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-159.scene.json
Shiki42's picture
Shiki42
Add files using upload-large-folder tool
1f0566d verified
Raw History Blame Contribute Delete
10.7 kB
{
 "scanner": {
 "pose": [
 -0.19814716279506683,
 -0.08492791652679443,
 0.7377925515174866,
 0.3921957314014435,
 0.3558065891265869,
 0.5752815008163452,
 0.6234064102172852
 ],
 "config": {
 "center": [
 -0.0768633528283073,
 0.4634547011049793,
 -0.008318984798050731
 ],
 "extents": [
 0.8593805745575148,
 1.0699315737858877,
 1.9985987059459176
 ],
 "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,
 -0.14488999545574188
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ]
 ],
 "functional_matrix": [
 [
 [
 0.0,
 1.0,
 -0.0,
 0.0
 ],
 [
 -0.2741599977016449,
 -0.0,
 -0.961679995059967,
 0.0
 ],
 [
 -0.961679995059967,
 0.0,
 0.2741599977016449,
 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": false
 }
 },
 "object": {
 "pose": [
 0.1266430914402008,
 -0.19970697164535522,
 0.7406450510025024,
 0.5274131298065186,
 0.5318222045898438,
 0.46908238530158997,
 0.46793437004089355
 ],
 "config": {
 "center": [
 -0.0019186781783188127,
 0.9249717141418047,
 -0.0016808187293027058
 ],
 "extents": [
 1.942777498090328,
 1.9011272275458797,
 1.9440908917760293
 ],
 "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,
 1.6007100343704224
 ],
 [
 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,
 1.6007100343704224
 ],
 [
 -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,
 1.6007100343704224
 ],
 [
 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,
 1.6007100343704224
 ],
 [
 1.0,
 0.0,
 0.0,
 0.0
 ],
 [
 0.0,
 0.0,
 0.0,
 1.0
 ]
 ],
 [
 [
 0.0005000000237487257,
 -0.022029999643564224,
 0.9997599720954895,
 0.0
 ],
 [
 1.0,
 -0.0003499999875202775,
 -0.0005099999834783375,
 1.0273200273513794
 ],
 [
 0.0003600000054575503,
 0.9997599720954895,
 0.022029999643564224,
 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,
 1.0273200273513794
 ],
 [
 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,
 1.0273200273513794
 ],
 [
 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,
 1.0273200273513794
 ],
 [
 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": true
 }
 },
 "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
 ]
}