Hugging Face's logo

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

Tasks:
Robotics
Dataset card Files
xet
 Community
Shiki42 commited on
Commit
1f0566d
·
verified ·
1 Parent(s): e4588ad

Add files using upload-large-folder tool

Browse files
Files changed (50) hide show
  1. .ctr-revision.json +25 -0
  2. data/chunk-000/file-000.parquet +3 -0
  3. meta/episodes/chunk-000/file-000.parquet +3 -0
  4. meta/retime_source_indices/episode_000004.npz +3 -0
  5. meta/retime_source_indices/episode_000008.npz +3 -0
  6. meta/retime_source_indices/episode_000011.npz +3 -0
  7. meta/retime_source_indices/episode_000019.npz +3 -0
  8. meta/retime_source_indices/episode_000020.npz +3 -0
  9. meta/retime_source_indices/episode_000032.npz +3 -0
  10. meta/retime_source_indices/episode_000033.npz +3 -0
  11. meta/retime_source_indices/episode_000036.npz +3 -0
  12. meta/retime_source_indices/episode_000037.npz +3 -0
  13. meta/retime_source_indices/episode_000042.npz +3 -0
  14. meta/retime_source_indices/episode_000046.npz +3 -0
  15. meta/source_programs/seed-107.npz +3 -0
  16. meta/source_programs/seed-118.npz +3 -0
  17. meta/source_programs/seed-12.npz +3 -0
  18. meta/source_programs/seed-130.npz +3 -0
  19. meta/source_programs/seed-135.npz +3 -0
  20. meta/source_programs/seed-138.npz +3 -0
  21. meta/source_programs/seed-146.npz +3 -0
  22. meta/source_programs/seed-150.npz +3 -0
  23. meta/source_programs/seed-151.npz +3 -0
  24. meta/source_programs/seed-152.npz +3 -0
  25. meta/source_programs/seed-155.npz +3 -0
  26. meta/source_programs/seed-159.npz +3 -0
  27. meta/source_programs/seed-159.scene.json +569 -0
  28. meta/source_programs/seed-160.npz +3 -0
  29. meta/source_programs/seed-174.npz +3 -0
  30. meta/source_programs/seed-187.scene.json +569 -0
  31. meta/source_programs/seed-189.npz +3 -0
  32. meta/source_programs/seed-190.scene.json +569 -0
  33. meta/source_programs/seed-191.npz +3 -0
  34. meta/source_programs/seed-200.npz +3 -0
  35. meta/source_programs/seed-200.scene.json +569 -0
  36. meta/source_programs/seed-202.npz +3 -0
  37. meta/source_programs/seed-34.npz +3 -0
  38. meta/source_programs/seed-58.npz +3 -0
  39. meta/source_programs/seed-59.npz +3 -0
  40. meta/source_programs/seed-75.npz +3 -0
  41. meta/source_programs/seed-76.npz +3 -0
  42. meta/source_programs/seed-78.npz +3 -0
  43. meta/source_programs/seed-84.npz +3 -0
  44. meta/source_programs/seed-86.npz +3 -0
  45. meta/source_programs/seed-86.scene.json +569 -0
  46. meta/source_programs/seed-87.npz +3 -0
  47. meta/source_programs/seed-90.npz +3 -0
  48. meta/source_programs/seed-90.scene.json +569 -0
  49. meta/source_programs/seed-98.npz +3 -0
  50. meta/tasks.parquet +3 -0
.ctr-revision.json ADDED
@@ -0,0 +1,25 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_gripper_semantics": "absolute_requested_target_with_verified_initial_open_hold",
3
+ "episodes": 50,
4
+ "frames": 17008,
5
