bowl_k1 | null | null |
scene_00000 | place_beige-mug_ceramic-bowl_k2 | place_beige-mug_ceramic-bowl | pick_place | Pick up the beige mug and place it in or on the ceramic bowl | 2 | train_2126.xml | 0.79 | strict | {
"beige mug": 1.8599999999999999,
"ceramic bowl": 1.67
} | grasp 0 flipped + direct path -> grasp 1 flipped (tight) | [
"grasp 1 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "grasp 1 flipped (tight)"
}
] | 1 | {
"pos": [
-1.3488,
0.3894,
1.6191
],
"look": [
-0.3649,
0.07970000000000001,
0.8424
],
"roll": -3.6690103572,
"fovy": 54.9303967728,
"azimuth_deg": -17.4699832936,
"elevation_deg": -36.9817157251,
"distance": 1.2912753511,
"clear_frac": 1
} | 140 | 114.5 | {
"max_penetration_mm": 0.25,
"penetration_pair": [
"world",
"beige mug"
],
"penetration_frame": 48,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-mug_ceramic-bowl_k2 | null | null |
scene_00000 | place_beige-mug_ceramic-bowl_k3 | place_beige-mug_ceramic-bowl | pick_place | Pick up the beige mug and place it in or on the ceramic bowl | 3 | train_2126.xml | 0.79 | strict | {
"beige mug": 1.8599999999999999,
"ceramic bowl": 1.67
} | grasp 0 + curved path -> grasp 1 (tight) | [
"grasp 1"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "grasp 1 (tight)"
}
] | 1 | {
"pos": [
-1.2997,
-0.335,
1.6114000000000002
],
"look": [
-0.2818,
0.0969,
0.8704000000000001
],
"roll": -1.978071913,
"fovy": 58.8810564742,
"azimuth_deg": 22.9883088542,
"elevation_deg": -33.8274643309,
"distance": 1.331032257,
"clear_frac": 1
} | 147 | 122.5 | {
"max_penetration_mm": 0.23,
"penetration_pair": [
"world",
"beige mug"
],
"penetration_frame": 65,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-mug_ceramic-bowl_k3 | null | null |
scene_00000 | place_beige-mug_ceramic-bowl_k4 | place_beige-mug_ceramic-bowl | pick_place | Pick up the beige mug and place it in or on the ceramic bowl | 4 | train_2126.xml | 0.79 | strict | {
"beige mug": 1.8599999999999999,
"ceramic bowl": 1.67
} | grasp 1 + direct path | [
"grasp 1"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.2835,
-0.3402,
1.8247
],
"look": [
-0.38970000000000005,
0.024,
0.8944000000000001
],
"roll": 4.2568905372,
"fovy": 69.5666974973,
"azimuth_deg": 22.1718442799,
"elevation_deg": -43.9481455468,
"distance": 1.3404817902000001,
"clear_frac": 1
} | 168 | 139.9 | {
"max_penetration_mm": 0.23,
"penetration_pair": [
"world",
"beige mug"
],
"penetration_frame": 63,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-mug_ceramic-bowl_k4 | null | null |
scene_00000 | place_beige-mug_ceramic-bowl_k5 | place_beige-mug_ceramic-bowl | pick_place | Pick up the beige mug and place it in or on the ceramic bowl | 5 | train_2126.xml | 0.79 | strict | {
"beige mug": 1.8599999999999999,
"ceramic bowl": 1.67
} | grasp 2 + curved path | [
"grasp 2"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.3479,
-0.10400000000000001,
1.666
],
"look": [
-0.3531,
0.0983,
0.8596
],
"roll": 0.2333951947,
"fovy": 58.588279589,
"azimuth_deg": 11.4931012337,
"elevation_deg": -38.4611521524,
"distance": 1.2964944885,
"clear_frac": 1
} | 199 | 157.2 | {
"max_penetration_mm": 0.26,
"penetration_pair": [
"world",
"beige mug"
],
"penetration_frame": 129,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-mug_ceramic-bowl_k5 | null | null |
scene_00000 | place_beige-mug_dark-plate_k0 | place_beige-mug_dark-plate | pick_place | Pick up the beige mug and place it in or on the dark plate | 0 | train_2126.xml | 0.79 | relaxed | {
"beige mug": 1.8599999999999999,
"dark plate": 2.3
} | grasp 4 flipped + direct path | [
"grasp 4 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.3904,
-0.6691,
1.3753
],
"look": [
-0.4007,
0.0067,
0.7678
],
"roll": 0.0099198709,
"fovy": 52.1940971276,
"azimuth_deg": 34.3267281493,
"elevation_deg": -26.8806812213,
"distance": 1.3436368924,
"clear_frac": 1
} | 163 | 162.9 | {
"max_penetration_mm": 0.46,
"penetration_pair": [
"world",
"beige mug"
],
"penetration_frame": 134,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-mug_dark-plate_k0 | null | null |
scene_00000 | place_beige-mug_dark-plate_k1 | place_beige-mug_dark-plate | pick_place | Pick up the beige mug and place it in or on the dark plate | 1 | train_2126.xml | 0.79 | relaxed | {
"beige mug": 1.8599999999999999,
"dark plate": 2.3
} | grasp 0 + curved path -> grasp 1 (tight) | [
"grasp 1"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "grasp 1 (tight)"
}
] | 1 | {
"pos": [
-0.8318000000000001,
0.1443,
1.8976000000000002
],
"look": [
-0.3362,
0.0766,
0.8603000000000001
],
"roll": -2.0398849642,
"fovy": 55.4811091322,
"azimuth_deg": -7.7782319633,
"elevation_deg": -64.2553990719,
"distance": 1.1515976433,
"clear_frac": 1
} | 176 | 170.3 | {
"max_penetration_mm": 0.28,
"penetration_pair": [
"world",
"beige mug"
],
"penetration_frame": 79,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-mug_dark-plate_k1 | null | null |
scene_00000 | place_beige-mug_dark-plate_k2 | place_beige-mug_dark-plate | pick_place | Pick up the beige mug and place it in or on the dark plate | 2 | train_2126.xml | 0.79 | relaxed | {
"beige mug": 1.8599999999999999,
"dark plate": 2.3
} | grasp 1 flipped + direct path | [
"grasp 1 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.0128,
0.0529,
1.9273
],
"look": [
-0.2881,
-0.0344,
0.811
],
"roll": -5.7205134745,
"fovy": 68.2775178167,
"azimuth_deg": -6.8650622092999996,
"elevation_deg": -56.8189014311,
"distance": 1.3337178821,
"clear_frac": 1
} | 151 | 142.8 | {
"max_penetration_mm": 0.31,
"penetration_pair": [
"world",
"beige mug"
],
"penetration_frame": 78,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-mug_dark-plate_k2 | null | null |
scene_00000 | place_beige-mug_dark-plate_k3 | place_beige-mug_dark-plate | pick_place | Pick up the beige mug and place it in or on the dark plate | 3 | train_2126.xml | 0.79 | relaxed | {
"beige mug": 1.8599999999999999,
"dark plate": 2.3
} | grasp 1 flipped + curved path | [
"grasp 1 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.0287,
-0.3391,
1.7195
],
"look": [
-0.29410000000000003,
-0.0235,
0.7631
],
"roll": -0.2059991102,
"fovy": 66.2032152363,
"azimuth_deg": 23.2443000858,
"elevation_deg": -50.1055366944,
"distance": 1.2465639423,
"clear_frac": 1
} | 190 | 178.4 | {
"max_penetration_mm": 0.32,
"penetration_pair": [
"world",
"beige mug"
],
"penetration_frame": 84,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-mug_dark-plate_k3 | null | null |
scene_00000 | place_beige-mug_dark-plate_k5 | place_beige-mug_dark-plate | pick_place | Pick up the beige mug and place it in or on the dark plate | 5 | train_2126.xml | 0.79 | relaxed | {
"beige mug": 1.8599999999999999,
"dark plate": 2.3
} | grasp 3 flipped + curved path | [
"grasp 3 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.7864,
0.2916,
1.8916
],
"look": [
-0.3461,
-0.029,
0.8773000000000001
],
"roll": -5.9768927807,
"fovy": 65.1471982063,
"azimuth_deg": -36.0667272709,
"elevation_deg": -61.7687726371,
"distance": 1.1513365311000001,
"clear_frac": 1
} | 226 | 193.6 | {
"max_penetration_mm": 0.61,
"penetration_pair": [
"dark plate",
"beige mug"
],
"penetration_frame": 203,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_beige-mug_dark-plate_k5 | null | null |
scene_00000 | place_brown-clock_ceramic-bowl_k0 | place_brown-clock_ceramic-bowl | pick_place | Pick up the brown clock and place it in or on the ceramic bowl | 0 | train_2126.xml | 0.79 | strict | {
"brown clock": 1.2,
"ceramic bowl": 1.67
} | grasp 3 flipped + direct path -> grasp 4 flipped (tight) | [
"grasp 4 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "grasp 4 flipped (tight)"
}
] | 1 | {
"pos": [
-1.1589,
-0.7019000000000001,
1.5499
],
"look": [
-0.4162,
-0.0043,
0.7681
],
"roll": -1.2219406904,
"fovy": 59.761814051,
"azimuth_deg": 43.2085220451,
"elevation_deg": -37.5009379656,
"distance": 1.284362367,
"clear_frac": 1
} | 137 | 129.5 | {
"max_penetration_mm": 0.34,
"penetration_pair": [
"ceramic bowl",
"brown clock"
],
"penetration_frame": 118,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_brown-clock_ceramic-bowl_k0 | null | null |
scene_00000 | place_brown-clock_ceramic-bowl_k1 | place_brown-clock_ceramic-bowl | pick_place | Pick up the brown clock and place it in or on the ceramic bowl | 1 | train_2126.xml | 0.79 | strict | {
"brown clock": 1.2,
"ceramic bowl": 1.67
} | grasp 4 + curved path | [
"grasp 4"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.5085000000000001,
0.5429,
1.9027
],
"look": [
-0.2857,
-0.0002,
0.7929
],
"roll": 3.3794511247,
"fovy": 71.4726267562,
"azimuth_deg": -67.7005987872,
"elevation_deg": -62.1226165277,
"distance": 1.2555078823999999,
"clear_frac": 0.9550000000000001
} | 174 | 71.3 | {
"max_penetration_mm": 0.57,
"penetration_pair": [
"world",
"brown clock"
],
"penetration_frame": 76,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_brown-clock_ceramic-bowl_k1 | null | null |
scene_00000 | place_brown-clock_ceramic-bowl_k2 | place_brown-clock_ceramic-bowl | pick_place | Pick up the brown clock and place it in or on the ceramic bowl | 2 | train_2126.xml | 0.79 | strict | {
"brown clock": 1.2,
"ceramic bowl": 1.67
} | grasp 0 flipped + direct path | [
"grasp 0 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.3225,
0.22710000000000002,
1.4451
],
"look": [
-0.43110000000000004,
0.061,
0.8623000000000001
],
"roll": 1.1395658494,
"fovy": 59.0718174279,
"azimuth_deg": -10.5514673434,
"elevation_deg": -32.7285079571,
"distance": 1.0779063314,
"clear_frac": 1
} | 178 | 83.6 | {
"max_penetration_mm": 0.27,
"penetration_pair": [
"ceramic bowl",
"brown clock"
],
"penetration_frame": 157,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_brown-clock_ceramic-bowl_k2 | null | null |
scene_00000 | place_brown-clock_ceramic-bowl_k3 | place_brown-clock_ceramic-bowl | pick_place | Pick up the brown clock and place it in or on the ceramic bowl | 3 | train_2126.xml | 0.79 | strict | {
"brown clock": 1.2,
"ceramic bowl": 1.67
} | grasp 0 flipped + curved path | [
"grasp 0 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.8311000000000001,
-0.24860000000000002,
1.6718000000000002
],
"look": [
-0.4097,
-0.0473,
0.7667
],
"roll": -1.3594242916,
