Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- panda/RoboCasa/test/bg_000137/scene_b00_001/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_002/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_003/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_004/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_005/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_006/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_007/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_008/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_009/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_010/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_011/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_012/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_013/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_014/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_015/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b00_016/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_001/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_002/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_003/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_004/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_005/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_006/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_007/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_008/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_009/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_010/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_011/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_012/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_013/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_014/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_015/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b01_016/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_001/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_002/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_003/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_004/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_005/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_006/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_007/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_008/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_009/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_010/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_011/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_012/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_013/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_014/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_015/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b02_016/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b03_001/scene_meta.json +187 -0
- panda/RoboCasa/test/bg_000137/scene_b03_002/scene_meta.json +187 -0
panda/RoboCasa/test/bg_000137/scene_b00_001/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 0,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8405172330149102,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
543.4942226697499,
|
| 46 |
+
0.0,
|
| 47 |
+
301.4692808992659
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
537.0535945816001,
|
| 52 |
+
263.64056759400296
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.6628547929168351,
|
| 62 |
+
-2.713516611477654,
|
| 63 |
+
1.0825012635868023
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.049716127329699,
|
| 67 |
+
-3.954235222229381,
|
| 68 |
+
1.1190965656123684
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.03376373133992221,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.8952515125274658,
|
| 74 |
+
0.04880845546722412,
|
| 75 |
+
-0.4428800940513611,
|
| 76 |
+
1.662854790687561
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.4404261112213135,
|
| 80 |
+
-0.05353790521621704,
|
| 81 |
+
-0.8961911797523499,
|
| 82 |
+
-2.7135167121887207
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.06745262444019318,
|
| 86 |
+
-0.9973723292350769,
|
| 87 |
+
0.026433467864990234,
|
| 88 |
+
1.0825012922286987
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.25845731809873296,
|
| 128 |
+
0.24402630240891254,
|
| 129 |
+
0.252281211538182
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9871097011149477,
|
| 139 |
+
0.9684479936000573,
|
| 140 |
+
0.9364564950031022
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5224.71849453654,
|
| 145 |
+
"intensity": 0.9684479936000573
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.590055601694701,
|
| 155 |
+
0.5982924052195988,
|
| 156 |
+
0.6114712908594355
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5773.835764107696,
|
| 161 |
+
"intensity": 0.601587126629558
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.127519639237053,
|
| 165 |
+
1.1087014261750185,
|
| 166 |
+
1.076441632354388
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_002/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 1,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2092152498897353,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
342.59186662408274,
|
| 46 |
+
0.0,
|
| 47 |
+
301.5406482333717
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
347.36171032306765,
|
| 52 |
+
239.30718162288096
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.1595507736174895,
|
| 62 |
+
-5.062668568695928,
|
| 63 |
+
1.236014793702117
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.0107956666859388,
|
| 67 |
+
-3.8869489920277362,
|
| 68 |
+
1.0415891875745609
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.04303779627904854,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.7196705341339111,
|
| 74 |
+
0.020294755697250366,
|
| 75 |
+
-0.6940190196037292,
|
| 76 |
+
2.159550666809082
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.6890468597412109,
|
| 80 |
+
-0.14378535747528076,
|
| 81 |
+
0.7103099822998047,
|
| 82 |
+
-5.062668800354004
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.08537423610687256,
|
| 86 |
+
-0.9894007444381714,
|
| 87 |
+
-0.117462158203125,
|
| 88 |
+
1.2360148429870605
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.22437650788832939,
|
| 128 |
+
0.229717071407798,
|
| 129 |
+
0.24290193871315943
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0765607864556195,
|
| 139 |
+
1.0714612113727844,
|
| 140 |
+
1.0627190826593529
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5432.007736874963,
|
| 145 |
+
"intensity": 1.0714612113727844
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7803307028127939,
|
| 155 |
+
0.7567998910099352,
|
| 156 |
+
0.7164613564907486
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5055.821217312859,
|
| 161 |
+
"intensity": 0.7567998910099352
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8725441202787213,
|
| 165 |
+
0.8883764248470684,
|
| 166 |
+
0.9137081121564237
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_003/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 2,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0293613425629289,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
431.8353596877225,
|
| 46 |
+
0.0,
|
| 47 |
+
344.1171568626293
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
424.38812718809737,
|
| 52 |
+
223.21983375001548
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.19078962000330635,
|
| 62 |
+
-4.44681679381787,
|
| 63 |
+
1.9053199721527943
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.0599121231859994,
|
| 67 |
+
-3.9618794032969005,
|
| 68 |
+
1.0642458348805977
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.04562930856838984,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.3148682117462158,
|
| 74 |
+
-0.5261745452880859,
|
| 75 |
+
0.789935827255249,
|
| 76 |
+
-0.1907896250486374
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9459898471832275,
|
| 80 |
+
-0.10627222061157227,
|
| 81 |
+
0.3062836527824402,
|
| 82 |
+
-4.446816921234131
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.07721027731895447,
|
| 86 |
+
-0.8437101244926453,
|
| 87 |
+
-0.5312173366546631,
|
| 88 |
+
1.9053199291229248
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3513467567837095,
|
| 128 |
+
0.34185371411428034,
|
| 129 |
+
0.361827750055707
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.206015655325993,
|
| 139 |
+
1.1641369890777151,
|
| 140 |
+
1.0923449897949529
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4986.085687249179,
|
| 145 |
+
"intensity": 1.1641369890777151
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8127519467380647,
|
| 155 |
+
0.8434924326414808,
|
| 156 |
+
0.8926772100869466
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 6218.413050453259,
|
| 161 |
+
"intensity": 0.8557886270028472
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1625032031168974,
|
| 165 |
+
1.168713116699326,
|
| 166 |
+
1.1786489784312122
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_004/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 3,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.911892012985328,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
496.149730269685,
|
| 46 |
+
0.0,
|
| 47 |
+
330.57960825829076
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
489.38669376863055,
|
| 52 |
+
255.93489236283142
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.2921064403465374,
|
| 62 |
+
-2.9272237171926703,
|
| 63 |
+
1.8281311963726425
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.0516305299597568,
|
| 67 |
+
-3.894423554471946,
|
| 68 |
+
1.162824158695075
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.043418494813345726,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.6392114162445068,
|
| 74 |
+
0.2527197301387787,
|
| 75 |
+
-0.7263206243515015,
|
| 76 |
+
2.2921063899993896
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.7648715972900391,
|
| 80 |
+
0.3070204257965088,
|
| 81 |
+
-0.5663126707077026,
|
| 82 |
+
-2.9272236824035645
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.0798768401145935,
|
| 86 |
+
-0.9175354242324829,
|
| 87 |
+
-0.3895489573478699,
|
| 88 |
+
1.8281311988830566
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3891543637964804,
|
| 128 |
+
0.3956217353696485,
|
| 129 |
+
0.38881188067496564
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.2285880392721227,
|
| 139 |
+
1.149115065861479,
|
| 140 |
+
1.0128756828718046
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4511.997818748049,
|
| 145 |
+
"intensity": 1.149115065861479
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.5689377261795857,
|
| 155 |
+
0.564565521047242,
|
| 156 |
+
0.5570703122489387
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5389.36612139662,
|
| 161 |
+
"intensity": 0.564565521047242
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9753762071625336,
|
| 165 |
+
0.9620344061487774,
|
| 166 |
+
0.9391627472680526
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_005/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 4,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.7928844412795064,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
599.4775777525401,
|
| 46 |
+
0.0,
|
| 47 |
+
296.1736798460469
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
573.3318244355933,
|
| 52 |
+
227.59466240475845
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.690149539990996,
|
| 62 |
+
-4.834222354414723,
|
| 63 |
+
1.251199534550636
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.0016778473610015,
|
| 67 |
+
-3.8959267392562396,
|
| 68 |
+
1.0288773220709568
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.045422155100521056,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.47395002841949463,
|
| 74 |
+
-0.14342853426933289,
|
| 75 |
+
0.8687921762466431,
|
| 76 |
+
-0.6901495456695557
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.8759273290634155,
|
| 80 |
+
0.02419137954711914,
|
| 81 |
+
0.48183631896972656,
|
| 82 |
+
-4.834222316741943
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.09012630581855774,
|
| 86 |
+
-0.9893651008605957,
|
| 87 |
+
-0.11416733264923096,
|
| 88 |
+
1.25119948387146
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2995420239550254,
|
| 128 |
+
0.31049879713610995,
|
| 129 |
+
0.3159754609520388
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9038768141831763,
|
| 139 |
+
0.9290215717373632,
|
| 140 |
+
0.9692531838240624
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 6035.519266048041,
|
| 145 |
+
"intensity": 0.939079474759038
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7126679620971235,
|
| 155 |
+
0.6855545803269999,
|
| 156 |
+
0.6390744972925024
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 4935.006290669481,
|
| 161 |
+
"intensity": 0.6855545803269999
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1873013430191832,
|
| 165 |
+
1.1804045447167193,
|
| 166 |
+
1.1685814619124955
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_006/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 5,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8874641155390148,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
521.9646524491538,
|
| 46 |
+
0.0,
|
| 47 |
+
295.04397119443513
