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{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/xarm_scripted_1/--/41ca83f863e819ff90465501ef85ad58e9dd6a16/--/default/train/0/observation/image-f0a0300.jpg?Expires=1754293900&Signature=0at-k6maRhhCUF-KQxQXFt-g3rGP2N5Le1JuWn2LjiJE~6p4yPHgF2bYtS8F4lXhDGqG-Ua4A1s4fQ9mGYGyYR9fgQQkOTmY0D-~TCjiptlX8uYJrb84KmW~l7YLZhV5Ew2q3KZYN4HtSF4A~gssi3yFgNSK2pOTfwk2GNvvmIB5IGe86DQ479NjiMc1d8-DfejRMaNW6D-GSLhSWgwTCPog-dScbmnfysgmS9uAhrj5xu1uVGKW90Zyvbpbxu5iWwPCPWG~qCEZBdM3LJByGD4Ri8hxldhvIOgtZ5BEEgoiLPAnW1fwE7H3BDtWQbTMEte2HQ-C99bNyM5Yc3bEmw__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 720, "width": 1280 }, "task": "pick up the remote control" }
{ "pose": { "x": 0.0666, "y": -0.0741, "z": 0, "roll": 0, "pitch": 0, "yaw": 0 }, "grasp": 1 }
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{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/xarm_scripted_1/--/41ca83f863e819ff90465501ef85ad58e9dd6a16/--/default/train/1/observation/image-f0a0300.jpg?Expires=1754293900&Signature=Mi4xj-ccW0DTDR~1BDjxmvFgYz6WZgTFWFtpvgS97HPxhttNfkeYQE1Yd2IQaycgshmuRcafHKYUnu2ov1Wkp9TWsH8Kak0lgQkFdjVfxa26HY163f1Xnq1Oa2zOc2hCqXZu~gvE1MgfQQHc9Kf4p8VbJ8ecDQbSTdNFgbqHJjUNSRDvTp3ppz29tmewV1O7pnNaGqBvbHF8UYcD3Bvio57Ay4JdVsFZ6zdARBLpcT9QJVEbn1bT4RXQKeAZgnExCGnrt~9k2mUTDtdNvsfA9IZ40RxMOI5dxVY6DZIW9hv9DC7U2GPMYXn2HY60YX~URG3k75Gada2wuA6r70ZGUg__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 720, "width": 1280 }, "task": "pick up the remote control" }
{ "pose": { "x": 0.07523, "y": -0.08372, "z": 0, "roll": 0, "pitch": 0, "yaw": 0 }, "grasp": 1 }
{ "joints": [ [ -7.863770961259515, 3.1099840583663823, -12.281966764567827, 58.23067531610616, 1.636710653569045, 55.22875594946678, -20.22058550007328 ], [ -0.9151109861541298, 0.8098019555921095, 0.5943714392284134, 0.9661938642349494, 0.17960952256049817, 0.16983122630955222, -0.4116478439942787 ], [ 0.8661933541297913, -22.158851623535156, -2.34089994430542, 16.634174346923828, 1.7288999557495117, 0.2373577505350113, -1.4411005973815918 ] ], "pose": { "pose": { "x": 0.44191, "y": -0.15791, "z": 0.325, "roll": -3.1416, "pitch": 0, "yaw": 0 }, "grasp": 1 }, "is_done": 0, "scene": { "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/xarm_scripted_1/--/41ca83f863e819ff90465501ef85ad58e9dd6a16/--/default/train/1/state/image-35ab059e.jpg?Expires=1754293900&Signature=hUkfZvvySlxpTBE-zI6qaCJDG5TDYjRP1xWWv-meo9DptBxIlBfHaynROXLBbnrnshZy8PmJ~1hrWfLPswuyVHjIa9aAWfiCsun41KALdmWPpu3JRmcXkt9q0pJQRiGumSrDgArQl98kzB29m-cacJ-YdAxra2INTiWN2iNnquhR3OspbyNgk~l4okvberRH0CIf4xFZh-OecdQ0qN6qG3lHsti2-fm4Bwjs~8npam8ejIHArmWFT32~N5NqlFUhTQUgOURGubC-VMqshnbatmzwLBGE6PiDuloyKyJAMX3JktUTyT4GzrnK0vI7r0nxDcT8CB2U6yhB~fZM~kXC6A__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 