"fovy": 71.0348269625,
"azimuth_deg": 25.5380543331,
"elevation_deg": -62.7038733505,
"distance": 1.0184480113,
"clear_frac": 1
} | 192 | 121.5 | {
"max_penetration_mm": 0.33,
"penetration_pair": [
"world",
"brown clock"
],
"penetration_frame": 85,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_brown-clock_ceramic-bowl_k3 | null | null |
scene_00000 | place_brown-clock_ceramic-bowl_k4 | place_brown-clock_ceramic-bowl | pick_place | Pick up the brown clock and place it in or on the ceramic bowl | 4 | train_2126.xml | 0.79 | strict | {
"brown clock": 1.2,
"ceramic bowl": 1.67
} | grasp 1 + direct path | [
"grasp 1"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.3808,
-1.1545,
1.2567
],
"look": [
-0.3821,
0.0562,
0.8372
],
"roll": 3.2624845435,
"fovy": 67.4598958453,
"azimuth_deg": 90.0590841764,
"elevation_deg": -19.1088597562,
"distance": 1.281237572,
"clear_frac": 1
} | 144 | 90.1 | {
"max_penetration_mm": 0.57,
"penetration_pair": [
"world",
"brown clock"
],
"penetration_frame": 51,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_brown-clock_ceramic-bowl_k4 | null | null |
scene_00000 | place_brown-clock_ceramic-bowl_k5 | place_brown-clock_ceramic-bowl | pick_place | Pick up the brown clock and place it in or on the ceramic bowl | 5 | train_2126.xml | 0.79 | strict | {
"brown clock": 1.2,
"ceramic bowl": 1.67
} | grasp 2 flipped + curved path | [
"grasp 2 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.4256,
0.047,
1.4784000000000002
],
"look": [
-0.29760000000000003,
0.0239,
0.8375
],
"roll": 1.0711668255,
"fovy": 64.0646377717,
"azimuth_deg": -1.1737140221,
"elevation_deg": -29.6024455084,
"distance": 1.2975641965,
"clear_frac": 1
} | 186 | 143.1 | {
"max_penetration_mm": 0.37,
"penetration_pair": [
"world",
"brown clock"
],
"penetration_frame": 112,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/place_brown-clock_ceramic-bowl_k5 | null | null |
scene_00000 | stack_black_on_green_k0 | stack_black_on_green | stack | Stack the black block on top of the green block | 0 | train_2126.xml | 0.79 | strict | {} | left-side grasp + direct path | [
"left-side tilt 37deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.7307,
-1.1141,
1.4094
],
"look": [
-0.4363,
-0.0198,
0.9084000000000001
],
"roll": -1.5389822433,
"fovy": 58.8265181461,
"azimuth_deg": 74.9439175596,
"elevation_deg": -23.8483178602,
"distance": 1.2389880519,
"clear_frac": 1
} | 164 | 139.1 | {
"max_penetration_mm": 0.15,
"penetration_pair": [
"black block",
"world"
],
"penetration_frame": 57,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/stack_black_on_green_k0 | null | null |
scene_00000 | stack_black_on_green_k1 | stack_black_on_green | stack | Stack the black block on top of the green block | 1 | train_2126.xml | 0.79 | strict | {} | right-side grasp + direct path -> right-side tilt 24deg (tight) | [
"right-side tilt 24deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "right-side tilt 24deg (tight)"
}
] | 1 | {
"pos": [
-0.2655,
-0.7395,
1.2863
],
"look": [
-0.38070000000000004,
0.0679,
0.8952
],
"roll": 0.5279598563,
"fovy": 69.8412359743,
"azimuth_deg": 98.1194755065,
"elevation_deg": -25.6223278,
"distance": 0.9044518443,
"clear_frac": 1
} | 167 | 137.2 | {
"max_penetration_mm": 0.49,
"penetration_pair": [
"black block",
"world"
],
"penetration_frame": 67,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/stack_black_on_green_k1 | null | null |
scene_00000 | stack_black_on_green_k2 | stack_black_on_green | stack | Stack the black block on top of the green block | 2 | train_2126.xml | 0.79 | strict | {} | left-side grasp + curved path | [
"left-side tilt 36deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.1259,
-0.6412,
1.9713
],
"look": [
-0.39830000000000004,
0.0693,
0.8934000000000001
],
"roll": -1.6892886181,
"fovy": 65.763515574,
"azimuth_deg": 110.9753564611,
"elevation_deg": -54.7769475779,
"distance": 1.3194627792,
"clear_frac": 1
} | 184 | 127.6 | {
"max_penetration_mm": 0.18,
"penetration_pair": [
"black block",
"world"
],
"penetration_frame": 111,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/stack_black_on_green_k2 | null | null |
scene_00000 | stack_black_on_green_k3 | stack_black_on_green | stack | Stack the black block on top of the green block | 3 | train_2126.xml | 0.79 | strict | {} | right-side grasp + curved path -> right-side tilt 19deg (tight) | [
"right-side tilt 19deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "right-side tilt 19deg (tight)"
}
] | 1 | {
"pos": [
-0.2908,
0.6356,
2.0461
],
"look": [
-0.4249,
-0.011,
0.884
],
"roll": -1.5821165869,
"fovy": 50.5249611697,
"azimuth_deg": -101.7194172717,
"elevation_deg": -60.3938572618,
"distance": 1.336559073,
"clear_frac": 1
} | 189 | 118.5 | {
"max_penetration_mm": 0.52,
"penetration_pair": [
"black block",
"world"
],
"penetration_frame": 81,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/stack_black_on_green_k3 | null | null |
scene_00000 | stack_black_on_green_k4 | stack_black_on_green | stack | Stack the black block on top of the green block | 4 | train_2126.xml | 0.79 | strict | {} | random: left grasp + direct path | [
"left-side tilt 42deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.2937,
1.1154,
1.1997
],
"look": [
-0.3816,
0.0683,
0.8661000000000001
],
"roll": -3.1894039508,
"fovy": 63.3218419263,
"azimuth_deg": -94.7981456172,
"elevation_deg": -17.6129311376,
"distance": 1.1025363653,
"clear_frac": 1
} | 148 | 85.9 | {
"max_penetration_mm": 0.36,
"penetration_pair": [
"black block",
"world"
],
"penetration_frame": 53,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/stack_black_on_green_k4 | null | null |
scene_00000 | stack_black_on_green_k5 | stack_black_on_green | stack | Stack the black block on top of the green block | 5 | train_2126.xml | 0.79 | strict | {} | random: left grasp + direct path | [
"left-side tilt 16deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.0608,
-0.43210000000000004,
1.124
],
"look": [
-0.2928,
-0.0536,
0.906
],
"roll": -2.6436978153,
"fovy": 70.8421783748,
"azimuth_deg": 26.2379328446,
"elevation_deg": -14.2819915743,
"distance": 0.8835165879,
"clear_frac": 1
} | 181 | 91.8 | {
"max_penetration_mm": 0.12,
"penetration_pair": [
"black block",
"world"
],
"penetration_frame": 100,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/stack_black_on_green_k5 | null | null |
scene_00000 | tower_black_green_blue_k0 | tower_black_green_blue | stack_seq | Build a tower: put the green block on the black block, then the blue block on the green block | 0 | train_2126.xml | 0.79 | strict | {} | left-side grasp + direct path | [
"left-side tilt 29deg",
"left-side tilt 29deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
},
{
"step": 1,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.2268,
-0.5708,
1.2001
],
"look": [
-0.31720000000000004,
0.0961,
0.8843000000000001
],
"roll": 5.9523840475,
"fovy": 69.8505411004,
"azimuth_deg": 36.2468366649,
"elevation_deg": -15.644272193,
"distance": 1.1712785164,
"clear_frac": 1
} | 327 | 235.6 | {
"max_penetration_mm": 0.7,
"penetration_pair": [
"blue block",
"world"
],
"penetration_frame": 223,
"penetration_step": 1,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/tower_black_green_blue_k0 | null | null |
scene_00000 | tower_black_green_blue_k1 | tower_black_green_blue | stack_seq | Build a tower: put the green block on the black block, then the blue block on the green block | 1 | train_2126.xml | 0.79 | strict | {} | right-side grasp + direct path | [
"right-side tilt 30deg",
"top-down yaw 90deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
},
{
"step": 1,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 90deg (tight)"
}
] | 1 | {
"pos": [
-1.2508,
0.3693,
1.2022
],
"look": [
-0.34890000000000004,
0.0608,
0.803
],
"roll": 3.1566427633,
"fovy": 65.010381773,
"azimuth_deg": -18.884448055,
"elevation_deg": -22.7224230111,
"distance": 1.0334113973,
"clear_frac": 1
} | 328 | 241.4 | {
"max_penetration_mm": 0.4,
"penetration_pair": [
"green block",
"world"
],
"penetration_frame": 56,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/tower_black_green_blue_k1 | null | null |
scene_00000 | tower_black_green_blue_k2 | tower_black_green_blue | stack_seq | Build a tower: put the green block on the black block, then the blue block on the green block | 2 | train_2126.xml | 0.79 | strict | {} | left-side grasp + curved path | [
"left-side tilt 26deg",
"left-side tilt 26deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
},
{
"step": 1,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.2474,
-0.9736,
1.7762
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"look": [
-0.2851,
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"roll": 2.4643842562,
"fovy": 66.9596184369,
"azimuth_deg": 92.1696487851,
"elevation_deg": -42.1700004516,
"distance": 1.3448865945000001,
"clear_frac": 1
} | 361 | 267.9 | {
"max_penetration_mm": 0.42,
"penetration_pair": [
"green block",
"world"
],
"penetration_frame": 84,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/tower_black_green_blue_k2 | null | null |
scene_00000 | tower_black_green_blue_k3 | tower_black_green_blue | stack_seq | Build a tower: put the green block on the black block, then the blue block on the green block | 3 | train_2126.xml | 0.79 | strict | {} | right-side grasp + curved path | [
"right-side tilt 24deg",
"top-down yaw 90deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "right-side tilt 24deg (tight)"
},
{
"step": 1,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 90deg (tight)"
}
] | 1 | {
"pos": [
-1.3256000000000001,
-0.196,
1.565
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"look": [
-0.39630000000000004,
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0.8864000000000001
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"roll": -2.0080287314,
"fovy": 71.1581454137,
"azimuth_deg": 17.6242679727,
"elevation_deg": -34.8366078223,
"distance": 1.1880735723,
"clear_frac": 1
} | 367 | 270.9 | {
"max_penetration_mm": 0.49,
"penetration_pair": [
"green block",
"world"
],
"penetration_frame": 87,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/tower_black_green_blue_k3 | null | null |