+ "gripper_verification_sha256": "a9553fb38b16f9848d248c0d04efd121f6929c0bd6af22f6fad2cafd18a1ee99",
6
+ "idle_mask": false,
7
+ "parents": {
8
+ "l_to_r": {
9
+ "publication_manifest_sha256": "e1599f1cce2db8230a37f09158d2e746741c4c0195ea6582cc1d6d1d2743e623",
10
+ "repo_id": "Shiki42/ctr-scan-object-left-first-20260916",
11
+ "revision": "2a8d55392c903123ba8eb640dd1af4f912b00e20"
12
+ },
13
+ "r_to_l": {
14
+ "publication_manifest_sha256": "d278759d98a2e47ab2c999f5cb57d58c96035c54e32e0071653fa3ceadb9300a",
15
+ "repo_id": "Shiki42/ctr-scan-object-right-first-20260916",
16
+ "revision": "49c23d1b56d6748f5c1357901eed9bed00ed011d"
17
+ }
18
+ },
19
+ "release": "scan-object-sequential50-whole-episode-v1",
20
+ "repo_id": "Shiki42/ctr-scan-object-sequential50-20260921",
21
+ "schema": "ctr.dataset_revision.v1",
22
+ "selection_manifest_sha256": "a838574e1fcc31f802c9a9106b807517813871369cdcd50b548fa3bff0e46944",
23
+ "source_commit": "db38fe6642cecf22d3b126d31ea25133bf6f71ef",
24
+ "video_identity_sha256": "e243b45e3846f082090a44349a3528060a3b18d3493529e23c70a74942ceb6c7"
25
+ }
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7045fa00a2b2f72493251a7870d066a98ed22a0d14626b77cbc777ee06f23983
3
+ size 1944356
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cfaeaf8ea1deaee44154f67682b822176b57b449a671577694c86afb1361d184
3
+ size 220112
meta/retime_source_indices/episode_000004.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:99e16fcbca2cc66c4d505d83bbea4ee9c20f97ab9daaf363c97b3734d54827cd
3
+ size 5067
meta/retime_source_indices/episode_000008.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:531748aa9301933547e87ddab899fb060b3c49be1be3a0b4dfe5182e54b49a9c
3
+ size 5032
meta/retime_source_indices/episode_000011.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:203a5c743436467f7c8ed41b231cee4469d3bd40961ab7412ccfb2b950e42653
3
+ size 5203
meta/retime_source_indices/episode_000019.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d92e10ba26d9c58eb7489a4861ac395442ee213f9a88d1a500512b6126dfcab2
3
+ size 5082
meta/retime_source_indices/episode_000020.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb8f8f6a4442932cba378c3b2b262afb749a6b902dbcb78956fd0e90083cc082
3
+ size 5045
meta/retime_source_indices/episode_000032.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f9b499518dff82d19dd1889889e895fb0aa895de9aaf5036f2f703b58e07352
3
+ size 5127
meta/retime_source_indices/episode_000033.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:becee21f20ea92b69016065defc7d7642b3a62d281c9458d50e872b649601f80
3
+ size 5017
meta/retime_source_indices/episode_000036.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:de090395ede4ad2a79b5898f1026c139d42194ae1feb61978e6448ffc90c1e0c
3
+ size 5179
meta/retime_source_indices/episode_000037.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d86029e8e1ccc27cd1d76376371296a05e6450c36c07971b6151d8bc41ebcd06
3
+ size 5077
