Hugging Face's logo

Datasets:
Shiki42
/
ctr-scan-object-sequential50-20260921

Tasks:
Robotics
Dataset card Files
xet
 Community
ctr-scan-object-sequential50-20260921 / meta /source_programs /seed-150.scene.json
Shiki42's picture
Shiki42
Add files using upload-large-folder tool
e4588ad verified
Raw History Blame Contribute Delete
10.7 kB
{
 "scanner": {
 "pose": [
 0.24398313462734222,
 -0.10360881686210632,
 0.7411399483680725,
 -0.13471341133117676,
 -0.13742361962795258,
 0.692678689956665,
 0.6950995922088623
 ],
 "config": {
 "center": [
 -0.020516590713582666,
 0.4093469120803495,
 -0.007272068023921557
 ],
 "extents": [
 0.7323284322858983,
 0.9518428887559505,
 1.9678122505003266
 ],
 "scale": [
 0.08,
 0.08,
 0.08
 ],
 "transform_matrix": [
 [
 1.0,
 0.0,
 0.0,
 0.0
 ],
 [
 0.0,
 1.0,
 0.0,
 0.0
 ],
 [
 0.0,
 0.0,
 1.0,
 0.0
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ],
 "target_pose": [],
 "contact_points_pose": [
 [
 [
 -0.0,
 -0.0,
 -1.0,
 0.0
 ],
 [
 0.0,
 1.0,
 -0.0,
 0.6083499789237976
 ],
 [
 1.0,
 -0.0,
 -0.0,
 -0.25714001059532166
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ]
 ],
 "functional_matrix": [
 [
 [
 0.0,
 1.0,
 -0.0,
 0.0
 ],
 [
 -0.19109000265598297,
 -0.0,
 -0.9815700054168701,
 0.033720001578330994
 ],
 [
 -0.9815700054168701,
 0.0,
 0.19109000265598297,
 0.7643300294876099
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ],
 [
 [
 1.0,
 0.0,
 0.0,
 0.0
 ],
 [
 0.0,
 1.0,
 -0.0,
 0.6254900097846985
 ],
 [
 0.0,
 0.0,
 1.0,
 0.6220700144767761
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ]
 ],
 "orientation_point": [],
 "contact_points_group": [],
 "contact_points_mask": [],
 "target_point_discription": [],
 "contact_points_discription": [],
 "functional_point_discription": [],
 "orientation_point_discription": [],
 "stable": true
 }
 },
 "object": {
 "pose": [
 -0.22707566618919373,
 -0.1507553607225418,
 0.74067622423172,
 0.2722131907939911,
 0.2731660008430481,
 0.6511250734329224,
 0.6536946892738342
 ],
 "config": {
 "center": [
 0.0032817539471226968,
 0.8273564187194553,
 -4.440546035730014e-06
 ],
 "extents": [
 1.9310736290350883,
 1.6896629086437276,
 1.8311920762062075
 ],
 "scale": [
 0.04,
 0.04,
 0.04
 ],
 "transform_matrix": [
 [
 1.0,
 0.0,
 0.0,
 0.0
 ],
 [
 0.0,
 1.0,
 0.0,
 0.0
 ],
 [
 0.0,
 0.0,
 1.0,
 0.0
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ],
 "target_pose": [],
 "contact_points_pose": [
 [
 [
 1.0,
 0.0,
 0.0,
 0.0
 ],
 [
 0.0,
 1.0,
 -0.0,
 1.0461000204086304
 ],
 [
 0.0,
 0.0,
 1.0,
 -0.0
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ],
 [
 [
 -0.0,
 0.0,
 1.0,
 0.0
 ],
 [
 0.0,
 1.0,
 -0.0,
 1.0461000204086304
 ],
 [
 -1.0,
 0.0,
 0.0,
 -0.0
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ],
 [
 [
 -1.0,
 0.0,
 0.0,
 0.0
 ],
 [
 0.0,
 1.0,
 0.0,
 1.0461000204086304
 ],
 [
 0.0,
 0.0,
 -1.0,
 -0.0
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ],
 [
 [
 -0.0,
 0.0,
 -1.0,
 0.0
 ],
 [
 0.0,
 1.0,
 -0.0,
 1.0461000204086304
 ],
 [
 1.0,
 0.0,
 0.0,
 -0.0
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ],
 [
 [
 0.0004900000058114529,
 -0.004809999838471413,
 0.9999899864196777,
 0.0
 ],
 [
 1.0,
 -0.0003499999875202775,
 -0.0004900000058114529,
 0.7340400218963623
 ],
 [
 0.0003499999875202775,
 0.9999899864196777,
 0.004809999838471413,
 0.0002099999983329326