scene_00000 | tower_black_green_blue_k4 | tower_black_green_blue | stack_seq | Build a tower: put the green block on the black block, then the blue block on the green block | 4 | train_2126.xml | 0.79 | strict | {} | random: left grasp + direct path | [
"left-side tilt 16deg",
"left-side tilt 5deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
},
{
"step": 1,
"reason": "hand would hit (phase 1)",
"changed_to": "left-side tilt 5deg (tight)"
}
] | 1 | {
"pos": [
-0.6438,
-0.48210000000000003,
1.6880000000000002
],
"look": [
-0.3471,
0.082,
0.8808
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"roll": -0.9933830982,
"fovy": 52.3729518636,
"azimuth_deg": 62.2596691216,
"elevation_deg": -51.7040587338,
"distance": 1.0285312238,
"clear_frac": 1
} | 356 | 265.3 | {
"max_penetration_mm": 0.53,
"penetration_pair": [
"blue block",
"world"
],
"penetration_frame": 243,
"penetration_step": 1,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/tower_black_green_blue_k4 | null | null |
scene_00000 | tower_black_green_blue_k5 | tower_black_green_blue | stack_seq | Build a tower: put the green block on the black block, then the blue block on the green block | 5 | train_2126.xml | 0.79 | strict | {} | random: top grasp + curved path | [
"top-down yaw -6deg",
"top-down yaw 84deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
},
{
"step": 1,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 84deg (tight)"
}
] | 1 | {
"pos": [
-0.5322,
-0.6872,
1.549
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"look": [
-0.37520000000000003,
0.09280000000000001,
0.8284
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"roll": -3.1337365308,
"fovy": 62.7821744039,
"azimuth_deg": 78.620848326,
"elevation_deg": -42.1661391548,
"distance": 1.0734370525,
"clear_frac": 1
} | 321 | 242.7 | {
"max_penetration_mm": 0.57,
"penetration_pair": [
"green block",
"world"
],
"penetration_frame": 68,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00000.tar | scene_00000/tower_black_green_blue_k5 | null | null |
scene_00001 | place_blue-speaker_ceramic-dish_k0 | place_blue-speaker_ceramic-dish | pick_place | Pick up the blue speaker and place it in or on the ceramic dish | 0 | train_6662.xml | 0.808 | relaxed | {
"blue speaker": 1.11,
"ceramic dish": 2.33
} | grasp 1 flipped + direct path | [
"grasp 1 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.623,
-0.5001,
1.8577
],
"look": [
-0.42310000000000003,
-0.040400000000000005,
0.8609
],
"roll": 4.4395839678,
"fovy": 52.5187385409,
"azimuth_deg": 66.5039059939,
"elevation_deg": -63.3011181969,
"distance": 1.1157878896,
"clear_frac": 1
} | 137 | 128.8 | {
"max_penetration_mm": 0.11,
"penetration_pair": [
"world",
"blue speaker"
],
"penetration_frame": 51,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_blue-speaker_ceramic-dish_k0 | null | null |
scene_00001 | place_blue-speaker_ceramic-dish_k1 | place_blue-speaker_ceramic-dish | pick_place | Pick up the blue speaker and place it in or on the ceramic dish | 1 | train_6662.xml | 0.808 | relaxed | {
"blue speaker": 1.11,
"ceramic dish": 2.33
} | grasp 2 + curved path | [
"grasp 2"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.9307000000000001,
-0.5288,
2.0159
],
"look": [
-0.4378,
0.0533,
0.9215000000000001
],
"roll": -0.9407433314,
"fovy": 59.538303192,
"azimuth_deg": 49.743671775,
"elevation_deg": -55.1245131345,
"distance": 1.3339429032,
"clear_frac": 1
} | 170 | 183.7 | {
"max_penetration_mm": 0.18,
"penetration_pair": [
"world",
"blue speaker"
],
"penetration_frame": 142,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_blue-speaker_ceramic-dish_k1 | null | null |
scene_00001 | place_blue-speaker_ceramic-dish_k2 | place_blue-speaker_ceramic-dish | pick_place | Pick up the blue speaker and place it in or on the ceramic dish | 2 | train_6662.xml | 0.808 | relaxed | {
"blue speaker": 1.11,
"ceramic dish": 2.33
} | grasp 2 + direct path | [
"grasp 2"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.4335,
0.8313,
1.108
],
"look": [
-0.3689,
-0.016,
0.8996000000000001
],
"roll": 0.3380995381,
"fovy": 66.0046282951,
"azimuth_deg": -85.640534195,
"elevation_deg": -13.7781637188,
"distance": 0.8749427955,
"clear_frac": 1
} | 169 | 210 | {
"max_penetration_mm": 0.23,
"penetration_pair": [
"world",
"blue speaker"
],
"penetration_frame": 69,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_blue-speaker_ceramic-dish_k2 | null | null |
scene_00001 | place_blue-speaker_ceramic-dish_k3 | place_blue-speaker_ceramic-dish | pick_place | Pick up the blue speaker and place it in or on the ceramic dish | 3 | train_6662.xml | 0.808 | relaxed | {
"blue speaker": 1.11,
"ceramic dish": 2.33
} | grasp 3 flipped + curved path -> grasp 0 flipped (tight) | [
"grasp 0 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "grasp 0 flipped (tight)"
}
] | 1 | {
"pos": [
-1.0438,
0.9365,
1.274
],
"look": [
-0.42360000000000003,
0.0151,
0.8494
],
"roll": -2.2048240093,
"fovy": 64.1673153777,
"azimuth_deg": -56.0579764572,
"elevation_deg": -20.9243301605,
"distance": 1.1890980323,
"clear_frac": 1
} | 195 | 293.2 | {
"max_penetration_mm": 0.43,
"penetration_pair": [
"ceramic dish",
"blue speaker"
],
"penetration_frame": 172,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_blue-speaker_ceramic-dish_k3 | null | null |
scene_00001 | place_blue-speaker_ceramic-dish_k4 | place_blue-speaker_ceramic-dish | pick_place | Pick up the blue speaker and place it in or on the ceramic dish | 4 | train_6662.xml | 0.808 | relaxed | {
"blue speaker": 1.11,
"ceramic dish": 2.33
} | grasp 0 flipped + direct path | [
"grasp 0 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.2097,
-0.11220000000000001,
1.6296
],
"look": [
-0.3427,
0.09630000000000001,
0.8886000000000001
],
"roll": -3.4217154594,
"fovy": 60.5783515188,
"azimuth_deg": 13.5206890503,
"elevation_deg": -39.7244471465,
"distance": 1.1594487902,
"clear_frac": 1
} | 171 | 260.1 | {
"max_penetration_mm": 0.17,
"penetration_pair": [
"world",
"blue speaker"
],
"penetration_frame": 58,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_blue-speaker_ceramic-dish_k4 | null | null |
scene_00001 | place_blue-speaker_ceramic-dish_k5 | place_blue-speaker_ceramic-dish | pick_place | Pick up the blue speaker and place it in or on the ceramic dish | 5 | train_6662.xml | 0.808 | relaxed | {
"blue speaker": 1.11,
"ceramic dish": 2.33
} | grasp 0 + curved path | [
"grasp 0"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.9532,
-0.7776000000000001,
1.5753
],
"look": [
-0.3357,
-0.0592,
0.8725
],
"roll": -3.9606314728000003,
"fovy": 54.0497920253,
"azimuth_deg": 49.3232375215,
"elevation_deg": -36.5725768221,
"distance": 1.179547013,
"clear_frac": 1
} | 209 | 320.4 | {
"max_penetration_mm": 0.45,
"penetration_pair": [
"ceramic dish",
"blue speaker"
],
"penetration_frame": 187,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_blue-speaker_ceramic-dish_k5 | null | null |
scene_00001 | place_red-tomato_blue-plate_k0 | place_red-tomato_blue-plate | pick_place | Pick up the red tomato and place it in or on the blue plate | 0 | train_6662.xml | 0.808 | relaxed | {
"red tomato": 1.7000000000000002,
"blue plate": 2.2800000000000002
} | grasp 7 + direct path | [
"grasp 7"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.9716,
-0.67,
1.6379000000000001
],
"look": [
-0.3549,
0.0213,
0.9203
],
"roll": -5.8372996296,
"fovy": 61.7384536869,
"azimuth_deg": 48.267582357,
"elevation_deg": -37.7632390034,
"distance": 1.1717520359,
"clear_frac": 1
} | 206 | 325.8 | {
"max_penetration_mm": 0.09,
"penetration_pair": [
"world",
"red tomato"
],
"penetration_frame": 95,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_red-tomato_blue-plate_k0 | null | null |
scene_00001 | place_red-tomato_blue-plate_k1 | place_red-tomato_blue-plate | pick_place | Pick up the red tomato and place it in or on the blue plate | 1 | train_6662.xml | 0.808 | relaxed | {
"red tomato": 1.7000000000000002,
"blue plate": 2.2800000000000002
} | grasp 9 + curved path | [
"grasp 9"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.0799,
1.2162,
1.112
],
"look": [
-0.4247,
-0.028300000000000002,
0.8116
],
"roll": -1.2234849869,
"fovy": 71.30177426,
"azimuth_deg": -105.4883576966,
"elevation_deg": -13.0977531717,
"distance": 1.3258263258,
"clear_frac": 1
} | 178 | 287.9 | {
"max_penetration_mm": 0.1,
"penetration_pair": [
"world",
"red tomato"
],
"penetration_frame": 97,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_red-tomato_blue-plate_k1 | null | null |
scene_00001 | place_red-tomato_blue-plate_k2 | place_red-tomato_blue-plate | pick_place | Pick up the red tomato and place it in or on the blue plate | 2 | train_6662.xml | 0.808 | relaxed | {
"red tomato": 1.7000000000000002,
"blue plate": 2.2800000000000002
} | grasp 0 flipped + direct path | [
"grasp 0 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.9112,
0.1038,
2.0783
],
"look": [
-0.3043,
0.0023,
0.9278000000000001
],
"roll": -4.9075343921000005,
"fovy": 53.8830852415,
"azimuth_deg": -9.5040061242,
"elevation_deg": -61.8619548247,
"distance": 1.3046907948,
"clear_frac": 1
} | 133 | 207.7 | {
"max_penetration_mm": 0.33,
"penetration_pair": [
"blue plate",
"red tomato"
],
"penetration_frame": 115,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_red-tomato_blue-plate_k2 | null | null |
scene_00001 | place_red-tomato_blue-plate_k3 | place_red-tomato_blue-plate | pick_place | Pick up the red tomato and place it in or on the blue plate | 3 | train_6662.xml | 0.808 | relaxed | {
"red tomato": 1.7000000000000002,
"blue plate": 2.2800000000000002
} | grasp 2 + curved path | [
"grasp 2"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.7493000000000001,
-0.5439,
1.6
],
"look": [
-0.3758,
0.0713,
0.8201
],
"roll": 3.8470149514000003,
"fovy": 54.084315139,
"azimuth_deg": 58.7389947818,
"elevation_deg": -47.2953114442,
"distance": 1.0612096348,
"clear_frac": 1
} | 180 | 281 | {
"max_penetration_mm": 0.1,
"penetration_pair": [
"world",
"red tomato"
],
"penetration_frame": 104,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_red-tomato_blue-plate_k3 | null | null |