meta/retime_source_indices/episode_000042.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7b0ace21678a96fa66c2b6887261c19f2a48a718e25c0fd4c2a9cb42250cade6
3
+ size 5043
meta/retime_source_indices/episode_000046.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3db00f9158a6d9c069916fcc33a93f229fc55b7e36e52d654d7c8233e7e0f27d
3
+ size 5041
meta/source_programs/seed-107.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ee708d94db48c28545f2e2aed63e26b2676602b8f7e9e5598325e9fb511405a0
3
+ size 145851
meta/source_programs/seed-118.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4b73663ec452823688f6c64cab88734fad39a284fd4ce060da0132efee18f802
3
+ size 145927
meta/source_programs/seed-12.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3272c4a5aa4daa2c78eea78c4ea403722ba9f2bf308f19b3e5d2d0b69b0604b0
3
+ size 142749
meta/source_programs/seed-130.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:669dd517f2c461cfdbdba5ab7a148ee8afa370bf2b5c41027b327d357474cab7
3
+ size 143024
meta/source_programs/seed-135.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:94287faa65efbb81d113b46cf314d50b6465181b391708c8a3647b3755109884
3
+ size 141218
meta/source_programs/seed-138.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0d6290d3159fdee6eebd20441ce70de51d0335497d701703a07f9ee23004f023
3
+ size 147241
meta/source_programs/seed-146.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d57acd0dc42f3927f0fc906411d610d7606c53628b6ceecc007f5d9c7b9aa512
3
+ size 147344
meta/source_programs/seed-150.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aef29451b20379c7e01598bfd49b8c7f127852b09789a772c59d1ff26a7685b9
3
+ size 142334
meta/source_programs/seed-151.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:46a0a25378bc540526a441cbe7b176c8f340d036a18a7ec7a155f2a713a6d6a1
3
+ size 147954
meta/source_programs/seed-152.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1846ed75b4ea47d8dafd00b00108b10d7d6ae3c79eb1ed97d7fe4ba42a66afaa
3
+ size 142121
meta/source_programs/seed-155.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:038b6d74520be67bc1e7cbffa329a26e0cd0fd9ad124907c8d00424fea0fd975
3
+ size 145623
meta/source_programs/seed-159.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4f7b29f22f535e787119708cb0653617409f00ecb2dc51c092983264168627d3
3
+ size 147368
meta/source_programs/seed-159.scene.json ADDED
@@ -0,0 +1,569 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scanner": {
3
+ "pose": [
4
+ -0.19814716279506683,
5
+ -0.08492791652679443,
6
+ 0.7377925515174866,
7
+ 0.3921957314014435,
8
+ 0.3558065891265869,
9
+ 0.5752815008163452,
10
+ 0.6234064102172852
11
+ ],
12
+ "config": {
13
+ "center": [
14
+ -0.0768633528283073,
15
+ 0.4634547011049793,
16
+ -0.008318984798050731
17
+ ],
18
+ "extents": [
19
+ 0.8593805745575148,
20
+ 1.0699315737858877,
21
+ 1.9985987059459176
22
+ ],
23
+ "scale": [
24
+ 0.08,
25
+ 0.08,
26
+ 0.08
27
+ ],
28
+ "transform_matrix": [
29
+ [
30
+ 1.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0
34
+ ],
35
+ [
36