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ],
 [
 [
 0.0004900000058114529,
 1.0,
 2.9999999242136255e-05,
 0.0
 ],
 [
 1.0,
 -0.0004900000058114529,
 0.0003499999875202775,
 0.7340400218963623
 ],
 [
 0.0003499999875202775,
 2.9999999242136255e-05,
 -1.0,
 0.0002099999983329326
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ],
 [
 [
 0.0004900000058114529,
 2.9999999242136255e-05,
 -1.0,
 0.0
 ],
 [
 1.0,
 0.0003499999875202775,
 0.0004900000058114529,
 0.7340400218963623
 ],
 [
 0.0003499999875202775,
 -1.0,
 -2.9999999242136255e-05,
 0.0002099999983329326
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ],
 [
 [
 0.0004900000058114529,
 -1.0,
 -2.9999999242136255e-05,
 0.0
 ],
 [
 1.0,
 0.0004900000058114529,
 -0.0003499999875202775,
 0.7340400218963623
 ],
 [
 0.0003499999875202775,
 -2.9999999242136255e-05,
 1.0,
 0.0002099999983329326
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ]
 ],
 "functional_matrix": [
 [
 [
 -0.0,
 -1.0,
 0.0,
 0.0
 ],
 [
 0.0,
 0.0,
 -1.0,
 0.0
 ],
 [
 1.0,
 0.0,
 0.0,
 0.0
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ],
 [
 [
 -0.0,
 -1.0,
 0.0,
 0.0
 ],
 [
 0.0,
 0.0,
 1.0,
 0.0
 ],
 [
 -1.0,
 0.0,
 0.0,
 0.0
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ]
 ],
 "orientation_point": [],
 "contact_points_group": [
 [
 0,
 1,
 2,
 3
 ],
 [
 4,
 5,
 6,
 7
 ]
 ],
 "contact_points_mask": [
 true,
 true,
 true
 ],
 "target_point_discription": [],
 "contact_points_discription": [],
 "functional_point_discription": [],
 "orientation_point_discription": [],
 "stable": false
 }
 },
 "robot_qpos": [
 0.0,
 0.0,
 -9.633261372242325e-17,
 -9.633261372242325e-17,
 1.0562962993437147e-13,
 1.0562962993437147e-13,
 -3.016615224282759e-08,
 -3.258066882949606e-08,
 -3.2333404842432856e-09,
 -3.23495652487793e-09,
 5.267530808490758e-18,
 5.267530808490758e-18,
 1.3821598255984342e-17,
 1.3821598255984342e-17,
 -5.666987590302597e-07,
 -5.65274206110189e-07,
 -4.906024386741592e-08,
 -4.9084423636713836e-08,
 -4.835828804061748e-06,
 -4.838918357563671e-06,
 -8.459834134555422e-06,
 -8.459778655378614e-06,
 7.701128623693876e-08,
 7.693390813301448e-08,
 -1.6475175002028664e-08,
 -1.6467639696315928e-08,
 4.63164752773082e-07,
 4.6469963876916154e-07,
 3.108373114457663e-09,
 3.108284518660298e-09,
 -8.158995683515968e-07,
 -8.163781899384048e-07,
 1.5176220002910412e-10,
 1.5164668132339187e-10,
 0.044236842542886734,
 0.044238295406103134,
 0.04423683509230614,
 0.044238295406103134,
 0.0,
 0.0,
 -9.633261372242325e-17,
 -9.633261372242325e-17,
 1.0562962993437147e-13,
 1.0562962993437147e-13,
 -3.016615224282759e-08,
 -3.258066882949606e-08,
 -3.2333404842432856e-09,
 -3.23495652487793e-09,
 5.267530808490758e-18,
 5.267530808490758e-18,
 1.3821598255984342e-17,
 1.3821598255984342e-17,
 -5.666987590302597e-07,
 -5.65274206110189e-07,
 -4.906024386741592e-08,
 -4.9084423636713836e-08,
 -4.835828804061748e-06,
 -4.838918357563671e-06,
 -8.459834134555422e-06,
 -8.459778655378614e-06,
 7.701128623693876e-08,
 7.693390813301448e-08,
 -1.6475175002028664e-08,
 -1.6467639696315928e-08,
 4.63164752773082e-07,
 4.6469963876916154e-07,
 3.108373114457663e-09,
 3.108284518660298e-09,
 -8.158995683515968e-07,
 -8.163781899384048e-07,
 1.5176220002910412e-10,
 1.5164668132339187e-10,
 0.044236842542886734,
 0.044238295406103134,
 0.04423683509230614,
 0.044238295406103134
 ]
}