scene_00001 | place_red-tomato_blue-plate_k4 | place_red-tomato_blue-plate | pick_place | Pick up the red tomato and place it in or on the blue plate | 4 | train_6662.xml | 0.808 | relaxed | {
"red tomato": 1.7000000000000002,
"blue plate": 2.2800000000000002
} | grasp 4 flipped + direct path | [
"grasp 4 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.28850000000000003,
0.5473,
1.3906
],
"look": [
-0.3169,
0.092,
0.9343
],
"roll": 1.8604997795,
"fovy": 67.4602126196,
"azimuth_deg": -93.5743420399,
"elevation_deg": -45.004663129,
"distance": 0.6452596838,
"clear_frac": 1
} | 163 | 269 | {
"max_penetration_mm": 0.62,
"penetration_pair": [
"blue plate",
"red tomato"
],
"penetration_frame": 141,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_red-tomato_blue-plate_k4 | null | null |
scene_00001 | place_red-tomato_blue-plate_k5 | place_red-tomato_blue-plate | pick_place | Pick up the red tomato and place it in or on the blue plate | 5 | train_6662.xml | 0.808 | relaxed | {
"red tomato": 1.7000000000000002,
"blue plate": 2.2800000000000002
} | grasp 5 + curved path | [
"grasp 5"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.29450000000000004,
-0.7892,
1.6404
],
"look": [
-0.28600000000000003,
0.06860000000000001,
0.8681000000000001
],
"roll": 5.204358034,
"fovy": 57.6672486459,
"azimuth_deg": 89.4342861683,
"elevation_deg": -41.9953903931,
"distance": 1.154245487,
"clear_frac": 1
} | 191 | 294.1 | {
"max_penetration_mm": 0.11,
"penetration_pair": [
"world",
"red tomato"
],
"penetration_frame": 105,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_red-tomato_blue-plate_k5 | null | null |
scene_00001 | place_red-tomato_ceramic-dish_k0 | place_red-tomato_ceramic-dish | pick_place | Pick up the red tomato and place it in or on the ceramic dish | 0 | train_6662.xml | 0.808 | relaxed | {
"red tomato": 1.7000000000000002,
"ceramic dish": 2.33
} | grasp 3 flipped + direct path | [
"grasp 3 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.8881,
0.34550000000000003,
1.7586
],
"look": [
-0.42550000000000004,
-0.0009000000000000001,
0.8527
],
"roll": -3.1333086628,
"fovy": 70.7133724354,
"azimuth_deg": -36.8300244582,
"elevation_deg": -57.4636630459,
"distance": 1.0745687554,
"clear_frac": 1
} | 178 | 285.1 | {
"max_penetration_mm": 0.45,
"penetration_pair": [
"world",
"red tomato"
],
"penetration_frame": 68,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_red-tomato_ceramic-dish_k0 | null | null |
scene_00001 | place_red-tomato_ceramic-dish_k1 | place_red-tomato_ceramic-dish | pick_place | Pick up the red tomato and place it in or on the ceramic dish | 1 | train_6662.xml | 0.808 | relaxed | {
"red tomato": 1.7000000000000002,
"ceramic dish": 2.33
} | grasp 5 + curved path | [
"grasp 5"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.3366,
0.9529000000000001,
1.6524
],
"look": [
-0.3144,
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],
"roll": -2.4537389466,
"fovy": 67.1151233415,
"azimuth_deg": -88.5231000061,
"elevation_deg": -41.1066407187,
"distance": 1.1392487322,
"clear_frac": 1
} | 156 | 270.8 | {
"max_penetration_mm": 0.21,
"penetration_pair": [
"world",
"red tomato"
],
"penetration_frame": 98,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_red-tomato_ceramic-dish_k1 | null | null |
scene_00001 | place_red-tomato_ceramic-dish_k2 | place_red-tomato_ceramic-dish | pick_place | Pick up the red tomato and place it in or on the ceramic dish | 2 | train_6662.xml | 0.808 | relaxed | {
"red tomato": 1.7000000000000002,
"ceramic dish": 2.33
} | grasp 6 flipped + direct path | [
"grasp 6 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.3931,
1.2479,
1.2645
],
"look": [
-0.3643,
0.0695,
0.9137000000000001
],
"roll": 5.0849886878,
"fovy": 62.4574488042,
"azimuth_deg": -88.6007411385,
"elevation_deg": -16.5723601291,
"distance": 1.2297867861,
"clear_frac": 1
} | 143 | 248.7 | {
"max_penetration_mm": 0.44,
"penetration_pair": [
"world",
"red tomato"
],
"penetration_frame": 52,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_red-tomato_ceramic-dish_k2 | null | null |
scene_00001 | place_red-tomato_ceramic-dish_k3 | place_red-tomato_ceramic-dish | pick_place | Pick up the red tomato and place it in or on the ceramic dish | 3 | train_6662.xml | 0.808 | relaxed | {
"red tomato": 1.7000000000000002,
"ceramic dish": 2.33
} | grasp 8 + curved path | [
"grasp 8"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.8479,
-0.5650000000000001,
1.8045
],
"look": [
-0.41300000000000003,
-0.040600000000000004,
0.8499
],
"roll": 1.4887621122,
"fovy": 52.0762959461,
"azimuth_deg": 50.3277473651,
"elevation_deg": -54.4850874517,
"distance": 1.172762512,
"clear_frac": 1
} | 172 | 281.2 | {
"max_penetration_mm": 0.13,
"penetration_pair": [
"world",
"red tomato"
],
"penetration_frame": 144,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_red-tomato_ceramic-dish_k3 | null | null |
scene_00001 | place_red-tomato_ceramic-dish_k4 | place_red-tomato_ceramic-dish | pick_place | Pick up the red tomato and place it in or on the ceramic dish | 4 | train_6662.xml | 0.808 | relaxed | {
"red tomato": 1.7000000000000002,
"ceramic dish": 2.33
} | grasp 0 + direct path | [
"grasp 0"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.53,
1.0542,
1.6924000000000001
],
"look": [
-0.43220000000000003,
0.0587,
0.9194
],
"roll": 0.8580299009000001,
"fovy": 71.9688634563,
"azimuth_deg": -84.3867557594,
"elevation_deg": -37.6945368927,
"distance": 1.2640909653999999,
"clear_frac": 1
} | 155 | 266.6 | {
"max_penetration_mm": 0.09,
"penetration_pair": [
"world",
"red tomato"
],
"penetration_frame": 74,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_red-tomato_ceramic-dish_k4 | null | null |
scene_00001 | place_red-tomato_ceramic-dish_k5 | place_red-tomato_ceramic-dish | pick_place | Pick up the red tomato and place it in or on the ceramic dish | 5 | train_6662.xml | 0.808 | relaxed | {
"red tomato": 1.7000000000000002,
"ceramic dish": 2.33
} | grasp 1 + curved path -> grasp 1 + high arc (tight) | [
"grasp 1 + high arc"
] | [
{
"step": 0,
"reason": "touched something in a trial run (grasp 1)",
"changed_to": "grasp 1 + high arc (tight)"
}
] | 2 | {
"pos": [
-0.9525,
-0.8584,
1.4302000000000001
],
"look": [
-0.2869,
-0.050800000000000005,
0.8886000000000001
],
"roll": 5.6893400771,
"fovy": 66.035603214,
"azimuth_deg": 50.5051193601,
"elevation_deg": -27.3614019226,
"distance": 1.1784031891,
"clear_frac": 1
} | 168 | 289.8 | {
"max_penetration_mm": 0.13,
"penetration_pair": [
"world",
"red tomato"
],
"penetration_frame": 102,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_red-tomato_ceramic-dish_k5 | null | null |
scene_00001 | place_silver-clock_ceramic-dish_k0 | place_silver-clock_ceramic-dish | pick_place | Pick up the silver clock and place it in or on the ceramic dish | 0 | train_6662.xml | 0.808 | relaxed | {
"silver clock": 1.79,
"ceramic dish": 2.33
} | grasp 0 flipped + direct path | [
"grasp 0 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
0.0809,
-0.8596,
1.7861
],
"look": [
-0.3259,
0.046400000000000004,
0.8945000000000001
],
"roll": -5.5321267304,
"fovy": 58.1802017903,
"azimuth_deg": 114.1829057363,
"elevation_deg": -41.9169959685,
"distance": 1.3346245266,
"clear_frac": 1
} | 129 | 219.6 | {
"max_penetration_mm": 0.95,
"penetration_pair": [
"ceramic dish",
"silver clock"
],
"penetration_frame": 112,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_silver-clock_ceramic-dish_k0 | null | null |
scene_00001 | place_silver-clock_ceramic-dish_k1 | place_silver-clock_ceramic-dish | pick_place | Pick up the silver clock and place it in or on the ceramic dish | 1 | train_6662.xml | 0.808 | relaxed | {
"silver clock": 1.79,
"ceramic dish": 2.33
} | grasp 0 + curved path -> grasp 1 (tight) | [
"grasp 1"
] | [
{
"step": 0,
"reason": "touched something in a trial run (grasp 0)",
"changed_to": "grasp 1 (tight)"
}
] | 3 | {
"pos": [
-0.2869,
0.606,
2.0443
],
"look": [
-0.2884,
0.041800000000000004,
0.8802000000000001
],
"roll": -3.4735233192,
"fovy": 65.27142889940001,
"azimuth_deg": -90.1572019642,
"elevation_deg": -64.1402287121,
"distance": 1.2937107887,
"clear_frac": 1
} | 163 | 282.1 | {
"max_penetration_mm": 0.21,
"penetration_pair": [
"world",
"silver clock"
],
"penetration_frame": 72,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_silver-clock_ceramic-dish_k1 | null | null |
scene_00001 | place_silver-clock_ceramic-dish_k2 | place_silver-clock_ceramic-dish | pick_place | Pick up the silver clock and place it in or on the ceramic dish | 2 | train_6662.xml | 0.808 | relaxed | {
"silver clock": 1.79,
"ceramic dish": 2.33
} | grasp 1 flipped + direct path | [
"grasp 1 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.6312,
1.0031,
1.6659000000000002
],
"look": [
-0.43,
0.029,
0.8692000000000001
],
"roll": 0.6389370182,
"fovy": 65.5333640658,
"azimuth_deg": -78.3287813545,
"elevation_deg": -38.6937405698,
"distance": 1.2743719605,
"clear_frac": 1
} | 180 | 297.1 | {
"max_penetration_mm": 0.38,
"penetration_pair": [
"world",
"silver clock"
],
"penetration_frame": 63,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_silver-clock_ceramic-dish_k2 | null | null |
scene_00001 | place_silver-clock_ceramic-dish_k3 | place_silver-clock_ceramic-dish | pick_place | Pick up the silver clock and place it in or on the ceramic dish | 3 | train_6662.xml | 0.808 | relaxed | {
"silver clock": 1.79,
"ceramic dish": 2.33
} | grasp 1 flipped + curved path | [
"grasp 1 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.6764,
-0.898,
1.3948
],
"look": [
-0.3242,
0.0751,
0.9042
],
"roll": -1.6563975711999999,
"fovy": 57.2445583948,
"azimuth_deg": 70.1048237236,
"elevation_deg": -25.3621989108,
"distance": 1.1453283776,
"clear_frac": 1
} | 216 | 316.6 | {
"max_penetration_mm": 0.13,
"penetration_pair": [
"world",
"silver clock"
],
"penetration_frame": 99,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_silver-clock_ceramic-dish_k3 | null | null |
scene_00001 | place_silver-clock_ceramic-dish_k4 | place_silver-clock_ceramic-dish | pick_place | Pick up the silver clock and place it in or on the ceramic dish | 4 | train_6662.xml | 0.808 | relaxed | {
"silver clock": 1.79,
"ceramic dish": 2.33
} | grasp 1 flipped + direct path | [