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
504.8934877885676,
|
| 52 |
+
217.43391946945488
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.5588365248413196,
|
| 62 |
+
-4.672961127395128,
|
| 63 |
+
1.2539071464508935
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.0265142278848687,
|
| 67 |
+
-3.9235008610373012,
|
| 68 |
+
1.087303568420658
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.015839134214647388,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.4419092535972595,
|
| 74 |
+
0.07336241006851196,
|
| 75 |
+
-0.8940549492835999,
|
| 76 |
+
2.5588364601135254
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.8965057730674744,
|
| 80 |
+
-0.07114005088806152,
|
| 81 |
+
0.4372832179069519,
|
| 82 |
+
-4.672961235046387
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.03152298927307129,
|
| 86 |
+
-0.9947648644447327,
|
| 87 |
+
-0.09720724821090698,
|
| 88 |
+
1.2539072036743164
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.25890973845066845,
|
| 128 |
+
0.2694603304745452,
|
| 129 |
+
0.2504620589227931
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.8733068688675395,
|
| 139 |
+
0.9076043152847759,
|
| 140 |
+
0.9624802295523541
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 6244.525763021859,
|
| 145 |
+
"intensity": 0.9213232938516704
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8902974882501025,
|
| 155 |
+
0.8782242606375904,
|
| 156 |
+
0.857527299016141
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5303.609752190712,
|
| 161 |
+
"intensity": 0.8782242606375904
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8109495624115736,
|
| 165 |
+
0.8451992707507275,
|
| 166 |
+
0.8999988040933738
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_007/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 6,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8386832884552289,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
514.9194159002781,
|
| 46 |
+
0.0,
|
| 47 |
+
324.2322678870551
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
538.3783831882848,
|
| 52 |
+
235.8890998277797
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.5321544935228442,
|
| 62 |
+
-4.792368330986804,
|
| 63 |
+
0.9588780845066174
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.0313117939631806,
|
| 67 |
+
-3.9290011922028865,
|
| 68 |
+
1.1103678493620324
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.005949402518340995,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.4824911952018738,
|
| 74 |
+
0.07973229885101318,
|
| 75 |
+
0.8722642660140991,
|
| 76 |
+
-0.5321545004844666
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.8758205771446228,
|
| 80 |
+
0.030437111854553223,
|
| 81 |
+
0.4816761612892151,
|
| 82 |
+
-4.792368412017822
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.011855930089950562,
|
| 86 |
+
-0.9963515400886536,
|
| 87 |
+
0.08451676368713379,
|
| 88 |
+
0.9588780999183655
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.26503591697736983,
|
| 128 |
+
0.26727364105779794,
|
| 129 |
+
0.2513091720600091
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.8687666261755104,
|
| 139 |
+
0.8889654979636568,
|
| 140 |
+
0.9212836928246908
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5950.342418430993,
|
| 145 |
+
"intensity": 0.8970450466789153
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.663389526958126,
|
| 155 |
+
0.6588148805536316,
|
| 156 |
+
0.6509726295744981
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5400.803558902828,
|
| 161 |
+
"intensity": 0.6588148805536316
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1573876843463518,
|
| 165 |
+
1.1057183013185308,
|
| 166 |
+
1.0171422161279806
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_008/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 7,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2122592062464772,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
350.5989368719761,
|
| 46 |
+
0.0,
|
| 47 |
+
329.77358256410844
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
346.2337438671847,
|
| 52 |
+
257.3395090393923
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.2593067571503336,
|
| 62 |
+
-2.036274173716335,
|
| 63 |
+
1.8474077232249084
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.0855464008337719,
|
| 67 |
+
-3.8884641206036954,
|
| 68 |
+
1.0809656475480003
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.00047940247956528015,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9955940246582031,
|
| 74 |
+
0.03653485327959061,
|
| 75 |
+
-0.08636102080345154,
|
| 76 |
+
1.259306788444519
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.09376692026853561,
|
| 80 |
+
0.37917637825012207,
|
| 81 |
+
-0.9205613732337952,
|
| 82 |
+
-2.0362741947174072
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.0008865222334861755,
|
| 86 |
+
-0.9246030449867249,
|
| 87 |
+
-0.38093119859695435,
|
| 88 |
+
1.8474076986312866
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2563248261623411,
|
| 128 |
+
0.2607437524988227,
|
| 129 |
+
0.27889061289690964
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9154353582999641,
|
| 139 |
+
0.857016724549136,
|
| 140 |
+
0.756870495262002
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4526.212806797718,
|
| 145 |
+
"intensity": 0.857016724549136
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7657917593643608,
|
| 155 |
+
0.7388658703036963,
|
| 156 |
+
0.6927072033425573
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 4979.3973121922845,
|
| 161 |
+
"intensity": 0.7388658703036963
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0819947711804598,
|
| 165 |
+
1.0723997064999842,
|
| 166 |
+
1.0559510241905972
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_009/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 8,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.078362562772086,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
393.2732078502986,
|
| 46 |
+
0.0,
|
| 47 |
+
310.96240258972114
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
401.1249739702732,
|
| 52 |
+
237.1042451057808
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.2260970395650623,
|
| 62 |
+
-2.332133109980905,
|
| 63 |
+
1.7443604595649917
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.044720654403099,
|
| 67 |
+
-3.904591100017763,
|
| 68 |
+
1.153325052583732
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.028757397594779334,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9940749406814575,
|
| 74 |
+
-0.01708831638097763,
|
| 75 |
+
-0.10734675079584122,
|
| 76 |
+
1.2260969877243042
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.09442116320133209,
|
| 80 |
+
0.35351014137268066,
|
| 81 |
+
-0.9306532144546509,
|
| 82 |
+
-2.3321330547332764
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.053851447999477386,
|
| 86 |
+
-0.9352747201919556,
|
| 87 |
+
-0.3498018980026245,
|
| 88 |
+
1.7443604469299316
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.34558814235047525,
|
| 128 |
+
0.3621695674793795,
|
| 129 |
+
0.3258383953476794
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9779452131416382,
|
| 139 |
+
0.9896910815836428,
|
| 140 |
+
1.0084844710908505
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5736.242825997941,
|
| 145 |
+
"intensity": 0.9943894289604447
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8703688900668838,
|
| 155 |
+
0.9046060194406631,
|
| 156 |
+
0.9593854264387105
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 6245.662569815622,
|
| 161 |
+
"intensity": 0.918300871190175
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9652996445900083,
|
| 165 |
+
0.9562080265062503,
|
| 166 |
+
0.9406223955055224
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_010/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 9,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9006073697564917,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
513.2259727953023,
|
| 46 |
+
0.0,
|
| 47 |
+
347.68201944055636
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
496.4527746401963,
|
| 52 |
+
263.9154140129664
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.4489637920810883,
|
| 62 |
+
-3.7201071832594477,
|
| 63 |
+
1.2047253380759164
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.0441389007231812,
|
| 67 |
+
-3.961393152618625,
|
| 68 |
+
1.1482209328285122
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.029081383010636095,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.17125976085662842,
|
| 74 |
+
0.029132425785064697,
|
| 75 |
+
-0.9847952127456665,
|
| 76 |
+
2.4489638805389404
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.9835123419761658,
|
| 80 |
+
0.06398487091064453,
|
| 81 |
+
-0.16914373636245728,
|
| 82 |
+
-3.720107078552246
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.05808427929878235,
|
| 86 |
+
-0.9975256323814392,
|
| 87 |
+
-0.03961002826690674,
|
| 88 |
+
1.2047253847122192
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2951230734903189,
|
| 128 |
+
0.32270636332327063,
|
| 129 |
+
0.3112853930665183
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0279566565055644,
|
| 139 |
+
1.0368616571296583,
|
| 140 |
+
1.0511096581282082
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5671.1802795127605,
|
| 145 |
+
"intensity": 1.0404236573792958
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8106738486781988,
|
| 155 |
+
0.8366550063483711,
|
| 156 |
+
0.8782248586206469
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 6113.452223358195,
|
| 161 |
+
"intensity": 0.84704746941644
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9523954165349588,
|
| 165 |
+
0.9862679900767759,
|
| 166 |
+
1.0404641077436836
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_011/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 10,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1272347892365153,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
382.5081557595502,
|
| 46 |
+
0.0,
|
| 47 |
+
341.40716069580947
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
379.74666706536823,
|
| 52 |
+
229.13827721146225
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.6903375142924153,
|
| 62 |
+
-3.9516069273447942,
|
| 63 |
+
1.1321826887458823
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.044522665242737,
|
| 67 |
+
-3.9156995081434345,
|
| 68 |
+
1.1122839480830053
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.035346920014276056,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.020904183387756348,
|
| 74 |
+
0.013594448566436768,
|
| 75 |
+
-0.9996890425682068,
|
| 76 |
+
2.6903374195098877
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.9972835183143616,
|
| 80 |
+
0.07035517692565918,
|
| 81 |
+
0.02181065082550049,
|
| 82 |
+
-3.9516069889068604
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.0706297755241394,
|
| 86 |
+
-0.997429370880127,
|
| 87 |
+
-0.012086749076843262,
|
| 88 |
+
1.1321827173233032
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.24430787643283375,
|
| 128 |
+
0.24816502259543935,
|
| 129 |
+
0.23656823814469838
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0530167212508645,
|
| 139 |
+
0.9901974903345168,
|
| 140 |
+
0.8825073801922066
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4593.698385141253,
|
| 145 |
+
"intensity": 0.9901974903345168
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8596827827077991,
|
| 155 |
+
0.8215581216490785,
|
| 156 |
+
0.7562015598341288
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 4837.066969733862,
|
| 161 |
+
"intensity": 0.8215581216490785
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8665138275978587,
|
| 165 |
+
0.8850091659087852,
|
| 166 |
+
0.9146017072062678
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_012/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 11,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.144222392325498,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
389.88409740733886,
|
| 46 |
+
0.0,
|
| 47 |
+
298.32065612254587
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
372.6990760595647,
|
| 52 |
+
247.50485359395583
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.5440860541475314,
|
| 62 |
+
-4.7961694380719395,
|
| 63 |
+
1.1879832167986897
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.0368156890110658,
|
| 67 |
+
-3.9095641423031555,
|
| 68 |
+
1.1317942002448815
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.012613799393658393,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.507546603679657,
|
| 74 |
+
0.014883488416671753,
|
| 75 |
+
-0.8614957332611084,
|
| 76 |
+
2.54408597946167
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.861255407333374,
|
| 80 |
+
-0.03802001476287842,
|
| 81 |
+
0.5067481994628906,
|
| 82 |
+
-4.796169281005859
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.025211960077285767,
|
| 86 |
+
-0.9991661310195923,
|
| 87 |
+
-0.032115399837493896,
|
| 88 |
+
1.1879832744598389
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3695975003500747,
|
| 128 |
+
0.38364057170194293,
|
| 129 |
+
0.37437629731113004
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.164300141583804,
|
| 139 |
+
1.088964900935982,
|
| 140 |
+
0.9598187741111446