+ 0.0,
37
+ 1.0,
38
+ 0.0,
39
+ 0.0
40
+ ],
41
+ [
42
+ 0.0,
43
+ 0.0,
44
+ 1.0,
45
+ 0.0
46
+ ],
47
+ [
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 1.0
52
+ ]
53
+ ],
54
+ "target_pose": [],
55
+ "contact_points_pose": [
56
+ [
57
+ [
58
+ -0.0,
59
+ -0.0,
60
+ -1.0,
61
+ 0.0
62
+ ],
63
+ [
64
+ 0.0,
65
+ 1.0,
66
+ -0.0,
67
+ 0.6083499789237976
68
+ ],
69
+ [
70
+ 1.0,
71
+ 0.0,
72
+ 0.0,
73
+ -0.14488999545574188
74
+ ],
75
+ [
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 1.0
80
+ ]
81
+ ]
82
+ ],
83
+ "functional_matrix": [
84
+ [
85
+ [
86
+ 0.0,
87
+ 1.0,
88
+ -0.0,
89
+ 0.0
90
+ ],
91
+ [
92
+ -0.2741599977016449,
93
+ -0.0,
94
+ -0.961679995059967,
95
+ 0.0
96
+ ],
97
+ [
98
+ -0.961679995059967,
99
+ 0.0,
100
+ 0.2741599977016449,
101
+ 0.7643300294876099
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 1.0,
113
+ 0.0,
114
+ 0.0,
115
+ 0.0
116
+ ],
117
+ [
118
+ 0.0,
119
+ 1.0,
120
+ -0.0,
121
+ 0.6254900097846985
122
+ ],
123
+ [
124
+ 0.0,
125
+ 0.0,
126
+ 1.0,
127
+ 0.6220700144767761
128
+ ],
129
+ [
130
+ 0.0,
131
+ 0.0,
132
+ 0.0,
133
+ 1.0
134
+ ]
135
+ ]
136
+ ],
137
+ "orientation_point": [],
138
+ "contact_points_group": [],
139
+ "contact_points_mask": [],
140
+ "target_point_discription": [],
141
+ "contact_points_discription": [],
142
+ "functional_point_discription": [],
143
+ "orientation_point_discription": [],
144
+ "stable": false
145
+ }
146
+ },
147
+ "object": {
148
+ "pose": [
149
+ 0.1266430914402008,
150
+ -0.19970697164535522,
151
+ 0.7406450510025024,
152
+ 0.5274131298065186,
153
+ 0.5318222045898438,
154
+ 0.46908238530158997,
155
+ 0.46793437004089355
156
+ ],
157
+ "config": {
158
+ "center": [
159
+ -0.0019186781783188127,
160
+ 0.9249717141418047,
161
+ -0.0016808187293027058
162
+ ],
163
+ "extents": [
164
+ 1.942777498090328,
165
+ 1.9011272275458797,
166
+ 1.9440908917760293
167
+ ],
168
+ "scale": [
169
+ 0.04,
170
+ 0.04,
171
+ 0.04
172
+ ],
173
+ "transform_matrix": [
174
+ [
175
+ 1.0,
176
+ 0.0,
177
+ 0.0,
178
+ 0.0
179
+ ],
180
+ [
181
+ 0.0,
182
+ 1.0,
183
+ 0.0,
184
+ 0.0
185
+ ],
186
+ [
187
+ 0.0,
188
+ 0.0,
189
+ 1.0,
190
+ 0.0
191
+ ],
192
+ [
193
+ 0.0,
194
+ 0.0,
195
+ 0.0,
196
+ 1.0
197
+ ]
198
+ ],
199
+ "target_pose": [],
200
+ "contact_points_pose": [
201
+ [
202
+ [
203
+ 1.0,
204
+ 0.0,
205
+ 0.0,
206
+ 0.0
207
+ ],
208
+ [
209
+ 0.0,
210
+ 1.0,
211
+ -0.0,
212
+ 1.6007100343704224
213
+ ],
214
+ [
215
+ 0.0,
216
+ 0.0,
217
+ 1.0,
218
+ 0.0
219
+ ],
220
+ [
221
+ 0.0,
222
+ 0.0,
223
+ 0.0,
224
+ 1.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ -0.0,
230
+ 0.0,
231
+ 1.0,
232
+ 0.0
233
+ ],
234
+ [
235
+ 0.0,
236
+ 1.0,
237
+ -0.0,
238
+ 1.6007100343704224
239
+ ],
240
+ [
241
+ -1.0,
242
+ 0.0,
243
+ 0.0,
244
+ 0.0
245
+ ],
246
+ [
247
+ 0.0,
248
+ 0.0,
249
+ 0.0,
250
+ 1.0
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ -1.0,
256
+ 0.0,
257
+ 0.0,
258
+ 0.0
259
+ ],
260
+ [
261
+ 0.0,
262
+ 1.0,
263
+ 0.0,
264