"grasp 1 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.09720000000000001,
-0.6098,
1.6401
],
"look": [
-0.28140000000000004,
0.049,
0.8401000000000001
],
"roll": -2.0880619735,
"fovy": 61.2094397175,
"azimuth_deg": 105.6198408335,
"elevation_deg": -49.4685155165,
"distance": 1.0525702427999999,
"clear_frac": 1
} | 141 | 231.9 | {
"max_penetration_mm": 0.5,
"penetration_pair": [
"ceramic dish",
"silver clock"
],
"penetration_frame": 123,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_silver-clock_ceramic-dish_k4 | null | null |
scene_00001 | place_silver-clock_ceramic-dish_k5 | place_silver-clock_ceramic-dish | pick_place | Pick up the silver clock and place it in or on the ceramic dish | 5 | train_6662.xml | 0.808 | relaxed | {
"silver clock": 1.79,
"ceramic dish": 2.33
} | grasp 0 + curved path | [
"grasp 0"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.0965,
1.2609,
1.3005
],
"look": [
-0.33030000000000004,
0.0839,
0.9244
],
"roll": -1.248715625,
"fovy": 61.785506088,
"azimuth_deg": -101.2352622774,
"elevation_deg": -17.400924087699998,
"distance": 1.2575585553,
"clear_frac": 1
} | 191 | 308.5 | {
"max_penetration_mm": 0.72,
"penetration_pair": [
"world",
"silver clock"
],
"penetration_frame": 78,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/place_silver-clock_ceramic-dish_k5 | null | null |
scene_00001 | stack_black_on_red_k0 | stack_black_on_red | stack | Stack the black block on top of the red block | 0 | train_6662.xml | 0.808 | strict | {} | left-side grasp + direct path | [
"left-side tilt 32deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.6211,
0.7355,
1.3407
],
"look": [
-0.40280000000000005,
0.007500000000000001,
0.842
],
"roll": -2.8896681147,
"fovy": 71.9393348989,
"azimuth_deg": -73.305321775,
"elevation_deg": -33.270229428,
"distance": 0.9090691819000001,
"clear_frac": 1
} | 157 | 248 | {
"max_penetration_mm": 0.35,
"penetration_pair": [
"black block",
"world"
],
"penetration_frame": 58,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/stack_black_on_red_k0 | null | null |
scene_00001 | stack_black_on_red_k1 | stack_black_on_red | stack | Stack the black block on top of the red block | 1 | train_6662.xml | 0.808 | strict | {} | right-side grasp + direct path -> top-down yaw 0deg (tight) | [
"top-down yaw 0deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 0deg (tight)"
}
] | 1 | {
"pos": [
-0.8952,
0.0117,
1.748
],
"look": [
-0.3422,
0.0936,
0.7884
],
"roll": -4.9887885823,
"fovy": 65.0405973743,
"azimuth_deg": 8.4297967967,
"elevation_deg": -59.778461687000004,
"distance": 1.1106086535,
"clear_frac": 1
} | 164 | 207.7 | {
"max_penetration_mm": 0.84,
"penetration_pair": [
"black block",
"world"
],
"penetration_frame": 58,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/stack_black_on_red_k1 | null | null |
scene_00001 | stack_black_on_red_k2 | stack_black_on_red | stack | Stack the black block on top of the red block | 2 | train_6662.xml | 0.808 | strict | {} | left-side grasp + curved path | [
"left-side tilt 42deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.0638,
-0.08070000000000001,
1.7464
],
"look": [
-0.36050000000000004,
0.005,
0.8539
],
"roll": -0.9400353564,
"fovy": 62.0807287534,
"azimuth_deg": 6.9437952728,
"elevation_deg": -51.5564712436,
"distance": 1.1395572097,
"clear_frac": 1
} | 183 | 192.9 | {
"max_penetration_mm": 0.35,
"penetration_pair": [
"black block",
"world"
],
"penetration_frame": 79,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/stack_black_on_red_k2 | null | null |
scene_00001 | stack_black_on_red_k3 | stack_black_on_red | stack | Stack the black block on top of the red block | 3 | train_6662.xml | 0.808 | strict | {} | right-side grasp + curved path -> top-down yaw 0deg + high arc (tight) | [
"top-down yaw 0deg + high arc"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 0deg + high arc (tight)"
}
] | 1 | {
"pos": [
-0.5516,
0.8648,
1.7422
],
"look": [
-0.3856,
-0.0543,
0.9074000000000001
],
"roll": 1.2922020503,
"fovy": 60.4219181538,
"azimuth_deg": -79.7672534147,
"elevation_deg": -41.7903222548,
"distance": 1.2526345567,
"clear_frac": 1
} | 188 | 206.7 | {
"max_penetration_mm": 0.54,
"penetration_pair": [
"black block",
"world"
],
"penetration_frame": 84,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/stack_black_on_red_k3 | null | null |
scene_00001 | stack_black_on_red_k4 | stack_black_on_red | stack | Stack the black block on top of the red block | 4 | train_6662.xml | 0.808 | strict | {} | random: left grasp + curved path | [
"left-side tilt 41deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.924,
0.5943,
1.0899
],
"look": [
-0.38630000000000003,
0.0585,
0.862
],
"roll": -3.5135002314,
"fovy": 67.8169784888,
"azimuth_deg": -44.8960058625,
"elevation_deg": -16.70783709,
"distance": 0.7925875789,
"clear_frac": 1
} | 174 | 189.9 | {
"max_penetration_mm": 0.51,
"penetration_pair": [
"red block",
"black block"
],
"penetration_frame": 153,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/stack_black_on_red_k4 | null | null |
scene_00001 | stack_black_on_red_k5 | stack_black_on_red | stack | Stack the black block on top of the red block | 5 | train_6662.xml | 0.808 | strict | {} | random: right grasp + curved path -> top-down yaw 0deg (tight) | [
"top-down yaw 0deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 0deg (tight)"
}
] | 1 | {
"pos": [
-0.9846,
0.3062,
1.1365
],
"look": [
-0.4278,
0.09860000000000001,
0.8944000000000001
],
"roll": 5.0339235635,
"fovy": 71.7410514345,
"azimuth_deg": -20.4520879636,
"elevation_deg": -22.1700500696,
"distance": 0.641606376,
"clear_frac": 1
} | 183 | 224.4 | {
"max_penetration_mm": 0.31,
"penetration_pair": [
"black block",
"world"
],
"penetration_frame": 81,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/stack_black_on_red_k5 | null | null |
scene_00001 | tower_black_red_purple_k1 | tower_black_red_purple | stack_seq | Build a tower: put the red block on the black block, then the purple block on the red block | 1 | train_6662.xml | 0.808 | strict | {} | right-side grasp + direct path | [
"top-down yaw 0deg",
"right-side tilt 37deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 0deg (tight)"
},
{
"step": 1,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.6279,
0.5571,
1.2067
],
"look": [
-0.43010000000000004,
-0.0022,
0.8862
],
"roll": -0.9185656466000001,
"fovy": 71.1603221662,
"azimuth_deg": -70.5319589294,
"elevation_deg": -28.3774650028,
"distance": 0.6743366855,
"clear_frac": 1
} | 322 | 447.4 | {
"max_penetration_mm": 0.57,
"penetration_pair": [
"purple block",
"world"
],
"penetration_frame": 215,
"penetration_step": 1,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/tower_black_red_purple_k1 | null | null |
scene_00001 | tower_black_red_purple_k2 | tower_black_red_purple | stack_seq | Build a tower: put the red block on the black block, then the purple block on the red block | 2 | train_6662.xml | 0.808 | strict | {} | left-side grasp + curved path | [
"left-side tilt 32deg + high arc",
"right-side tilt 19deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "left-side tilt 32deg + high arc (tight)"
},
{
"step": 1,
"reason": "hand would hit (phase 1)",
"changed_to": "right-side tilt 19deg (very tight)"
}
] | 1 | {
"pos": [
-0.9002,
-0.7425,
1.5166
],
"look": [
-0.3748,
0.0316,
0.7966000000000001
],
"roll": 0.48581760560000004,
"fovy": 71.7493893369,
"azimuth_deg": 55.8363916909,
"elevation_deg": -37.585176093,
"distance": 1.180465491,
"clear_frac": 1
} | 374 | 497.5 | {
"max_penetration_mm": 0.62,
"penetration_pair": [
"red block",
"world"
],
"penetration_frame": 85,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/tower_black_red_purple_k2 | null | null |
scene_00001 | tower_black_red_purple_k3 | tower_black_red_purple | stack_seq | Build a tower: put the red block on the black block, then the purple block on the red block | 3 | train_6662.xml | 0.808 | strict | {} | right-side grasp + curved path | [
"left-side tilt 33deg",
"left-side tilt 20deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "left-side tilt 33deg (tight)"
},
{
"step": 1,
"reason": "hand would hit (phase 1)",
"changed_to": "left-side tilt 20deg (tight)"
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] | 1 | {
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} | 370 | 507.4 | {
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"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/tower_black_red_purple_k3 | null | null |
scene_00001 | tower_black_red_purple_k4 | tower_black_red_purple | stack_seq | Build a tower: put the red block on the black block, then the purple block on the red block | 4 | train_6662.xml | 0.808 | strict | {} | random: left grasp + direct path | [
"top-down yaw 90deg + high arc",
"left-side tilt 19deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 90deg + high arc (tight)"
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{
"step": 1,
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"changed_to": "kept (tight)"
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] | 1 | {
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} | 294 | 409.9 | {
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],
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"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/tower_black_red_purple_k4 | null | null |
scene_00001 | tower_black_red_purple_k5 | tower_black_red_purple | stack_seq | Build a tower: put the red block on the black block, then the purple block on the red block | 5 | train_6662.xml | 0.808 | strict | {} | random: right grasp + direct path | [
"top-down yaw 0deg + high arc",
"right-side tilt 29deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 0deg + high arc (tight)"
},
{
"step": 1,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
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] | 1 | {
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"azimuth_deg": 61.2582495451,
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"distance": 1.2819561086,
"clear_frac": 1
} | 380 | 483.7 | {
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"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00001.tar | scene_00001/tower_black_red_purple_k5 | null | null |