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4511.7057743410405,
|
| 145 |
+
"intensity": 1.088964900935982
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.615477801236328,
|
| 155 |
+
0.6120331713279268,
|
| 156 |
+
0.6061280914849532
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5419.597497330614,
|
| 161 |
+
"intensity": 0.6120331713279268
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0015164263285743,
|
| 165 |
+
1.0401805501285515,
|
| 166 |
+
1.1020431482085151
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_013/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 12,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.18269524757346,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
367.0500423015882,
|
| 46 |
+
0.0,
|
| 47 |
+
305.53348559710366
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
357.40390053858357,
|
| 52 |
+
261.2457042985934
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.38431489034339683,
|
| 62 |
+
-4.403150950452232,
|
| 63 |
+
1.4847666809750533
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.0120084608129238,
|
| 67 |
+
-3.9203038483258013,
|
| 68 |
+
1.1417666498581547
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.04951002613961587,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.30408167839050293,
|
| 74 |
+
-0.24498605728149414,
|
| 75 |
+
0.9206064343452454,
|
| 76 |
+
-0.3843148946762085
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9477664232254028,
|
| 80 |
+
0.019886136054992676,
|
| 81 |
+
0.31834474205970764,
|
| 82 |
+
-4.403151035308838
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.09629732370376587,
|
| 86 |
+
-0.969322681427002,
|
| 87 |
+
-0.2261425256729126,
|
| 88 |
+
1.4847667217254639
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.37790537174409994,
|
| 128 |
+
0.38235452053193947,
|
| 129 |
+
0.34395728287295985
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.175042391667115,
|
| 139 |
+
1.1579470541872967,
|
| 140 |
+
1.1286407613647509
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5289.093028069445,
|
| 145 |
+
"intensity": 1.1579470541872967
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6491812230969575,
|
| 155 |
+
0.6585249419976758,
|
| 156 |
+
0.6734748922388247
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5782.1757201885885,
|
| 161 |
+
"intensity": 0.6622624295579629
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9423674078377612,
|
| 165 |
+
0.9019908247310762,
|
| 166 |
+
0.8327738251196163
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_014/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 13,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0340800044211556,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
440.2700328434454,
|
| 46 |
+
0.0,
|
| 47 |
+
289.7771097694798
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
422.0610587184697,
|
| 52 |
+
228.05515173523432
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.044496710369711,
|
| 62 |
+
-5.260529733768955,
|
| 63 |
+
0.8318567210928816
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.049792879903258,
|
| 67 |
+
-3.9352458785385673,
|
| 68 |
+
1.070863369832001
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.0519482709212471,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.7865849733352661,
|
| 74 |
+
-0.16817960143089294,
|
| 75 |
+
-0.5941377878189087,
|
| 76 |
+
2.044496774673462
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.6088904142379761,
|
| 80 |
+
0.051305174827575684,
|
| 81 |
+
0.7915934324264526,
|
| 82 |
+
-5.260529518127441
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.10264752805233002,
|
| 86 |
+
-0.9844202995300293,
|
| 87 |
+
0.14275884628295898,
|
| 88 |
+
0.8318567276000977
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3462145468953993,
|
| 128 |
+
0.3678944149670081,
|
| 129 |
+
0.3500305019581676
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.2359073915303929,
|
| 139 |
+
1.1897176321636764,
|
| 140 |
+
1.1105351875350198
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4945.369483144698,
|
| 145 |
+
"intensity": 1.1897176321636764
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7103204133640358,
|
| 155 |
+
0.7145508149608524,
|
| 156 |
+
0.7213194575157589
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5618.127555618266,
|
| 161 |
+
"intensity": 0.7162429755995791
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0695112302743157,
|
| 165 |
+
1.0814264564880116,
|
| 166 |
+
1.1004908184299254
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_015/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 14,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9836182624726074,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
439.8058793602576,
|
| 46 |
+
0.0,
|
| 47 |
+
345.14028782150524
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
448.00004816551484,
|
| 52 |
+
247.26244332399366
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.0470789951643038,
|
| 62 |
+
-2.1534658664747894,
|
| 63 |
+
1.5407432798121667
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.0115675568979872,
|
| 67 |
+
-3.9104200190949836,
|
| 68 |
+
1.1044390582539474
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.04095305859624572,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9960458278656006,
|
| 74 |
+
0.08665089309215546,
|
| 75 |
+
-0.019612180069088936,
|
| 76 |
+
1.0470789670944214
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.03985017538070679,
|
| 80 |
+
0.23845338821411133,
|
| 81 |
+
-0.9703360795974731,
|
| 82 |
+
-2.153465747833252
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.07940389215946198,
|
| 86 |
+
-0.9672806262969971,
|
| 87 |
+
-0.2409633994102478,
|
| 88 |
+
1.5407432317733765
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3029366121938507,
|
| 128 |
+
0.2994753353286044,
|
| 129 |
+
0.29099887080577747
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.084544663829969,
|
| 139 |
+
1.1409881447071943,
|
| 140 |
+
1.2312977141107548
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 6470.181379210234,
|
| 145 |
+
"intensity": 1.1635655370580844
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6765302468927669,
|
| 155 |
+
0.646270565973153,
|
| 156 |
+
0.5943968272538152
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 4831.114275112383,
|
| 161 |
+
"intensity": 0.646270565973153
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8575690139942704,
|
| 165 |
+
0.8860488096088224,
|
| 166 |
+
0.9316164825921054
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b00_016/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 15,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.3086783461132638,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
317.3214856928404,
|
| 46 |
+
0.0,
|
| 47 |
+
336.2709360300375
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
312.87727368912186,
|
| 52 |
+
223.52579851199326
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.1127554591598825,
|
| 62 |
+
-2.992865725098259,
|
| 63 |
+
1.0281159831354696
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
1.0199618221962152,
|
| 67 |
+
-3.9202546883573453,
|
| 68 |
+
1.1563240204527423
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.04440137339654718,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.6384724378585815,
|
| 74 |
+
-0.12504753470420837,
|
| 75 |
+
-0.7594183683395386,
|
| 76 |
+
2.112755537033081
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.7645589113235474,
|
| 80 |
+
0.010196805000305176,
|
| 81 |
+
-0.6444732546806335,
|
| 82 |
+
-2.992865800857544
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.08833339810371399,
|
| 86 |
+
-0.9920983910560608,
|
| 87 |
+
0.08909595012664795,
|
| 88 |
+
1.02811598777771
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22657668590545654,
|
| 100 |
+
0.9739933609962463,
|
| 101 |
+
-4.563329270013128e-09,
|
| 102 |
+
1.0394577980041504
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9739933609962463,
|
| 106 |
+
-0.22657668590545654,
|
| 107 |
+
-6.234366800583757e-09,
|
| 108 |
+
-3.9176039695739746
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-7.106175647919599e-09,
|
| 112 |
+
3.0320905786140884e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3531126541571542,
|
| 128 |
+
0.3571643325380255,
|
| 129 |
+
0.3636903272316598
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1551017536742374,
|
| 139 |
+
1.117555744266419,
|
| 140 |
+
1.053191156710159
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5020.049388390094,
|
| 145 |
+
"intensity": 1.117555744266419
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8675218248359889,
|
| 155 |
+
0.8317682749130213,
|
| 156 |
+
0.7704764750450771
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 4885.928732430982,
|
| 161 |
+
"intensity": 0.8317682749130213
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1334325255032676,
|
| 165 |
+
1.1165534021010886,
|
| 166 |
+
1.0876177619830674
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_001/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 0,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2563795266801825,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
340.1845115201344,
|
| 46 |
+
0.0,
|
| 47 |
+
290.30541612956154
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
330.4211266418189,
|
| 52 |
+
235.3532406635324
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.3342260880434527,
|
| 62 |
+
-4.8339874147545885,
|
| 63 |
+
1.7286684128231284
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.01112695092512,
|
| 67 |
+
-3.921637535730057,
|
| 68 |
+
1.1075303812113686
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.03137114836390889,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.45993244647979736,
|
| 74 |
+
-0.30121317505836487,
|
| 75 |
+
0.8353040218353271,
|
| 76 |
+
1.334226131439209
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.8859498500823975,
|
| 80 |
+
-0.09250020980834961,
|
| 81 |
+
0.45446306467056274,
|
| 82 |
+
-4.833987236022949
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.059624433517456055,
|
| 86 |
+
-0.949059784412384,
|
| 87 |
+
-0.30940353870391846,
|
| 88 |
+
1.728668451309204
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2847394425705262,
|
| 128 |
+
0.2880287553667552,
|
| 129 |
+
0.25972183494467904
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0665737359933019,
|
| 139 |
+
1.0397127276303804,
|
| 140 |
+
0.9936652847225147
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5130.928158614121,
|
| 145 |
+
"intensity": 1.0397127276303804
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.5912450581339466,
|
| 155 |
+
0.5854753484985046,
|
| 156 |
+
0.5755844176948899
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5359.217943889799,
|
| 161 |
+
"intensity": 0.5854753484985046
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8680402630938016,
|
| 165 |
+
0.866867244267771,
|
| 166 |
+
0.8648563548517186
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_002/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 1,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1645670676147295,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
372.12282467726624,
|
| 46 |
+
0.0,
|
| 47 |
+
332.02110483639945
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
364.4995230833707,
|
| 52 |
+
239.0616570431681
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.3444038825334985,
|
| 62 |
+
-3.4193530265692584,
|
| 63 |
+
1.872744979727305
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.0884037033827743,
|
| 67 |
+
-4.002500340856861,
|
| 68 |
+
1.0369084361273402
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.013531847511189743,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.3276188373565674,
|
| 74 |
+
-0.38370779156684875,
|
| 75 |
+
0.8633854389190674,
|
| 76 |
+
1.344403862953186
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9444888830184937,
|
| 80 |
+
0.15683484077453613,
|
| 81 |
+
-0.28869321942329407,
|
| 82 |
+
-3.4193530082702637
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.02463507652282715,
|
| 86 |
+
-0.9100391864776611,
|
| 87 |
+
-0.41378962993621826,
|
| 88 |
+
1.8727450370788574
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3376307650554511,
|
| 128 |
+
0.3266931608265476,
|
| 129 |
+
0.33707003832322824
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0198092721893528,
|
| 139 |
+
1.0131032434728926,
|
| 140 |
+
1.0016071942446754
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5405.438650155,
|
| 145 |
+
"intensity": 1.0131032434728926
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8603390989768397,
|
| 155 |
+
0.824954187802027,
|
| 156 |
+
0.7642943400737766
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 4887.240238860315,
|
| 161 |
+
"intensity": 0.824954187802027
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1508343343836829,
|
| 165 |
+
1.1596032544789252,
|
| 166 |
+
1.1736335266313127
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_003/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 2,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1851510269739705,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
353.3600050459575,
|
| 46 |
+
0.0,
|
| 47 |
+
301.06526197022583