720, "width": 1280 }, "depth_image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/xarm_scripted_1/--/41ca83f863e819ff90465501ef85ad58e9dd6a16/--/default/train/1/state/image-621b0812.png?Expires=1754293900&Signature=meScueN-0LALxaYrrbz1C6MqQqEiy44l9dnTg8lUO6QU8W1Lmid-ikzKBdBa4qR3tZN7qDzYILJtVe84DcWXE6qyJ~JlOAYZ8As1EgQeGuYiNXLGrjGIwkTFbExaRq0Vjdo2xxXCynqgBp1lAH5OCSAzofCruIrap871FLE1tBp4H~D-niRsudWNADTC5kwuiT-w9lxy4gUTsPdnheu8HvdkMXUVzH9q61XFXguMDvZE9kZWyH3K6pYYRANb4FZu0lc2FUQtJ8-xJWcTqehfhKvFxZWPSC-e3OEXSkyI3HqHwQqbljMS1Zp90qhQ4JfbWhW3NMnJIO3cvq6hymTVZw__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 720, "width": 1280 }, "scene_objects": [ { "object_name": "Red Marker", "object_pose": { "x": 0.376082025691558, "y": 0.12225683397282813, "z": -0.009345525720052178, "roll": 0, "pitch": 0, "yaw": 0 } }, { "object_name": "Remote Control", "object_pose": { "x": 0.32100799463793817, "y": -0.32446101192545285, "z": -0.15, "roll": -3.1416, "pitch": 0, "yaw": -0.00640192990848254 } } ] } }
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{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/xarm_scripted_1/--/41ca83f863e819ff90465501ef85ad58e9dd6a16/--/default/train/2/observation/image-f0a0300.jpg?Expires=1754293900&Signature=VhCxYRS093ySvlPrtjV31gAQHj-nApANhzk3W-ZKA1xbbmOH~68wnNhFK-k9NMm9VTVeEm0pTyhV-TRALln5uDgLJD1bLuZ6QWMgjskyrfWgYy1BWwjMvyFiFe57wj6~hvbxEjPwCDRGoolKz-WI3AbXIKkvZTUOtGhr8Z1iIhmWoxvzrqfPWm8dmaWZzxQ1p9W1c~KHD9ZaUmakTmSh~a2WsoTlkqGAqbB1yXXWFUxDWnr-RCMf1q9GJlwcSmfwbQboYoLtfTznrOJ-0BVt78YDIsqxE~VtC8wn7IjJcMSu~6ykwlE6VzgHUWaVmYKtieoBJF-sLue1E3CdVgqqZA__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 720, "width": 1280 }, "task": "pick up the remote control" }
{ "pose": { "x": 0.00017, "y": -0.00018, "z": 0, "roll": 0, "pitch": 0, "yaw": 0 }, "grasp": 1 }
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{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/xarm_scripted_1/--/41ca83f863e819ff90465501ef85ad58e9dd6a16/--/default/train/3/observation/image-f0a0300.jpg?Expires=1754293900&Signature=xVdcdx9WJ~DKubA4H2HeMvYSzqp8w4zBfWzhP~vo-TrbMuTv6qiVDslmWtL4ftTRZLwyRX~-5zCGr8A3fBNzxAyQEUUaZo2XoqMftmi7cxVGJCItcBuwTw7FqQpjHiy0ED8zMlPfSPHLXXMyYAON8pX-5oB-ju~xesXIITi1pLRMHvH92XMUjmD~3cUpj-qKcB4SgmW2F2oTeBt27kihnZPBsUpmu0XhCZnkLRoTbjqjx8UtIo1h2Unx5HZZBl54L6rHm3TgM0r8YiiDl7Eluuk4ltKcYjJsEudJC8-VtqvJmdAqYIDA7IdhZtgKOOKQX2Bae4NrmxUFxDnkIenlwA__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 720, "width": 1280 }, "task": "pick up the remote control" }
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