scene_00002 | hang_k0 | hang | hang | Hang the gray mug on the peg by its handle | 0 | train_7448.xml | 0.807 | strict | {} | left-side grasp + direct path -> top-down yaw 90deg (tight) | [
"top-down yaw 90deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 90deg (tight)"
}
] | 1 | {
"pos": [
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"azimuth_deg": -58.7963007156,
"elevation_deg": -26.9381806176,
"distance": 1.1684108009,
"clear_frac": 1
} | 186 | 145.6 | {
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"gray mug"
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"penetration_frame": 163,
"penetration_step": 0,
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"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/hang_k0 | null | null |
scene_00002 | hang_k1 | hang | hang | Hang the gray mug on the peg by its handle | 1 | train_7448.xml | 0.807 | strict | {} | right-side grasp + direct path -> top-down yaw 90deg (tight) | [
"top-down yaw 90deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 90deg (tight)"
}
] | 1 | {
"pos": [
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1.321
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"roll": 2.3673113703,
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"azimuth_deg": 113.3033476687,
"elevation_deg": -25.0525946635,
"distance": 1.1390938424,
"clear_frac": 0.9580000000000001
} | 188 | 160.3 | {
"max_penetration_mm": 0.33,
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"gray mug",
"world"
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"penetration_frame": 59,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/hang_k1 | null | null |
scene_00002 | hang_k2 | hang | hang | Hang the gray mug on the peg by its handle | 2 | train_7448.xml | 0.807 | strict | {} | left-side grasp + curved path -> top-down yaw 90deg (tight) | [
"top-down yaw 90deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 90deg (tight)"
}
] | 1 | {
"pos": [
-0.8368,
0.41550000000000004,
2.0079
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-0.0334,
0.8897
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"azimuth_deg": -46.7762411924,
"elevation_deg": -61.1492896562,
"distance": 1.2766840814,
"clear_frac": 1
} | 212 | 190.3 | {
"max_penetration_mm": 0.68,
"penetration_pair": [
"peg rack",
"gray mug"
],
"penetration_frame": 188,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/hang_k2 | null | null |
scene_00002 | hang_k3 | hang | hang | Hang the gray mug on the peg by its handle | 3 | train_7448.xml | 0.807 | strict | {} | right-side grasp + curved path -> top-down yaw 90deg (tight) | [
"top-down yaw 90deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 90deg (tight)"
}
] | 1 | {
"pos": [
-1.0248,
0.0639,
2.0503
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"look": [
-0.4078,
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0.8962
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"roll": 1.8902119806000002,
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"azimuth_deg": 3.0899738769,
"elevation_deg": -61.8357882584,
"distance": 1.3091398356,
"clear_frac": 1
} | 217 | 202.9 | {
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"penetration_pair": [
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"gray mug"
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"penetration_frame": 195,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/hang_k3 | null | null |
scene_00002 | hang_k4 | hang | hang | Hang the gray mug on the peg by its handle | 4 | train_7448.xml | 0.807 | strict | {} | random: left grasp + curved path -> top-down yaw 90deg (tight) | [
"top-down yaw 90deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 90deg (tight)"
}
] | 1 | {
"pos": [
-0.7476,
0.1124,
1.6048
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"look": [
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"roll": 4.1659015257,
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"azimuth_deg": -24.7747225502,
"elevation_deg": -64.9536150644,
"distance": 0.9097332995,
"clear_frac": 1
} | 236 | 216.6 | {
"max_penetration_mm": 0.37,
"penetration_pair": [
"gray mug",
"world"
],
"penetration_frame": 84,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/hang_k4 | null | null |
scene_00002 | hang_k5 | hang | hang | Hang the gray mug on the peg by its handle | 5 | train_7448.xml | 0.807 | strict | {} | random: right grasp + direct path -> top-down yaw 90deg (tight) | [
"top-down yaw 90deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "top-down yaw 90deg (tight)"
}
] | 1 | {
"pos": [
-1.6313,
0.227,
1.1879
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"look": [
-0.38330000000000003,
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"roll": -2.6615140331,
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"azimuth_deg": -7.1918923576000005,
"elevation_deg": -15.92269158,
"distance": 1.3081154259,
"clear_frac": 1
} | 214 | 196 | {
"max_penetration_mm": 0.49,
"penetration_pair": [
"gray mug",
"world"
],
"penetration_frame": 68,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/hang_k5 | null | null |
scene_00002 | place_dark-cup_brown-bowl_k0 | place_dark-cup_brown-bowl | pick_place | Pick up the dark cup and place it in or on the brown bowl | 0 | train_7448.xml | 0.807 | relaxed | {
"dark cup": 1.33,
"brown bowl": 2.29
} | grasp 0 flipped + direct path | [
"grasp 0 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.8438,
0.4762,
1.4373
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"look": [
-0.2833,
0.0335,
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"roll": 1.9407991387,
"fovy": 70.0898639862,
"azimuth_deg": -38.3046794215,
"elevation_deg": -35.8866587381,
"distance": 0.8816733663,
"clear_frac": 1
} | 185 | 188 | {
"max_penetration_mm": 0.55,
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"brown bowl",
"dark cup"
],
"penetration_frame": 163,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_dark-cup_brown-bowl_k0 | null | null |
scene_00002 | place_dark-cup_brown-bowl_k1 | place_dark-cup_brown-bowl | pick_place | Pick up the dark cup and place it in or on the brown bowl | 1 | train_7448.xml | 0.807 | relaxed | {
"dark cup": 1.33,
"brown bowl": 2.29
} | grasp 1 + curved path | [
"grasp 1"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.0683,
-0.6453,
1.1684
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"look": [
-0.4355,
-0.0463,
0.843
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"roll": -0.5753763028000001,
"fovy": 71.8734195361,
"azimuth_deg": 43.4241206502,
"elevation_deg": -20.4778831236,
"distance": 0.9300864505,
"clear_frac": 1
} | 172 | 183.4 | {
"max_penetration_mm": 0.3,
"penetration_pair": [
"world",
"dark cup"
],
"penetration_frame": 101,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_dark-cup_brown-bowl_k1 | null | null |
scene_00002 | place_dark-cup_brown-bowl_k2 | place_dark-cup_brown-bowl | pick_place | Pick up the dark cup and place it in or on the brown bowl | 2 | train_7448.xml | 0.807 | relaxed | {
"dark cup": 1.33,
"brown bowl": 2.29
} | grasp 3 flipped + direct path | [
"grasp 3 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.9304,
0.5495,
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"look": [
-0.4035,
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"roll": 2.4506018358,
"fovy": 63.7541708589,
"azimuth_deg": -40.6676919594,
"elevation_deg": -52.3063388842,
"distance": 1.135968238,
"clear_frac": 1
} | 151 | 163.6 | {
"max_penetration_mm": 0.11,
"penetration_pair": [
"world",
"dark cup"
],
"penetration_frame": 89,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_dark-cup_brown-bowl_k2 | null | null |
scene_00002 | place_dark-cup_brown-bowl_k3 | place_dark-cup_brown-bowl | pick_place | Pick up the dark cup and place it in or on the brown bowl | 3 | train_7448.xml | 0.807 | relaxed | {
"dark cup": 1.33,
"brown bowl": 2.29
} | grasp 4 flipped + curved path | [
"grasp 4 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.9594,
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1.9632
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"look": [
-0.3791,
0.08,
0.84
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"roll": 5.5681139119,
"fovy": 69.3119458532,
"azimuth_deg": -18.0656459683,
"elevation_deg": -61.4773205301,
"distance": 1.2783099139,
"clear_frac": 1
} | 165 | 174.8 | {
"max_penetration_mm": 0.25,
"penetration_pair": [
"world",
"dark cup"
],
"penetration_frame": 95,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_dark-cup_brown-bowl_k3 | null | null |
scene_00002 | place_dark-cup_brown-bowl_k4 | place_dark-cup_brown-bowl | pick_place | Pick up the dark cup and place it in or on the brown bowl | 4 | train_7448.xml | 0.807 | relaxed | {
"dark cup": 1.33,
"brown bowl": 2.29
} | grasp 5 flipped + direct path | [
"grasp 5 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.0455,
-0.5693,
1.1737
],
"look": [
-0.33030000000000004,
-0.055,
0.8796
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"roll": 3.9950872082,
"fovy": 69.3224368165,
"azimuth_deg": 35.7133612257,
"elevation_deg": -18.460425412,
"distance": 0.9287175019,
"clear_frac": 1
} | 142 | 156.8 | {
"max_penetration_mm": 0.89,
"penetration_pair": [
"brown bowl",
"dark cup"
],
"penetration_frame": 122,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_dark-cup_brown-bowl_k4 | null | null |
scene_00002 | place_dark-cup_brown-bowl_k5 | place_dark-cup_brown-bowl | pick_place | Pick up the dark cup and place it in or on the brown bowl | 5 | train_7448.xml | 0.807 | relaxed | {
"dark cup": 1.33,
"brown bowl": 2.29
} | grasp 7 + curved path | [
"grasp 7"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.073,
-1.0253,
1.5796999999999999
],
"look": [
-0.292,
-0.0011,
0.8084
],
"roll": -5.3467858277,
"fovy": 69.5838586647,
"azimuth_deg": 102.0680881081,
"elevation_deg": -36.3668788785,
"distance": 1.3006428349,
"clear_frac": 0.926
} | 211 | 199.7 | {
"max_penetration_mm": 0.57,
"penetration_pair": [
"brown bowl",
"dark cup"
],
"penetration_frame": 188,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_dark-cup_brown-bowl_k5 | null | null |