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
356.4574055019458,
|
| 52 |
+
259.4875028623744
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.7172145725528596,
|
| 62 |
+
-5.25961761708266,
|
| 63 |
+
1.7566560219851646
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.0265543862247806,
|
| 67 |
+
-3.9517083143258147,
|
| 68 |
+
1.0995804648143601
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.037200448867088856,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.9629451036453247,
|
| 74 |
+
-0.1731490194797516,
|
| 75 |
+
0.20677563548088074,
|
| 76 |
+
2.717214584350586
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.26129937171936035,
|
| 80 |
+
-0.40913325548171997,
|
| 81 |
+
0.8742611408233643,
|
| 82 |
+
-5.259617805480957
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.06677868217229843,
|
| 86 |
+
-0.8958958387374878,
|
| 87 |
+
-0.4392165541648865,
|
| 88 |
+
1.7566560506820679
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.34115088861894427,
|
| 128 |
+
0.32713359972792533,
|
| 129 |
+
0.3524324466068526
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0618403275475972,
|
| 139 |
+
1.0899830358973712,
|
| 140 |
+
1.1350113692570099
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 6011.109391279092,
|
| 145 |
+
"intensity": 1.101240119237281
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6085691970461367,
|
| 155 |
+
0.6189655056079308,
|
| 156 |
+
0.6355995993068014
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5833.683442698674,
|
| 161 |
+
"intensity": 0.6231240290326485
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.881109612736935,
|
| 165 |
+
0.8832430595740541,
|
| 166 |
+
0.8866565745134445
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_004/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 3,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8800270881717583,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
502.1808984738956,
|
| 46 |
+
0.0,
|
| 47 |
+
340.76561657392773
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
509.77377220335103,
|
| 52 |
+
241.27689243230577
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
4.412839450266924,
|
| 62 |
+
-5.090101127747566,
|
| 63 |
+
1.8828339140559298
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.0697918604443455,
|
| 67 |
+
-3.957558508387828,
|
| 68 |
+
1.0825829935006834
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.0385005340624128,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.618366003036499,
|
| 74 |
+
0.36554890871047974,
|
| 75 |
+
-0.6956992745399475,
|
| 76 |
+
4.412839412689209
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.7827661633491516,
|
| 80 |
+
-0.20762944221496582,
|
| 81 |
+
0.5866576433181763,
|
| 82 |
+
-5.09010124206543
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.07000446319580078,
|
| 86 |
+
-0.9073389768600464,
|
| 87 |
+
-0.41453027725219727,
|
| 88 |
+
1.8828339576721191
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3242933638931627,
|
| 128 |
+
0.3300312919092973,
|
| 129 |
+
0.3480696513887825
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.8496780570176855,
|
| 139 |
+
0.8929329717664214,
|
| 140 |
+
0.9621408353643992
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 6450.412096016731,
|
| 145 |
+
"intensity": 0.9102349376659159
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7637043959374035,
|
| 155 |
+
0.7500524429028798,
|
| 156 |
+
0.7266490948436963
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5239.9809808786285,
|
| 161 |
+
"intensity": 0.7500524429028798
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1699366499464796,
|
| 165 |
+
1.1760280865945305,
|
| 166 |
+
1.1857743852314118
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_005/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 4,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.220542848626592,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
339.85540193711114,
|
| 46 |
+
0.0,
|
| 47 |
+
338.7810630061114
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
343.18907991313074,
|
| 52 |
+
242.2756134190758
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
3.0974637401890623,
|
| 62 |
+
-5.054403589034638,
|
| 63 |
+
1.3953392072011606
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.1046235081593623,
|
| 67 |
+
-3.971516650541757,
|
| 68 |
+
1.1696207536724086
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.05221420090074402,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.9943899512290955,
|
| 74 |
+
-0.10557814687490463,
|
| 75 |
+
0.006472405046224594,
|
| 76 |
+
3.097463846206665
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.02784506231546402,
|
| 80 |
+
-0.20224601030349731,
|
| 81 |
+
0.9789388179779053,
|
| 82 |
+
-5.054403781890869
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.10204553604125977,
|
| 86 |
+
-0.9736270904541016,
|
| 87 |
+
-0.20405125617980957,
|
| 88 |
+
1.3953392505645752
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.22174281033790783,
|
| 128 |
+
0.23670973835728748,
|
| 129 |
+
0.2361092885732315
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.2278293257981228,
|
| 139 |
+
1.187980333774875,
|
| 140 |
+
1.119667776020736
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5020.807459153022,
|
| 145 |
+
"intensity": 1.187980333774875
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.5306878708840435,
|
| 155 |
+
0.5489409076819126,
|
| 156 |
+
0.5781457665585032
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 6156.298257998823,
|
| 161 |
+
"intensity": 0.5562421224010603
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.10481293560634,
|
| 165 |
+
1.0704233681201574,
|
| 166 |
+
1.01146982385813
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_006/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 5,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2411303818298498,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
343.43488526675725,
|
| 46 |
+
0.0,
|
| 47 |
+
320.66493617764206
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
335.775822292397,
|
| 52 |
+
252.6203232014497
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
3.910651881495429,
|
| 62 |
+
-3.5231653332475426,
|
| 63 |
+
1.8508433282754204
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.030238139426407,
|
| 67 |
+
-3.944182834970621,
|
| 68 |
+
1.029816358379445
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.03499197553910009,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.47097039222717285,
|
| 74 |
+
0.5491955280303955,
|
| 75 |
+
-0.6903414130210876,
|
| 76 |
+
3.910651922225952
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.880524754524231,
|
| 80 |
+
0.34013867378234863,
|
| 81 |
+
-0.33012428879737854,
|
| 82 |
+
-3.523165225982666
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.05350899696350098,
|
| 86 |
+
-0.7633414268493652,
|
| 87 |
+
-0.6437754034996033,
|
| 88 |
+
1.8508433103561401
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.30725374168790265,
|
| 128 |
+
0.298265899461526,
|
| 129 |
+
0.30453433330387103
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.2004645653851191,
|
| 139 |
+
1.1695634461557776,
|
| 140 |
+
1.116590098905478
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5122.556123936549,
|
| 145 |
+
"intensity": 1.1695634461557776
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6950658135546431,
|
| 155 |
+
0.6747771360065455,
|
| 156 |
+
0.6399965459240926
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5070.468180942787,
|
| 161 |
+
"intensity": 0.6747771360065455
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1580914460831944,
|
| 165 |
+
1.159760419554329,
|
| 166 |
+
1.1624307771081441
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_007/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 6,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0453634809417964,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
398.87795819849924,
|
| 46 |
+
0.0,
|
| 47 |
+
324.60673620663965
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
416.5739483220391,
|
| 52 |
+
237.9019554988765
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.9305509596860868,
|
| 62 |
+
-5.266479333606838,
|
| 63 |
+
0.8589973250389747
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.058298219745183,
|
| 67 |
+
-3.9136666193417287,
|
| 68 |
+
1.10053084197262
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.028088650586272856,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.7717817425727844,
|
| 74 |
+
0.043733954429626465,
|
| 75 |
+
0.6343818306922913,
|
| 76 |
+
1.9305509328842163
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.6334497332572937,
|
| 80 |
+
0.14014899730682373,
|
| 81 |
+
0.7609859704971313,
|
| 82 |
+
-5.2664794921875
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.05562704801559448,
|
| 86 |
+
-0.9891641139984131,
|
| 87 |
+
0.13586771488189697,
|
| 88 |
+
0.8589973449707031
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.25243926985525345,
|
| 128 |
+
0.23794340869045189,
|
| 129 |
+
0.2457389800487298
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1033029033956245,
|
| 139 |
+
1.1201642139546455,
|
| 140 |
+
1.1471423108490788
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5799.248909654897,
|
| 145 |
+
"intensity": 1.1269087381782539
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7490800772636689,
|
| 155 |
+
0.7340847280097648,
|
| 156 |
+
0.7083784150030722
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5208.181812150542,
|
| 161 |
+
"intensity": 0.7340847280097648
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9297541698034553,
|
| 165 |
+
0.9555904013069372,
|
| 166 |
+
0.9969283717125084
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_008/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 7,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2880576191291482,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
312.3879399226997,
|
| 46 |
+
0.0,
|
| 47 |
+
344.6072825361961
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
319.6484468063633,
|
| 52 |
+
235.5936081641928
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
4.919171969628387,
|
| 62 |
+
-4.623267758110818,
|
| 63 |
+
1.636527895922341
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.0818382885207614,
|
| 67 |
+
-3.946370076187051,
|
| 68 |
+
1.1068814420411364
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.033437095443469844,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.3612987995147705,
|
| 74 |
+
0.22136467695236206,
|
| 75 |
+
-0.9057929515838623,
|
| 76 |
+
4.9191718101501465
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.9302162528038025,
|
| 80 |
+
-0.15276861190795898,
|
| 81 |
+
0.3337059020996094,
|
| 82 |
+
-4.623267650604248
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.06450608372688293,
|
| 86 |
+
-0.9631508588790894,
|
| 87 |
+
-0.2611120939254761,
|
| 88 |
+
1.6365278959274292
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2801819641104415,
|
| 128 |
+
0.2953192778399778,
|
| 129 |
+
0.2777439811177882
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9241483601508449,
|
| 139 |
+
0.9545331978517609,
|
| 140 |
+
1.0031489381732268
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 6128.63850496807,
|
| 145 |
+
"intensity": 0.9666871329321274
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7475064755243434,
|
| 155 |
+
0.7596365560988375,
|
| 156 |
+
0.7790446850180283
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5817.338434076919,
|
| 161 |
+
"intensity": 0.7644885883286352
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0577367736227608,
|
| 165 |
+
1.0732321379499792,
|
| 166 |
+
1.0980247208735288
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_009/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 8,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1948938432740592,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
344.9185137705912,
|
| 46 |
+
0.0,
|
| 47 |
+
332.01690107085534
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
352.73611951806595,
|
| 52 |
+
253.80103664393926
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.4406731946943174,
|
| 62 |
+
-3.7872264995869345,
|
| 63 |
+
1.593164725344209
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.078924749332251,
|
| 67 |
+
-3.9832962496493036,
|
| 68 |
+
1.0732698378778147
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.03316717361178172,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.0987931489944458,
|
| 74 |
+
-0.3056234121322632,
|
| 75 |
+
0.947013258934021,
|
| 76 |
+
1.4406732320785522
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9930976629257202,
|
| 80 |
+
-0.030181050300598145,
|
| 81 |
+
-0.113340824842453,
|
| 82 |
+
-3.787226438522339
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.06322142481803894,
|
| 86 |
+
-0.9516739845275879,
|
| 87 |
+
-0.3005322217941284,
|
| 88 |
+
1.5931646823883057
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.27677154933747233,
|
| 128 |
+
0.28960149008136127,
|
| 129 |
+
0.2957353493796963
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0167737659096423,
|
| 139 |
+
0.9532247814294345,
|
| 140 |
+
0.8442836651776497
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4547.609070685134,
|
| 145 |
+
"intensity": 0.9532247814294345
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.9193584052206506,
|
| 155 |
+
0.9102890413848783,
|
| 156 |
+
0.8947415605235544
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5357.669009929064,
|
| 161 |
+
"intensity": 0.9102890413848783
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.169998996149668,
|
| 165 |
+
1.1495599746323633,
|
| 166 |
+
1.1145216520312693
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_010/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 9,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0317046988490528,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
412.852482687789,
|
| 46 |
+
0.0,
|
| 47 |
+
310.6504992397371
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
423.2300506800537,
|
| 52 |
+
236.62812645192759
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
3.651490152296457,
|
| 62 |
+
-5.619204068776484,
|
| 63 |
+
1.3938609892411584
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.032448101909454,
|
| 67 |
+
-3.9912170842638224,
|
| 68 |
+
1.0842184749956814
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.05185568416596075,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.9232431054115295,
|
| 74 |
+
0.15864333510398865,
|
| 75 |
+
-0.34993496537208557,
|
| 76 |
+
3.6514902114868164
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.3704497516155243,
|
| 80 |
+
-0.12593293190002441,
|
| 81 |
+
0.9202759265899658,
|
| 82 |
+
-5.619204044342041
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.10192731022834778,
|
| 86 |
+
-0.9792717695236206,
|
| 87 |
+
-0.17503613233566284,
|
| 88 |
+
1.393860936164856
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.23574247033584808,
|
| 128 |
+
0.2451026155689045,
|
| 129 |
+
0.24369640591938632
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9255090748782278,
|
| 139 |
+
0.8724286242290179,
|
| 140 |
+
0.7814335659732298
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4630.826143168233,
|
| 145 |
+
"intensity": 0.8724286242290179
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.9154381218176029,
|
| 155 |
+
0.9329588738162284,
|
| 156 |
+
0.9609920770140293
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5872.794975649851,
|
| 161 |
+
"intensity": 0.9399671746156786
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0432657871404338,
|
| 165 |
+
1.017320050684279,
|
| 166 |
+
0.9728416453308709
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_011/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 10,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1173554970003636,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
400.2730562058927,
|
| 46 |
+
0.0,
|
| 47 |
+
323.81459138737324
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
383.9329951194939,
|
| 52 |
+
263.5399523628864
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.549486085626214,
|
| 62 |
+
-2.972002727627554,
|
| 63 |
+
0.9789387349944721
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.0341890076900393,
|
| 67 |
+
-3.9533810046151987,
|
| 68 |
+
1.0837310873337558
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.034479979052754614,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.5467298030853271,
|
| 74 |
+
0.08691436052322388,
|
| 75 |
+
0.832785964012146,
|
| 76 |
+
1.5494860410690308
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.8344788551330566,
|
| 80 |
+
0.02514791488647461,
|
| 81 |
+
-0.5504657626152039,
|
| 82 |
+
-2.9720027446746826
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.06878623366355896,
|
| 86 |
+
-0.9958983063697815,
|
| 87 |
+
0.058779001235961914,
|
| 88 |
+
0.9789387583732605
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2633217975746757,
|
| 128 |
+
0.25785535576534824,
|
| 129 |
+
0.2592326946003699
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.8301608582458666,
|
| 139 |
+
0.8619125496368175,
|
| 140 |
+
0.9127152558623388
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 6226.0738904933305,
|
| 145 |
+
"intensity": 0.8746132261931978
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6866352830439778,
|
| 155 |
+
0.696166226135391,
|
| 156 |
+
0.7114157350816522
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5772.320983684373,
|
| 161 |
+
"intensity": 0.6999786033719563
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8948216893871713,
|
| 165 |
+
0.9291009073401432,
|
| 166 |
+
0.9839476560648984
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_012/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 11,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0875140995426813,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
408.46347015997554,
|
| 46 |
+
0.0,
|
| 47 |
+
341.5267893325652
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
396.99068351668717,
|
| 52 |
+
245.8683894007507
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
4.665483137687715,
|
| 62 |
+
-3.4863158263022473,
|
| 63 |
+
1.7653245661481618
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.0903632050397287,
|
| 67 |
+
-3.93507191225945,
|
| 68 |
+
1.0813326041810558
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.0035577346748980193,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.2766299247741699,
|
| 74 |
+
0.36866456270217896,
|
| 75 |
+
-0.8874471187591553,
|
| 76 |
+
4.665482997894287
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.9609541296958923,
|
| 80 |
+
0.11243224143981934,
|
| 81 |
+
-0.25283634662628174,
|
| 82 |
+
-3.4863157272338867
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.006565839052200317,
|
| 86 |
+
-0.9227380752563477,
|
| 87 |
+
-0.3853718042373657,
|
| 88 |
+
1.765324592590332
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.28996155637763743,
|
| 128 |
+
0.27439525136707676,
|
| 129 |
+
0.2938427194214364
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9418931154844012,
|
| 139 |
+
0.9911321627444664,
|
| 140 |
+
1.0699146383605709
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 6474.232171968295,
|
| 145 |
+
"intensity": 1.0108277816484925
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8974079860962144,
|
| 155 |
+
0.9079488340225136,
|
| 156 |
+
0.9248141907045924
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5731.1170879151405,
|
| 161 |
+
"intensity": 0.9121651731930334
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.942577814998471,
|
| 165 |
+
0.9053079703699711,
|
| 166 |
+
0.8414168081496857
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_013/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 12,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9165506588665988,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
480.4844580188897,
|
| 46 |
+
0.0,
|
| 47 |
+
320.0490519588178
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
486.51681851787487,
|
| 52 |
+
237.73487648934255
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
3.5876604443562723,
|
| 62 |
+
-2.0733620118327876,
|
| 63 |
+
1.179799819584601
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.105053334679184,
|
| 67 |
+
-4.00541486452661,
|
| 68 |
+
1.1630829048604656
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.001045306374072276,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.970184326171875,
|
| 74 |
+
0.00406261533498764,
|
| 75 |
+
-0.2423352301120758,
|
| 76 |
+
3.587660551071167
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.24236026406288147,
|
| 80 |
+
0.007637381553649902,
|
| 81 |
+
-0.9701563119888306,
|
| 82 |
+
-2.073362112045288
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.0020905807614326477,
|
| 86 |
+
-0.9999626874923706,
|
| 87 |
+
-0.008394122123718262,
|
| 88 |
+
1.1797997951507568
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3705262042881582,
|
| 128 |
+
0.39356740197596746,
|
| 129 |
+
0.3846435515944476
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9961277770276586,
|
| 139 |
+
0.9956470782970657,
|
| 140 |
+
0.994823023330335
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5493.102852534353,
|
| 145 |
+
"intensity": 0.9956470782970657
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8899502663289979,
|
| 155 |
+
0.8946123710699333,
|
| 156 |
+
0.90207173865543
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5604.009442147652,
|
| 161 |
+
"intensity": 0.8964772129663074
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9191642953212027,
|
| 165 |
+
0.8907835734670481,
|
| 166 |
+
0.8421309074313543
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_014/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 13,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8412221031790715,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
514.4186512683387,
|
| 46 |
+
0.0,
|
| 47 |
+
350.96174429295206
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
536.5458620670561,
|
| 52 |
+
222.73690391877372
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
3.335171540433203,
|
| 62 |
+
-5.793785968437498,
|
| 63 |
+
1.0428199920230303
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.049133867823071,
|
| 67 |
+
-3.9850091081031076,
|
| 68 |
+
1.1185245744107193
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.0021157467497448096,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.9876896739006042,
|
| 74 |
+
-0.010631248354911804,
|
| 75 |
+
-0.15606442093849182,
|
| 76 |
+
3.3351714611053467
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.15636897087097168,
|
| 80 |
+
0.04013669490814209,
|
| 81 |
+
0.9868829846382141,
|
| 82 |
+
-5.79378604888916
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.004227884113788605,
|
| 86 |
+
-0.9991376996040344,
|
| 87 |
+
0.0413050651550293,
|
| 88 |
+
1.0428199768066406
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.31827491176360206,
|
| 128 |
+
0.2967344512751707,
|
| 129 |
+
0.290199461994498
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9111264022553573,
|
| 139 |
+
0.8844518380044971,
|
| 140 |
+
0.8387240135744509
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5069.1509845878345,
|
| 145 |
+
"intensity": 0.8844518380044971
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.5811831228532208,
|
| 155 |
+
0.5783522214426541,
|
| 156 |
+
0.5734992475959683
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5430.074706687382,
|
| 161 |
+
"intensity": 0.5783522214426541
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.2173477963464419,
|
| 165 |
+
1.1748073706978965,
|
| 166 |
+
1.1018809267289618
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_015/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 14,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0340871643406773,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
439.69897273857765,
|
| 46 |
+
0.0,
|
| 47 |
+
348.72122987786366
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
422.0575423917003,
|
| 52 |
+
253.38112939741046
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
4.459848865789451,
|
| 62 |
+
-2.745626242111011,
|
| 63 |
+
1.0901904544128564
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.0526474909850494,
|
| 67 |
+
-3.9988769228443655,
|
| 68 |
+
1.1365373356714845
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.007158847473102407,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.6647458076477051,
|
| 74 |
+
-0.02788183093070984,
|
| 75 |
+
-0.7465495467185974,
|
| 76 |
+
4.459848880767822
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.746932864189148,
|
| 80 |
+
-0.005659222602844238,
|
| 81 |
+
-0.6648755669593811,
|
| 82 |
+
-2.745626211166382
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.014312922954559326,
|
| 86 |
+
-0.9995953440666199,
|
| 87 |
+
0.02458810806274414,
|
| 88 |
+
1.0901904106140137
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.23952162951588418,
|
| 128 |
+
0.2279085990079209,
|
| 129 |
+
0.22889646284002219
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0436268807129676,
|
| 139 |
+
1.081339407621962,
|
| 140 |
+
1.141679450676353
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 6187.918405985969,
|
| 145 |
+
"intensity": 1.0964244183855598
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8813352435857431,
|
| 155 |
+
0.9096101456357444,
|
| 156 |
+
0.9548499889157465
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 6114.057654986384,
|
| 161 |
+
"intensity": 0.9209201064557448
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0262129891984306,
|
| 165 |
+
1.0432245898893242,
|
| 166 |
+
1.070443150994754
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b01_016/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 15,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0817588835540206,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
389.9251343202525,
|
| 46 |
+
0.0,
|
| 47 |
+
298.0692387383481
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
399.583305763082,
|
| 52 |
+
257.6113037630894
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.2384441763528327,
|
| 62 |
+
-2.334590811871712,
|
| 63 |
+
1.4617804641775196
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
3.013028768874939,
|
| 67 |
+
-3.9593201108428313,
|
| 68 |
+
1.0422882021501776
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.025149391145596906,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.8966128826141357,