scene_00002 | place_glass-bottle_brown-bowl_k0 | place_glass-bottle_brown-bowl | pick_place | Pick up the glass bottle and place it in or on the brown bowl | 0 | train_7448.xml | 0.807 | relaxed | {
"glass bottle": 2.34,
"brown bowl": 2.29
} | grasp 0 flipped + direct path | [
"grasp 0 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.9838,
-0.49920000000000003,
1.9540000000000002
],
"look": [
-0.424,
0.0224,
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],
"roll": -2.7335265581,
"fovy": 69.1602233471,
"azimuth_deg": 42.9715457471,
"elevation_deg": -54.0368079759,
"distance": 1.3027890731,
"clear_frac": 1
} | 142 | 68.5 | {
"max_penetration_mm": 0.17,
"penetration_pair": [
"world",
"glass bottle"
],
"penetration_frame": 82,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_glass-bottle_brown-bowl_k0 | null | null |
scene_00002 | place_glass-bottle_brown-bowl_k1 | place_glass-bottle_brown-bowl | pick_place | Pick up the glass bottle and place it in or on the brown bowl | 1 | train_7448.xml | 0.807 | relaxed | {
"glass bottle": 2.34,
"brown bowl": 2.29
} | grasp 2 flipped + curved path | [
"grasp 2 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.45990000000000003,
-0.8223,
1.7716
],
"look": [
-0.3482,
0.0369,
0.8608
],
"roll": -1.7429752164,
"fovy": 58.6737838943,
"azimuth_deg": 82.5950517816,
"elevation_deg": -46.4292690259,
"distance": 1.2570507122999999,
"clear_frac": 1
} | 199 | 157.8 | {
"max_penetration_mm": 0.15,
"penetration_pair": [
"world",
"glass bottle"
],
"penetration_frame": 124,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_glass-bottle_brown-bowl_k1 | null | null |
scene_00002 | place_glass-bottle_brown-bowl_k2 | place_glass-bottle_brown-bowl | pick_place | Pick up the glass bottle and place it in or on the brown bowl | 2 | train_7448.xml | 0.807 | relaxed | {
"glass bottle": 2.34,
"brown bowl": 2.29
} | grasp 4 + direct path -> grasp 5 (tight) | [
"grasp 5"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "grasp 5 (tight)"
}
] | 1 | {
"pos": [
-0.7737,
-0.6057,
1.6166
],
"look": [
-0.369,
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0.9273
],
"roll": -1.1107984549,
"fovy": 67.9047738056,
"azimuth_deg": 60.1087458312,
"elevation_deg": -40.3242448228,
"distance": 1.0651477771,
"clear_frac": 1
} | 185 | 161.8 | {
"max_penetration_mm": 0.49,
"penetration_pair": [
"world",
"glass bottle"
],
"penetration_frame": 67,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_glass-bottle_brown-bowl_k2 | null | null |
scene_00002 | place_glass-bottle_brown-bowl_k3 | place_glass-bottle_brown-bowl | pick_place | Pick up the glass bottle and place it in or on the brown bowl | 3 | train_7448.xml | 0.807 | relaxed | {
"glass bottle": 2.34,
"brown bowl": 2.29
} | grasp 6 + curved path | [
"grasp 6"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.0735999999999999,
-0.6497,
1.6838000000000002
],
"look": [
-0.3123,
-0.021400000000000002,
0.9319000000000001
],
"roll": -5.7190029084,
"fovy": 69.8376292501,
"azimuth_deg": 39.5336467856,
"elevation_deg": -37.2954461767,
"distance": 1.2409174496,
"clear_frac": ... | 181 | 169.1 | {
"max_penetration_mm": 0.28,
"penetration_pair": [
"world",
"glass bottle"
],
"penetration_frame": 116,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_glass-bottle_brown-bowl_k3 | null | null |
scene_00002 | place_glass-bottle_brown-bowl_k4 | place_glass-bottle_brown-bowl | pick_place | Pick up the glass bottle and place it in or on the brown bowl | 4 | train_7448.xml | 0.807 | relaxed | {
"glass bottle": 2.34,
"brown bowl": 2.29
} | grasp 7 flipped + direct path | [
"grasp 7 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.1867,
-0.9545,
1.2374
],
"look": [
-0.3018,
-0.027800000000000002,
0.8896000000000001
],
"roll": 3.7871441407,
"fovy": 68.1706882367,
"azimuth_deg": 46.3252440681,
"elevation_deg": -15.1866187959,
"distance": 1.3277095219000001,
"clear_frac": 1
} | 145 | 142.2 | {
"max_penetration_mm": 0.17,
"penetration_pair": [
"world",
"glass bottle"
],
"penetration_frame": 54,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_glass-bottle_brown-bowl_k4 | null | null |
scene_00002 | place_glass-bottle_brown-bowl_k5 | place_glass-bottle_brown-bowl | pick_place | Pick up the glass bottle and place it in or on the brown bowl | 5 | train_7448.xml | 0.807 | relaxed | {
"glass bottle": 2.34,
"brown bowl": 2.29
} | grasp 9 + curved path -> grasp 0 (tight) | [
"grasp 0"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "grasp 0 (tight)"
}
] | 1 | {
"pos": [
-0.7727,
-0.2969,
1.9836
],
"look": [
-0.2854,
0.09140000000000001,
0.8438
],
"roll": 2.4370205691,
"fovy": 69.5722499916,
"azimuth_deg": 38.5486101816,
"elevation_deg": -61.3352938748,
"distance": 1.2990255926,
"clear_frac": 1
} | 160 | 156.3 | {
"max_penetration_mm": 0.37,
"penetration_pair": [
"world",
"glass bottle"
],
"penetration_frame": 75,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_glass-bottle_brown-bowl_k5 | null | null |
scene_00002 | place_golden-croissant_brown-bowl_k0 | place_golden-croissant_brown-bowl | pick_place | Pick up the golden croissant and place it in or on the brown bowl | 0 | train_7448.xml | 0.807 | relaxed | {
"golden croissant": 1.53,
"brown bowl": 2.29
} | grasp 0 flipped + direct path | [
"grasp 0 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.9749000000000001,
-0.3925,
1.8788
],
"look": [
-0.34690000000000004,
0.054200000000000005,
0.9342
],
"roll": -3.6201736783,
"fovy": 52.5578767107,
"azimuth_deg": 35.4288558877,
"elevation_deg": -50.7894716821,
"distance": 1.2191497581,
"clear_frac": 1
} | 173 | 184.9 | {
"max_penetration_mm": 0.72,
"penetration_pair": [
"brown bowl",
"golden croissant"
],
"penetration_frame": 149,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_golden-croissant_brown-bowl_k0 | null | null |
scene_00002 | place_golden-croissant_brown-bowl_k1 | place_golden-croissant_brown-bowl | pick_place | Pick up the golden croissant and place it in or on the brown bowl | 1 | train_7448.xml | 0.807 | relaxed | {
"golden croissant": 1.53,
"brown bowl": 2.29
} | grasp 1 + curved path | [
"grasp 1"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.7499,
-0.45530000000000004,
1.8581
],
"look": [
-0.38180000000000003,
0.0429,
0.9082
],
"roll": 5.7909732262,
"fovy": 50.0939493029,
"azimuth_deg": 53.5409330231,
"elevation_deg": -56.8912741557,
"distance": 1.1340199534,
"clear_frac": 1
} | 168 | 179.6 | {
"max_penetration_mm": 0.19,
"penetration_pair": [
"world",
"golden croissant"
],
"penetration_frame": 106,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_golden-croissant_brown-bowl_k1 | null | null |
scene_00002 | place_golden-croissant_brown-bowl_k2 | place_golden-croissant_brown-bowl | pick_place | Pick up the golden croissant and place it in or on the brown bowl | 2 | train_7448.xml | 0.807 | relaxed | {
"golden croissant": 1.53,
"brown bowl": 2.29
} | grasp 1 flipped + direct path | [
"grasp 1 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.7617,
0.8566,
1.7559
],
"look": [
-0.2899,
0.050800000000000005,
0.8932
],
"roll": -1.6733216077000002,
"fovy": 53.3700718051,
"azimuth_deg": -59.6500804525,
"elevation_deg": -42.7303919997,
"distance": 1.2712612455,
"clear_frac": 1
} | 166 | 179.7 | {
"max_penetration_mm": 0.15,
"penetration_pair": [
"world",
"golden croissant"
],
"penetration_frame": 129,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_golden-croissant_brown-bowl_k2 | null | null |
scene_00002 | place_golden-croissant_brown-bowl_k3 | place_golden-croissant_brown-bowl | pick_place | Pick up the golden croissant and place it in or on the brown bowl | 3 | train_7448.xml | 0.807 | relaxed | {
"golden croissant": 1.53,
"brown bowl": 2.29
} | grasp 2 flipped + curved path -> grasp 3 flipped (tight) | [
"grasp 3 flipped"
] | [
{
"step": 0,
"reason": "touched something in a trial run (grasp 2 flipped)",
"changed_to": "grasp 3 flipped (tight)"
}
] | 3 | {
"pos": [
-0.6349,
0.629,
1.943
],
"look": [
-0.3371,
0.043000000000000003,
0.9162
],
"roll": -2.5148953588,
"fovy": 68.8381930896,
"azimuth_deg": -63.0608584523,
"elevation_deg": -57.3744872054,
"distance": 1.2191295599,
"clear_frac": 1
} | 174 | 188.2 | {
"max_penetration_mm": 0.19,
"penetration_pair": [
"world",
"golden croissant"
],
"penetration_frame": 144,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_golden-croissant_brown-bowl_k3 | null | null |
scene_00002 | place_golden-croissant_brown-bowl_k4 | place_golden-croissant_brown-bowl | pick_place | Pick up the golden croissant and place it in or on the brown bowl | 4 | train_7448.xml | 0.807 | relaxed | {
"golden croissant": 1.53,
"brown bowl": 2.29
} | grasp 3 flipped + direct path | [
"grasp 3 flipped"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.6284000000000001,
0.6603,
1.9169
],
"look": [
-0.32070000000000004,
0.067,
0.8413
],
"roll": 1.132036683,
"fovy": 70.9383692398,
"azimuth_deg": -62.5943963882,
"elevation_deg": -58.1432568629,
"distance": 1.2663324112,
"clear_frac": 1
} | 175 | 185.6 | {
"max_penetration_mm": 0.99,
"penetration_pair": [
"brown bowl",
"golden croissant"
],
"penetration_frame": 153,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_golden-croissant_brown-bowl_k4 | null | null |
scene_00002 | place_golden-croissant_brown-bowl_k5 | place_golden-croissant_brown-bowl | pick_place | Pick up the golden croissant and place it in or on the brown bowl | 5 | train_7448.xml | 0.807 | relaxed | {
"golden croissant": 1.53,
"brown bowl": 2.29
} | grasp 3 + curved path | [
"grasp 3"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.0526,
0.7452000000000001,
1.7801
],
"look": [
-0.2874,
0.0296,
0.8792000000000001
],
"roll": -3.7213842373,
"fovy": 52.844077263,
"azimuth_deg": -108.1603489616,
"elevation_deg": -50.106054766,
"distance": 1.1742161604,
"clear_frac": 1
} | 153 | 167.5 | {
"max_penetration_mm": 0.18,
"penetration_pair": [
"world",
"golden croissant"
],
"penetration_frame": 67,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/place_golden-croissant_brown-bowl_k5 | null | null |
scene_00002 | stack_orange_on_pink_k0 | stack_orange_on_pink | stack | Stack the orange block on top of the pink block | 0 | train_7448.xml | 0.807 | strict | {} | left-side grasp + direct path | [