|
| 74 |
+
-0.14293880760669708,
|
| 75 |
+
0.4191109538078308,
|
| 76 |
+
2.2384440898895264
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.44009989500045776,
|
| 80 |
+
0.1829897165298462,
|
| 81 |
+
-0.8791057467460632,
|
| 82 |
+
-2.3345909118652344
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.04896534979343414,
|
| 86 |
+
-0.9726681113243103,
|
| 87 |
+
-0.22697824239730835,
|
| 88 |
+
1.4617804288864136
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.7015162706375122,
|
| 100 |
+
-0.712653398513794,
|
| 101 |
+
-3.3249643038857357e-09,
|
| 102 |
+
3.056250810623169
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.712653398513794,
|
| 106 |
+
0.7015162706375122,
|
| 107 |
+
2.6462341207178497e-09,
|
| 108 |
+
-3.9635426998138428
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
4.4666881304777917e-10,
|
| 112 |
+
-4.225923611045346e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.31291976332268523,
|
| 128 |
+
0.30167092531863604,
|
| 129 |
+
0.300084899663414
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1422345392188398,
|
| 139 |
+
1.075835841355925,
|
| 140 |
+
0.9620095021623571
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4618.310814577843,
|
| 145 |
+
"intensity": 1.075835841355925
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.9090491375388035,
|
| 155 |
+
0.9091877011392645,
|
| 156 |
+
0.9094094029000022
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5503.0478888739535,
|
| 161 |
+
"intensity": 0.909243126579449
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.2243460111587738,
|
| 165 |
+
1.190766346912584,
|
| 166 |
+
1.1332012082048306
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_001/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 0,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2583726691709536,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
313.925046242765,
|
| 46 |
+
0.0,
|
| 47 |
+
302.3826334770113
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
329.72954911551665,
|
| 52 |
+
262.55935082689604
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.9501026552836838,
|
| 62 |
+
-4.225409422450152,
|
| 63 |
+
1.7640210251534219
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.952348511651994,
|
| 67 |
+
-4.231978229519191,
|
| 68 |
+
1.132494320499481
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.016087187319008822,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.023699522018432617,
|
| 74 |
+
-0.5325987935066223,
|
| 75 |
+
0.8460359573364258,
|
| 76 |
+
1.950102686882019
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9993485808372498,
|
| 80 |
+
0.035660386085510254,
|
| 81 |
+
-0.005545079708099365,
|
| 82 |
+
-4.225409507751465
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.02721664309501648,
|
| 86 |
+
-0.8456162810325623,
|
| 87 |
+
-0.533096969127655,
|
| 88 |
+
1.7640210390090942
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2865036622020388,
|
| 128 |
+
0.289430682155889,
|
| 129 |
+
0.2667984580385315
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9213730324524008,
|
| 139 |
+
0.9638416109446931,
|
| 140 |
+
1.031791336532361
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 6365.973103547257,
|
| 145 |
+
"intensity": 0.9808290423416101
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8352938813302119,
|
| 155 |
+
0.803687981815917,
|
| 156 |
+
0.7495064397914116
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 4938.1988278784165,
|
| 161 |
+
"intensity": 0.803687981815917
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.2144668324077097,
|
| 165 |
+
1.1845071701966434,
|
| 166 |
+
1.1331477492633872
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_002/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 1,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1719815887995164,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
358.0652684418336,
|
| 46 |
+
0.0,
|
| 47 |
+
291.2323178557618
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
361.57396302859416,
|
| 52 |
+
245.89381612728988
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.7724909558076192,
|
| 62 |
+
-3.1378361226876206,
|
| 63 |
+
1.7663489059369262
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.9531072484159497,
|
| 67 |
+
-4.2680854897746245,
|
| 68 |
+
1.1624978405482749
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.03999562959041963,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.6693158149719238,
|
| 74 |
+
-0.3047958016395569,
|
| 75 |
+
0.6775809526443481,
|
| 76 |
+
1.7724909782409668
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.7391876578330994,
|
| 80 |
+
0.18117272853851318,
|
| 81 |
+
-0.6486741304397583,
|
| 82 |
+
-3.137836217880249
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.07495394349098206,
|
| 86 |
+
-0.9350272417068481,
|
| 87 |
+
-0.34656304121017456,
|
| 88 |
+
1.766348958015442
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2908074815291576,
|
| 128 |
+
0.29139156610806505,
|
| 129 |
+
0.29210404118505257
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9359633178559753,
|
| 139 |
+
0.9480280260442421,
|
| 140 |
+
0.9673315591454688
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5753.23311517675,
|
| 145 |
+
"intensity": 0.9528539093195487
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.5935244065567865,
|
| 155 |
+
0.5801965584874967,
|
| 156 |
+
0.5573488189401429
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5171.8390918111845,
|
| 161 |
+
"intensity": 0.5801965584874967
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.041370042051469,
|
| 165 |
+
0.9967215240169132,
|
| 166 |
+
0.9201812073862461
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_003/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 2,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1481708359022929,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
379.3225231002702,
|
| 46 |
+
0.0,
|
| 47 |
+
349.94000882234764
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
371.0875825344721,
|
| 52 |
+
250.78511843549123
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.271591445048612,
|
| 62 |
+
-3.567749470737776,
|
| 63 |
+
0.8958433520275744
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.9514816357643636,
|
| 67 |
+
-4.256039031336755,
|
| 68 |
+
1.1683193062809263
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.013151356430123794,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.7161986827850342,
|
| 74 |
+
0.1717342734336853,
|
| 75 |
+
0.6764369010925293,
|
| 76 |
+
2.2715914249420166
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.6974372267723083,
|
| 80 |
+
-0.2112795114517212,
|
| 81 |
+
-0.6847937107086182,
|
| 82 |
+
-3.567749500274658
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.025314748287200928,
|
| 86 |
+
-0.9622205495834351,
|
| 87 |
+
0.2710920572280884,
|
| 88 |
+
0.8958433270454407
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3582421035699054,
|
| 128 |
+
0.39458149121188013,
|
| 129 |
+
0.3622720573104472
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0773689254450785,
|
| 139 |
+
1.1069594538484218,
|
| 140 |
+
1.154304299293771
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 6028.971094963895,
|
| 145 |
+
"intensity": 1.118795665209759
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8745121984553049,
|
| 155 |
+
0.863593980671269,
|
| 156 |
+
0.844877035898636
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5319.3890378315255,
|
| 161 |
+
"intensity": 0.863593980671269
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1603646749145866,
|
| 165 |
+
1.1645005887796338,
|
| 166 |
+
1.1711180509637091
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_004/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 3,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2293542795533985,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
348.9267305426778,
|
| 46 |
+
0.0,
|
| 47 |
+
297.326034289376
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
339.98976130410307,
|
| 52 |
+
230.2425983909361
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
4.390748161182408,
|
| 62 |
+
-3.4452689507711156,
|
| 63 |
+
1.4343864520981289
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.9497797054590618,
|
| 67 |
+
-4.240909668176259,
|
| 68 |
+
1.0834596192154917
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.024936726820621175,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.4918665885925293,
|
| 74 |
+
0.15820840001106262,
|
| 75 |
+
-0.8561760783195496,
|
| 76 |
+
4.390748023986816
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.8693044185638428,
|
| 80 |
+
0.1443033218383789,
|
| 81 |
+
-0.47274357080459595,
|
| 82 |
+
-3.4452688694000244
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.048756957054138184,
|
| 86 |
+
-0.9768043160438538,
|
| 87 |
+
-0.2085091471672058,
|
| 88 |
+
1.4343864917755127
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.369686321457669,
|
| 128 |
+
0.3494461319377127,
|
| 129 |
+
0.33353865783115855
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0835741158958223,
|
| 139 |
+
1.071863209497068,
|
| 140 |
+
1.0517873699563463
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5343.91789795841,
|
| 145 |
+
"intensity": 1.071863209497068
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8362617749086979,
|
| 155 |
+
0.8120243139383578,
|
| 156 |
+
0.7704743808463463
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5073.597198396557,
|
| 161 |
+
"intensity": 0.8120243139383578
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0040100370384826,
|
| 165 |
+
1.0026297885904507,
|
| 166 |
+
1.0002636483938248
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_005/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 4,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0992253608034595,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
374.02964218028364,
|
| 46 |
+
0.0,
|
| 47 |
+
310.21864819437974
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
391.79040586584193,
|
| 52 |
+
258.0662330955195
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.295118674565831,
|
| 62 |
+
-2.3265277505170543,
|
| 63 |
+
1.0986776776541443
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.951616145044062,
|
| 67 |
+
-4.261227272885148,
|
| 68 |
+
1.0499850318327333
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.04467435449930747,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9438725709915161,
|
| 74 |
+
0.07687200605869293,
|
| 75 |
+
0.3212408721446991,
|
| 76 |
+
2.295118570327759
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.3180370330810547,
|
| 80 |
+
0.05114543437957764,
|
| 81 |
+
-0.9466978311538696,
|
| 82 |
+
-2.3265278339385986
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.08920451253652573,
|
| 86 |
+
-0.9957283735275269,
|
| 87 |
+
-0.02382636070251465,
|
| 88 |
+
1.098677635192871
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.38426831221336333,
|
| 128 |
+
0.35969175828616484,
|
| 129 |
+
0.3638269498865828
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9719513949498552,
|
| 139 |
+
0.9170917792021189,
|
| 140 |
+
0.8230467236345713
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4645.441258803926,
|
| 145 |
+
"intensity": 0.9170917792021189
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8071052785451821,
|
| 155 |
+
0.8133808176557432,
|
| 156 |
+
0.8234216802326408
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5653.832775565112,
|
| 161 |
+
"intensity": 0.8158910332999676
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0942593270864487,
|
| 165 |
+
1.1374814578782433,
|
| 166 |
+
1.206636867145115
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_006/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 5,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2550118485810524,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
332.5334839000846,
|
| 46 |
+
0.0,
|
| 47 |
+
329.19899073771967
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
330.8967803325187,
|
| 52 |
+
244.59418199628493
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.822527838679535,
|
| 62 |
+
-2.6458766623177397,
|
| 63 |
+
1.6926528911268126
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.8720142036912644,
|
| 67 |
+
-4.19656876646702,
|
| 68 |
+
1.152117069036215
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.02139667493464386,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.8207539319992065,
|
| 74 |
+
-0.1907399296760559,
|
| 75 |
+
0.5384993553161621,
|
| 76 |
+
1.8225278854370117
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.5698016285896301,
|
| 80 |
+
0.20550525188446045,
|
| 81 |
+
-0.7956719398498535,
|
| 82 |
+
-2.64587664604187
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.041102007031440735,
|
| 86 |
+
-0.9598885774612427,
|
| 87 |
+
-0.2773529887199402,
|
| 88 |
+
1.692652940750122
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.33400991228474763,
|
| 128 |
+
0.32324025343014273,
|
| 129 |
+
0.33974192778149515
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.216858533266557,
|
| 139 |
+
1.1468301471645272,
|
| 140 |
+
1.0267814852753339
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4627.677696460348,
|
| 145 |
+
"intensity": 1.1468301471645272
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6765204105246805,
|
| 155 |
+
0.649030868848125,
|
| 156 |
+
0.6019059402597442
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 4894.932110188428,
|
| 161 |
+
"intensity": 0.649030868848125
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0886867045584236,
|
| 165 |
+
1.0823563112672734,
|
| 166 |
+
1.0715042084824444
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_007/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 6,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9315216097360651,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
493.99115560341943,
|
| 46 |
+
0.0,
|
| 47 |
+
307.50071271670595
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
477.47483354317666,
|
| 52 |
+
252.94269321653408
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.9364564596035883,
|
| 62 |
+
-2.322989265640909,
|
| 63 |
+
1.884692802199515
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.95533130822833,
|
| 67 |
+
-4.188702176733925,
|
| 68 |
+
1.0261054346393854
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.032787656847127346,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9975225925445557,
|
| 74 |
+
-0.06974469125270844,
|
| 75 |
+
0.009189875796437263,
|
| 76 |
+
2.9364564418792725
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.03748597204685211,
|
| 80 |
+
0.4164496660232544,
|
| 81 |
+
-0.9083857536315918,
|
| 82 |
+
-2.3229892253875732
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.059527963399887085,
|
| 86 |
+
-0.9064797163009644,
|
| 87 |
+
-0.4180322289466858,
|
| 88 |
+
1.8846927881240845
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.26003927264926685,
|
| 128 |
+
0.2581390705565591,
|
| 129 |
+
0.2660621796905501
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0843851343628166,
|
| 139 |
+
1.0883861844335407,
|
| 140 |
+
1.0947878645466995
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5573.414664993974,
|
| 145 |
+
"intensity": 1.0899866044618305
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8846140462062935,
|
| 155 |
+
0.8924760528963955,
|
| 156 |
+
0.9050552636005588
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5675.565511704773,
|
| 161 |
+
"intensity": 0.8956208555724364
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1087264090696656,
|
| 165 |
+
1.1010634616130466,
|
| 166 |
+
1.087926980258843
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_008/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 7,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1242059550088277,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
381.1714866412221,
|
| 46 |
+
0.0,
|
| 47 |
+
333.9101233672392
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
381.02314669010406,
|
| 52 |
+
262.0760107780015
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
4.652220491188418,
|
| 62 |
+
-3.6627979638824857,
|
| 63 |
+
1.4124398315727227
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.9262846377030485,
|
| 67 |
+
-4.270919816893826,
|
| 68 |
+
1.1155870160001085
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.006569890570971022,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.3303055763244629,
|
| 74 |
+
0.15538007020950317,
|
| 75 |
+
-0.9309970140457153,
|
| 76 |
+
4.652220726013184
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.9437850117683411,
|
| 80 |
+
0.04081594944000244,
|
| 81 |
+
-0.328030526638031,
|
| 82 |
+
-3.6627979278564453
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.012969881296157837,
|
| 86 |
+
-0.9870112538337708,
|
| 87 |
+
-0.16012704372406006,
|
| 88 |
+
1.4124398231506348
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.31281056080169267,
|
| 128 |
+
0.31738256616613364,
|
| 129 |
+
0.3093205347514867
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.8890796225902021,
|
| 139 |
+
0.8962344848387624,
|
| 140 |
+
0.9076822644364594
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5659.156726951835,
|
| 145 |
+
"intensity": 0.8990964297381867
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7627549563278393,
|
| 155 |
+
0.7533184010354113,
|
| 156 |
+
0.7371414491055346
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5321.047869581198,
|
| 161 |
+
"intensity": 0.7533184010354113
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8722097746899189,
|
| 165 |
+
0.8752180186951889,
|
| 166 |
+
0.8800312091036209
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_009/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 8,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.3012902837567526,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
303.60414389800655,
|
| 46 |
+
0.0,
|
| 47 |
+
334.0346853129464
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
315.28217012499874,
|
| 52 |
+
249.3461471669249
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.6535509653703384,
|
| 62 |
+
-6.100366951474686,
|
| 63 |
+
1.0100391214598086
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.8764990145988882,
|
| 67 |
+
-4.197015777507878,
|
| 68 |
+
1.1202495274784638
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.03579105139845762,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.9911437630653381,
|
| 74 |
+
-0.06437280774116516,
|
| 75 |
+
0.11614716053009033,
|
| 76 |
+
2.653550863265991
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.11196263134479523,
|
| 80 |
+
0.0652000904083252,
|
| 81 |
+
0.9915712475776672,
|
| 82 |
+
-6.100367069244385
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.07140302658081055,
|
| 86 |
+
-0.9957937598228455,
|
| 87 |
+
0.05741536617279053,
|
| 88 |
+
1.0100390911102295
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.26179583033115494,
|
| 128 |
+
0.2781508186105549,
|
| 129 |
+
0.2610600072409186
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.84409730570165,
|
| 139 |
+
0.8714348376923368,
|
| 140 |
+
0.9151748888774356
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 6119.638850433265,
|
| 145 |
+
"intensity": 0.8823698504886115
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.5829873372685889,
|
| 155 |
+
0.559912207207681,
|
| 156 |
+
0.5203548413889819
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 4911.256423931556,
|
| 161 |
+
"intensity": 0.559912207207681
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8146723512770554,
|
| 165 |
+
0.8117315777293284,
|
| 166 |
+
0.8066902516475107
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_010/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 9,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8547923183414867,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
516.1470689713454,
|
| 46 |
+
0.0,
|
| 47 |
+
308.29123205574626
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
526.9244562757551,
|
| 52 |
+
225.77581842707679
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
4.840725798503241,
|
| 62 |
+
-4.168726816597777,
|
| 63 |
+
1.6669438470808169
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.9289086171888026,
|
| 67 |
+
-4.184751616806969,
|
| 68 |
+
1.066611653436822
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.0074308666645895236,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.0039288997650146484,
|
| 74 |
+
0.2996596395969391,
|
| 75 |
+
-0.954038143157959,
|
| 76 |
+
4.840725898742676
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.9998918771743774,
|
| 80 |
+
-0.012349843978881836,
|
| 81 |
+
-0.007996618747711182,
|
| 82 |
+
-4.168726921081543
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.014178603887557983,
|
| 86 |
+
-0.9539663195610046,
|
| 87 |
+
-0.29957860708236694,
|
| 88 |
+
1.6669437885284424
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3009228986245917,
|
| 128 |
+
0.30239053772239943,
|
| 129 |
+
0.3027184792583994
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1709493808057798,
|
| 139 |
+
1.1591158494682485,
|
| 140 |
+
1.1388297957467663
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5354.155693103005,
|
| 145 |
+
"intensity": 1.1591158494682485
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.5378126995162329,
|
| 155 |
+
0.5538936388045834,
|
| 156 |
+
0.5796231416659443
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 6073.985104087247,
|
| 161 |
+
"intensity": 0.5603260145199237
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.108468051754444,
|
| 165 |
+
1.112393224288227,
|
| 166 |
+
1.1186735003422796
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_011/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 10,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0793956057525778,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
401.78736665748016,
|
| 46 |
+
0.0,
|
| 47 |
+
300.73056494318405
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
400.6551270904249,
|
| 52 |
+
245.03508811973387
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.4384131244577785,
|
| 62 |
+
-3.981775352489653,
|
| 63 |
+
1.3216432707541088
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.963895267281662,
|
| 67 |
+
-4.182127595335463,
|
| 68 |
+
1.149840723645819
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.01358016143396501,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.1271827220916748,
|
| 74 |
+
-0.11352398991584778,
|
| 75 |
+
0.9853613972663879,
|
| 76 |
+
1.438413143157959
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9915121793746948,
|
| 80 |
+
-0.01248025894165039,
|
| 81 |
+
-0.12941434979438782,
|
| 82 |
+
-3.9817752838134766
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.026989281177520752,
|
| 86 |
+
-0.9934569597244263,
|
| 87 |
+
-0.11097300052642822,
|
| 88 |
+
1.3216432332992554
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.29152920620837014,
|
| 128 |
+
0.30186930578994126,
|
| 129 |
+
0.3039900446666379
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.023404647103236,
|
| 139 |
+
1.0246460274706906,
|
| 140 |
+
1.0266322360586175
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5524.218687080921,
|
| 145 |
+
"intensity": 1.0251425796176723
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.660157508514569,
|
| 155 |
+
0.6565579118303658,
|
| 156 |
+
0.6503871746574461
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5421.678181242271,
|
| 161 |
+
"intensity": 0.6565579118303658
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1463540036974211,
|
| 165 |
+
1.1614037262185477,
|
| 166 |
+
1.1854832822523502
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_012/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 11,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8729426489915352,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
499.50214178208336,
|
| 46 |
+
0.0,
|
| 47 |
+
293.3627777356257
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
514.4949215056431,
|
| 52 |
+
230.735456236102
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.177719581282272,
|
| 62 |
+
-5.869304201663355,
|
| 63 |
+
1.0498157303007198
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.887113240483515,
|
| 67 |
+
-4.185528820474227,
|
| 68 |
+
1.1677187876873474
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.0046050493787492056,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.921741247177124,
|
| 74 |
+
0.016513720154762268,
|
| 75 |
+
0.38745367527008057,
|
| 76 |
+
2.1777195930480957
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.3876965045928955,
|
| 80 |
+
0.06291723251342773,
|
| 81 |
+
0.9196373820304871,
|
| 82 |
+
-5.869304180145264
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.009190872311592102,
|
| 86 |
+
-0.9978821873664856,
|
| 87 |
+
0.06439566612243652,
|
| 88 |
+
1.0498157739639282
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.23950830683873003,
|
| 128 |
+
0.2333348228913521,
|
| 129 |
+
0.21544292613441565
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.901409388503425,
|
| 139 |
+
0.8538760591201621,
|
| 140 |
+
0.772390351605997
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4704.746923906338,
|
| 145 |
+
"intensity": 0.8538760591201621
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8129194603397,
|
| 155 |
+
0.8203439537858632,
|
| 156 |
+
0.8322231432997242
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5680.356357115704,
|
| 161 |
+
"intensity": 0.8233137511643285
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1112370124389475,
|
| 165 |
+
1.1344473253489666,
|
| 166 |
+
1.1715838260049973
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_013/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 12,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2309822927093697,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
347.8902455509042,
|
| 46 |
+
0.0,
|
| 47 |
+
321.0866087533427
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
339.40301997005207,
|
| 52 |
+
229.0586584785525
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
3.4526684472650535,
|
| 62 |
+
-3.059412669564445,
|
| 63 |
+
1.3975237502479758
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.8842293439363704,
|
| 67 |
+
-4.258409854097812,
|
| 68 |
+
1.0620729454332645
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.029031110174455674,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9081645011901855,
|
| 74 |