"left-side tilt 22deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.0737,
0.6943,
1.526
],
"look": [
-0.3653,
0.056100000000000004,
0.9134
],
"roll": -3.4451599743,
"fovy": 64.7596942937,
"azimuth_deg": -42.0143492963,
"elevation_deg": -32.7213414456,
"distance": 1.1333217150000001,
"clear_frac": 1
} | 156 | 154.3 | {
"max_penetration_mm": 0.69,
"penetration_pair": [
"orange block",
"world"
],
"penetration_frame": 56,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/stack_orange_on_pink_k0 | null | null |
scene_00002 | stack_orange_on_pink_k1 | stack_orange_on_pink | stack | Stack the orange block on top of the pink block | 1 | train_7448.xml | 0.807 | strict | {} | right-side grasp + direct path | [
"right-side tilt 20deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-1.3685,
0.187,
1.3003
],
"look": [
-0.35910000000000003,
-0.0218,
0.7802
],
"roll": 3.1761175791,
"fovy": 53.6756883508,
"azimuth_deg": -11.6852050222,
"elevation_deg": -26.7720342999,
"distance": 1.1545281616,
"clear_frac": 1
} | 167 | 158.4 | {
"max_penetration_mm": 0.29,
"penetration_pair": [
"world",
"orange block"
],
"penetration_frame": 59,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/stack_orange_on_pink_k1 | null | null |
scene_00002 | stack_orange_on_pink_k2 | stack_orange_on_pink | stack | Stack the orange block on top of the pink block | 2 | train_7448.xml | 0.807 | strict | {} | left-side grasp + curved path -> left-side tilt 42deg + high arc (tight) | [
"left-side tilt 42deg + high arc"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "left-side tilt 42deg + high arc (tight)"
}
] | 1 | {
"pos": [
-1.1617,
-0.915,
1.1616
],
"look": [
-0.3831,
0.06760000000000001,
0.8498
],
"roll": 4.7550028108,
"fovy": 55.8330453943,
"azimuth_deg": 51.6079017153,
"elevation_deg": -13.9666592414,
"distance": 1.2919285056,
"clear_frac": 1
} | 186 | 171.6 | {
"max_penetration_mm": 0.52,
"penetration_pair": [
"orange block",
"world"
],
"penetration_frame": 78,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/stack_orange_on_pink_k2 | null | null |
scene_00002 | stack_orange_on_pink_k3 | stack_orange_on_pink | stack | Stack the orange block on top of the pink block | 3 | train_7448.xml | 0.807 | strict | {} | right-side grasp + curved path -> right-side tilt 22deg (tight) | [
"right-side tilt 22deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "right-side tilt 22deg (tight)"
}
] | 1 | {
"pos": [
-0.8375,
0.9172,
1.5147
],
"look": [
-0.38420000000000004,
-0.0502,
0.8491000000000001
],
"roll": -2.5736231918,
"fovy": 57.7992207297,
"azimuth_deg": -64.8935379862,
"elevation_deg": -31.924068654,
"distance": 1.258776614,
"clear_frac": 1
} | 176 | 166 | {
"max_penetration_mm": 0.58,
"penetration_pair": [
"orange block",
"world"
],
"penetration_frame": 78,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/stack_orange_on_pink_k3 | null | null |
scene_00002 | stack_orange_on_pink_k4 | stack_orange_on_pink | stack | Stack the orange block on top of the pink block | 4 | train_7448.xml | 0.807 | strict | {} | random: left grasp + direct path | [
"left-side tilt 13deg"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "kept (tight)"
}
] | 1 | {
"pos": [
-0.7337,
-0.9718,
1.3158
],
"look": [
-0.30160000000000003,
-0.004,
0.8158000000000001
],
"roll": 1.0456658793,
"fovy": 71.9058613673,
"azimuth_deg": 65.9388128169,
"elevation_deg": -25.255244359,
"distance": 1.1718220066,
"clear_frac": 1
} | 187 | 169.3 | {
"max_penetration_mm": 0.56,
"penetration_pair": [
"orange block",
"world"
],
"penetration_frame": 67,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/stack_orange_on_pink_k4 | null | null |
scene_00002 | stack_orange_on_pink_k5 | stack_orange_on_pink | stack | Stack the orange block on top of the pink block | 5 | train_7448.xml | 0.807 | strict | {} | random: left grasp + curved path -> left-side tilt 36deg + high arc (tight) | [
"left-side tilt 36deg + high arc"
] | [
{
"step": 0,
"reason": "hand would hit (phase 1)",
"changed_to": "left-side tilt 36deg + high arc (tight)"
}
] | 1 | {
"pos": [
-1.1883,
0.1003,
1.7269
],
"look": [
-0.34990000000000004,
0.09620000000000001,
0.8899
],
"roll": -5.2144138003,
"fovy": 67.4475295231,
"azimuth_deg": -0.2827767852,
"elevation_deg": -44.9531213761,
"distance": 1.184679223,
"clear_frac": 1
} | 215 | 172.2 | {
"max_penetration_mm": 0.46,
"penetration_pair": [
"pink block",
"orange block"
],
"penetration_frame": 191,
"penetration_step": 0,
"rise_without_contact_frames": 0,
"tolerance_mm": 1.5,
"passed": true
} | success | null | null | null | scenes/scene_00002.tar | scene_00002/stack_orange_on_pink_k5 | null | null |
End of preview.
mm_m: simulated tabletop manipulation with dense 3D ground truth
15,819 scripted manipulation episodes (57.4 hours at 15 fps) of a Franka FR3 arm with a Robotiq 2F-85 gripper
(the MolmoSpaces franka_droid model) in MuJoCo, rendered from six cameras with depth, segmentation, camera poses and
dense 3D point tracks. Every saved episode passed a physics audit: no penetration deeper than 1.5 mm, no object rising
without finger contact, and the robot touched nothing but the thing it was asked to handle.
| Episodes | 15,819 (15,443 success, 376 labelled failures) |
| Conditions (scene x task) | 2,662, each done with up to 6 different strategies (_k0 ... _k5: same initial state, different grasp / path) |
| Scenes | 563 (random table height, objects, textures, lights; most inside one of 181 ProcTHOR houses) |
| Distinct instructions | 1,199 |
| Video | 624 x 352, 15 fps, 6 cameras, 3,100,873 frames per camera |
| Size | 1,450 GB in 563 tar files |
Tasks
task_type |
What the robot does | Conditions | Episodes | Success | Failure |
|---|---|---|---|---|---|
pick_place |
Pick and place (into a bowl / plate / open drawer) | 1,829 | 10,882 | 10,616 | 266 |
stack |
Stack one block on another | 327 | 1,957 | 1,936 | 21 |
stack_seq |
Build a three-block tower | 326 | 1,913 | 1,835 | 78 |
hang |
Hang a mug on a peg | 56 | 334 | 323 | 11 |
drawer_open |
Open the drawer | 55 | 329 | 329 | 0 |
drawer_seq |
Open the drawer, put an object in, close it | 44 | 254 | 254 | 0 |
drawer_close |
Close the drawer | 25 | 150 | 150 | 0 |
Scenes 0-335 contain every task; scenes 336-575 contain pick-and-place only.
Failures are kept on purpose and labelled in failure_mode: placed_off_target (283), disturbed_other_object (40), dropped (33), grasp_failed (20).
Files
index/episodes.jsonl one line per episode: scene, episode, task_type, caption, outcome, failure_mode, strategy,
frames, match_tier, audit, random_cam, tar, path
index/scenes.jsonl one line per scene tar: episodes, files, bytes
index/not_saved.jsonl attempts that were not saved (failed the physics audit, no contact-free motion found, errors)
scene_json/scene_XXXXX.json the scene description (layout, assets, appearance, house)
scenes/scene_XXXXX.tar the scene: scene.json, surface_points.npz and one folder per episode
Inside a tar, scene_XXXXX/<condition>_k<K>/ holds one episode:
| File | Content |
|---|---|
meta.json |
instruction (caption), referring expressions per object, task, strategy, label (outcome, failure mode, failed step, frame), body_members (object name -> body ids), pickup_bodies, place_body, robot_body_ids |
robot.npz |
per frame: qpos / qvel (7 arm + 6 gripper joints), joint_target, grip_cmd (255 = closed), tcp_world, tcp_base (position + quaternion), tcp_twist, phase, held, touching, pen_mm |
bodies.npz |
names, pos (T, B, 3), rot (T, B, 3, 3): world pose of every body in every frame |
cams/<camera>/rgb.mp4 |
colour video |
cams/<camera>/depth_mm.npz |
depth (T, 352, 624) uint16, millimetres |
cams/<camera>/seg.npz |
seg (T, 352, 624) int16, body id per pixel (index into bodies.npz["names"]) |
cams/<camera>/camera.npz |
K, extrinsic_cv (T, 3, 4) world -> camera (OpenCV axes), cam2world (T, 4, 4) |
cams/<camera>/tracks.npz |
dense 3D tracks of every frame-0 pixel: query_body (H, W), query_local (H, W, 3), vis_bits (T, H*W packed) |
Cameras: exo_camera_1, exo_camera_2 (far), exo_close_front, exo_close_right (near), exo_random (a new pose in
every episode, chosen so that the whole gripper stays in the image throughout), wrist_camera.
Using the ground truth
Track of every frame-0 pixel of one camera, in world coordinates:
import numpy as np
b = np.load("bodies.npz"); t = np.load("cams/exo_close_front/tracks.npz")
body, local = t["query_body"].reshape(-1), t["query_local"].reshape(-1, 3)
P = np.einsum("tnij,nj->tni", b["rot"][:, body], local) + b["pos"][:, body] # (T, H*W, 3)
T, H, W = t["shape"]
visible = np.unpackbits(t["vis_bits"], axis=1)[:, :H * W].astype(bool) # (T, H*W)
scene_XXXXX/surface_points.npz has points on the whole surface (about 3 mm apart) of the robot, the gripper and every
movable object, including faces no camera sees. With the bodies.npz of any episode of that scene:
s = np.load("surface_points.npz")
P = np.einsum("tnij,nj->tni", b["rot"][:, s["body_index"]], s["local"]) + b["pos"][:, s["body_index"]]
label = s["label_names"][s["label"]] # gripper, robot_arm, pick_object, block, mug, receptacle, drawer, chest, peg_rack, ...
Mask of one object: np.isin(seg, meta["body_members"]["red tomato"]). The table and empty background are body 0 / -1.
Labels
outcome:successorfailure;failure_modesays why.match_tier: how closely the collision geometry follows the drawn surface for the handled objects (99th percentile of the two-way surface distance):strict<= 2 mm (6,254 episodes),relaxed<= 3 mm (9,565).audit: deepest penetration in the episode (mm) and the pair of bodies involved.
How it was made
MuJoCo 3 (2 ms physics step, 15 fps frames), raster rendering only. Objects come from the THOR and Objaverse assets of MolmoSpaces, scaled to real-world size and placed in a resting pose; their collision geometry was rebuilt from the drawn meshes by convex decomposition. Blocks, the mug, the drawer chest and the peg rack are primitives. Motions are scripted (inverse kinematics on waypoints with human-like strokes); each motion was first run in physics only and re-planned with another grasp if the robot touched anything else.
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