+
0.05238334834575653,
|
| 75 |
+
-0.4153236150741577,
|
| 76 |
+
3.4526684284210205
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.41481631994247437,
|
| 80 |
+
0.24595117568969727,
|
| 81 |
+
-0.876034140586853,
|
| 82 |
+
-3.059412717819214
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.056259676814079285,
|
| 86 |
+
-0.9678658246994019,
|
| 87 |
+
-0.24509334564208984,
|
| 88 |
+
1.3975237607955933
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3357470984594612,
|
| 128 |
+
0.3185172756325709,
|
| 129 |
+
0.3091828505322575
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.108103089833187,
|
| 139 |
+
1.1020984740626734,
|
| 140 |
+
1.0918048470275072
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5422.166460337397,
|
| 145 |
+
"intensity": 1.1020984740626734
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7186512811439739,
|
| 155 |
+
0.6907667352197395,
|
| 156 |
+
0.6429646564924805
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 4923.321020324216,
|
| 161 |
+
"intensity": 0.6907667352197395
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.2025844520679527,
|
| 165 |
+
1.1483139765426529,
|
| 166 |
+
1.055278875642139
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_014/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 13,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.3086164076139475,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
325.88120792805444,
|
| 46 |
+
0.0,
|
| 47 |
+
338.74774822830557
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
312.89733898423805,
|
| 52 |
+
224.6008761099748
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.2106019744875267,
|
| 62 |
+
-5.174267046122858,
|
| 63 |
+
1.4406897902837275
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.9591523744237582,
|
| 67 |
+
-4.2450575955394765,
|
| 68 |
+
1.0766043772017164
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.023376844257685436,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.7693374156951904,
|
| 74 |
+
-0.21928291022777557,
|
| 75 |
+
0.6000291109085083,
|
| 76 |
+
2.210602045059204
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.6372767090797424,
|
| 80 |
+
-0.19770586490631104,
|
| 81 |
+
0.7448427677154541,
|
| 82 |
+
-5.174266815185547
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.04470202326774597,
|
| 86 |
+
-0.9554200172424316,
|
| 87 |
+
-0.2918463945388794,
|
| 88 |
+
1.4406898021697998
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.27836441853839233,
|
| 128 |
+
0.27315408767421967,
|
| 129 |
+
0.2685473589360689
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.237445870112431,
|
| 139 |
+
1.1769222370762464,
|
| 140 |
+
1.0731674375856446
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4765.352202677147,
|
| 145 |
+
"intensity": 1.1769222370762464
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7852010720296819,
|
| 155 |
+
0.7988722768455323,
|
| 156 |
+
0.8207462045508933
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5839.93564709377,
|
| 161 |
+
"intensity": 0.8043407587718725
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8549664339394549,
|
| 165 |
+
0.8786461615886001,
|
| 166 |
+
0.9165337258272326
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_015/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 14,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8745357233024905,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
521.3018045660153,
|
| 46 |
+
0.0,
|
| 47 |
+
289.9636049866465
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
513.4270450458401,
|
| 52 |
+
253.7863121090972
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
4.516280443264452,
|
| 62 |
+
-4.480850065834397,
|
| 63 |
+
1.0788963335610244
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.902090309308929,
|
| 67 |
+
-4.177280679661153,
|
| 68 |
+
1.0633013955699127
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.05064398564297194,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.18481910228729248,
|
| 74 |
+
-0.009405523538589478,
|
| 75 |
+
-0.9827275276184082,
|
| 76 |
+
4.516280651092529
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.9775575399398804,
|
| 80 |
+
-0.10111856460571289,
|
| 81 |
+
0.18481463193893433,
|
| 82 |
+
-4.4808502197265625
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.1011103093624115,
|
| 86 |
+
-0.9948299527168274,
|
| 87 |
+
-0.009494125843048096,
|
| 88 |
+
1.0788962841033936
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.29906344357304926,
|
| 128 |
+
0.2844900800276497,
|
| 129 |
+
0.30252164167111273
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.100043345423572,
|
| 139 |
+
1.0421502895992685,
|
| 140 |
+
0.9429050510433195
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 4706.406539549179,
|
| 145 |
+
"intensity": 1.0421502895992685
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.609744346378002,
|
| 155 |
+
0.595593410960893,
|
| 156 |
+
0.5713346645315633
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5160.580160015089,
|
| 161 |
+
"intensity": 0.595593410960893
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9611366160068939,
|
| 165 |
+
0.9936752449942543,
|
| 166 |
+
1.045737051374031
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b02_016/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 15,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.145261800513313,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
375.31033788453124,
|
| 46 |
+
0.0,
|
| 47 |
+
301.40636708924274
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
372.27390146993986,
|
| 52 |
+
231.38056630550597
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
1.5013470323049625,
|
| 62 |
+
-5.260666376215486,
|
| 63 |
+
1.793119943990981
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
2.874400230910568,
|
| 67 |
+
-4.188040587919092,
|
| 68 |
+
1.1666498628141875
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.052084572187258746,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.5845565795898438,
|
| 74 |
+
-0.3292001485824585,
|
| 75 |
+
0.74156653881073,
|
| 76 |
+
1.5013470649719238
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.8054311275482178,
|
| 80 |
+
-0.12522244453430176,
|
| 81 |
+
0.5793099403381348,
|
| 82 |
+
-5.260666370391846
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.09784814715385437,
|
| 86 |
+
-0.935920238494873,
|
| 87 |
+
-0.3383476734161377,
|
| 88 |
+
1.7931199073791504
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.5820492506027222,
|
| 100 |
+
-0.8131535649299622,
|
| 101 |
+
6.574743860454646e-09,
|
| 102 |
+
2.9196488857269287
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.8131535649299622,
|
| 106 |
+
0.5820492506027222,
|
| 107 |
+
3.379336366293728e-09,
|
| 108 |
+
-4.224409580230713
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-6.574743860454646e-09,
|
| 112 |
+
3.379336366293728e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.26136127553440824,
|
| 128 |
+
0.23988870595186765,
|
| 129 |
+
0.2552459796388258
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1803274516465072,
|
| 139 |
+
1.1594603725744217,
|
| 140 |
+
1.1236882370222754
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5242.896664127185,
|
| 145 |
+
"intensity": 1.1594603725744217
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6367788241581884,
|
| 155 |
+
0.6217553020196698,
|
| 156 |
+
0.5960006926393521
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5154.813165020359,
|
| 161 |
+
"intensity": 0.6217553020196698
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8542826869703176,
|
| 165 |
+
0.8310006034909443,
|
| 166 |
+
0.7910884603834472
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b03_001/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 3,
|
| 8 |
+
"cam_idx": 0,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8130138294603514,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
571.3124868082043,
|
| 46 |
+
0.0,
|
| 47 |
+
331.01996169962433
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
557.5113114614087,
|
| 52 |
+
239.10964951325354
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.788279201451541,
|
| 62 |
+
-4.113860286735863,
|
| 63 |
+
1.359289448847226
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
0.8750636504871769,
|
| 67 |
+
-4.256002218391742,
|
| 68 |
+
1.0829260933451212
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.004730758336477771,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.07274222373962402,
|
| 74 |
+
0.14288371801376343,
|
| 75 |
+
-0.9870628714561462,
|
| 76 |
+
2.7882792949676514
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.9973070025444031,
|
| 80 |
+
0.0011281967163085938,
|
| 81 |
+
-0.07333379983901978,
|
| 82 |
+
-4.113860130310059
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.009364724159240723,
|
| 86 |
+
-0.9897390007972717,
|
| 87 |
+
-0.1425808072090149,
|
| 88 |
+
1.3592894077301025
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.11474037170410156,
|
| 100 |
+
0.9933955073356628,
|
| 101 |
+
-2.7592133022835696e-09,
|
| 102 |
+
0.920930802822113
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9933955073356628,
|
| 106 |
+
-0.11474037170410156,
|
| 107 |
+
3.0962559183222993e-09,
|
| 108 |
+
-4.232600212097168
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
2.7592133022835696e-09,
|
| 112 |
+
3.0962559183222993e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.32001227599252013,
|
| 128 |
+
0.30559993795435125,
|
| 129 |
+
0.32168337805316805
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0570797215256709,
|
| 139 |
+
1.0363670048413904,
|
| 140 |
+
1.0008594905254815
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5214.487289492721,
|
| 145 |
+
"intensity": 1.0363670048413904
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8211401813445025,
|
| 155 |
+
0.81794357085197,
|
| 156 |
+
0.8124636671504857
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5444.169908773205,
|
| 161 |
+
"intensity": 0.81794357085197
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8868336653819144,
|
| 165 |
+
0.8629825428230083,
|
| 166 |
+
0.8220949041505978
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/RoboCasa/test/bg_000137/scene_b03_002/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 137,
|
| 7 |
+
"base_idx": 3,
|
| 8 |
+
"cam_idx": 1,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9989115082539883,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
450.16582069568756,
|
| 46 |
+
0.0,
|
| 47 |
+
343.2237184456788
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
439.8859021791652,
|
| 52 |
+
226.13153480622373
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
2.391332532940918,
|
| 62 |
+
-4.638652109235461,
|
| 63 |
+
1.52653714297058
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
0.8857723407965052,
|
| 67 |
+
-4.225766356805099,
|
| 68 |
+
1.0632201572786388
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.03260505159480129,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.281793475151062,
|
| 74 |
+
0.25656580924987793,
|
| 75 |
+
-0.924535870552063,
|
| 76 |
+
2.3913326263427734
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.9574393033981323,
|
| 80 |
+
-0.13793063163757324,
|
| 81 |
+
0.25354549288749695,
|
| 82 |
+
-4.638652324676514
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.06247079372406006,
|
| 86 |
+
-0.9566342830657959,
|
| 87 |
+
-0.28451406955718994,
|
| 88 |
+
1.5265371799468994
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.11474037170410156,
|
| 100 |
+
0.9933955073356628,
|
| 101 |
+
-2.7592133022835696e-09,
|
| 102 |
+
0.920930802822113
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9933955073356628,
|
| 106 |
+
-0.11474037170410156,
|
| 107 |
+
3.0962559183222993e-09,
|
| 108 |
+
-4.232600212097168
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
2.7592133022835696e-09,
|
| 112 |
+
3.0962559183222993e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.9199999570846558
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.36990485430516146,
|
| 128 |
+
0.3692577842181518,
|
| 129 |
+
0.3595606444932879
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.53769200448121,
|
| 134 |
+
0.17909650625029502,
|
| 135 |
+
-0.823900326353811
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.8610772569950501,
|
| 139 |
+
0.8751878300910908,
|
| 140 |
+
0.8977647470447558
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.32152597460918564,
|
| 143 |
+
"elevation_rad": 0.9682590881774227,
|
| 144 |
+
"color_temp_k": 5820.391905507655,
|
| 145 |
+
"intensity": 0.880832059329507
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.10555875343684572,
|
| 150 |
+
-0.2551462229935883,
|
| 151 |
+
-0.9611231723691637
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8104319390575301,
|
| 155 |
+
0.8017617391268259,
|
| 156 |
+
0.7868985392456189
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": -1.9630729088459284,
|
| 159 |
+
"elevation_rad": 1.2910415322488815,
|
| 160 |
+
"color_temp_k": 5345.5152036252675,
|
| 161 |
+
"intensity": 0.8017617391268259
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0763053724302543,
|
| 165 |
+
1.0822609491952853,
|
| 166 |
+
1.0917898720193349
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|