+ 1.6007100343704224
265
+ ],
266
+ [
267
+ 0.0,
268
+ 0.0,
269
+ -1.0,
270
+ 0.0
271
+ ],
272
+ [
273
+ 0.0,
274
+ 0.0,
275
+ 0.0,
276
+ 1.0
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ -0.0,
282
+ 0.0,
283
+ -1.0,
284
+ 0.0
285
+ ],
286
+ [
287
+ 0.0,
288
+ 1.0,
289
+ -0.0,
290
+ 1.6007100343704224
291
+ ],
292
+ [
293
+ 1.0,
294
+ 0.0,
295
+ 0.0,
296
+ 0.0
297
+ ],
298
+ [
299
+ 0.0,
300
+ 0.0,
301
+ 0.0,
302
+ 1.0
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.0005000000237487257,
308
+ -0.022029999643564224,
309
+ 0.9997599720954895,
310
+ 0.0
311
+ ],
312
+ [
313
+ 1.0,
314
+ -0.0003499999875202775,
315
+ -0.0005099999834783375,
316
+ 1.0273200273513794
317
+ ],
318
+ [
319
+ 0.0003600000054575503,
320
+ 0.9997599720954895,
321
+ 0.022029999643564224,
322
+ 0.0002099999983329326
323
+ ],
324
+ [
325
+ 0.0,
326
+ 0.0,
327
+ 0.0,
328
+ 1.0
329
+ ]
330
+ ],
331
+ [
332
+ [
333
+ 0.0004900000058114529,
334
+ 1.0,
335
+ 2.9999999242136255e-05,
336
+ 0.0
337
+ ],
338
+ [
339
+ 1.0,
340
+ -0.0004900000058114529,
341
+ 0.0003499999875202775,
342
+ 1.0273200273513794
343
+ ],
344
+ [
345
+ 0.0003499999875202775,
346
+ 2.9999999242136255e-05,
347
+ -1.0,
348
+ 0.0002099999983329326
349
+ ],
350
+ [
351
+ 0.0,
352
+ 0.0,
353
+ 0.0,
354
+ 1.0
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.0004900000058114529,
360
+ 2.9999999242136255e-05,
361
+ -1.0,
362
+ 0.0
363
+ ],
364
+ [
365
+ 1.0,
366
+ 0.0003499999875202775,
367
+ 0.0004900000058114529,
368
+ 1.0273200273513794
369
+ ],
370
+ [
371
+ 0.0003499999875202775,
372
+ -1.0,
373
+ -2.9999999242136255e-05,
374
+ 0.0002099999983329326
375
+ ],
376
+ [
377
+ 0.0,
378
+ 0.0,
379
+ 0.0,
380
+ 1.0
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.0004900000058114529,
386
+ -1.0,
387
+ -2.9999999242136255e-05,
388
+ 0.0
389
+ ],
390
+ [
391
+ 1.0,
392
+ 0.0004900000058114529,
393
+ -0.0003499999875202775,
394
+ 1.0273200273513794
395
+ ],
396
+ [
397
+ 0.0003499999875202775,
398
+ -2.9999999242136255e-05,
399
+ 1.0,
400
+ 0.0002099999983329326
401
+ ],
402
+ [
403
+ 0.0,
404
+ 0.0,
405
+ 0.0,
406
+ 1.0
407
+ ]
408
+ ]
409
+ ],
410
+ "functional_matrix": [
411
+ [
412
+ [
413
+ -0.0,
414
+ -1.0,
415
+ 0.0,
416
+ 0.0
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ -1.0,
422
+ 0.0
423
+ ],
424
+ [
425
+ 1.0,
426
+ 0.0,
427
+ 0.0,
428
+ 0.0
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ -0.0,
440
+ -1.0,
441
+ 0.0,
442
+ 0.0
443
+ ],
444
+ [
445
+ 0.0,
446
+ 0.0,
447
+ 1.0,
448
+ 0.0
449
+ ],
450
+ [
451
+ -1.0,
452
+ 0.0,
453
+ 0.0,
454
+ 0.0
455
+ ],
456
+ [
457
+ 0.0,
458
+ 0.0,
459
+ 0.0,
460
+ 1.0
461
+ ]
462
+ ]
463
+ ],
464
+ "orientation_point": [],
465
+ "contact_points_group": [
466
+ [
467
+ 0,
468
+ 1,
469
+ 2,
470
+ 3
471
+ ],
472
+ [
473
+ 4,
474
+ 5,
475
+ 6,
476
+ 7
477
+ ]
478
+ ],
479
+ "contact_points_mask": [
480
+ true,
481
+ true,
482
+ true
483
+ ],
484
+ "target_point_discription": [],
485
+ "contact_points_discription": [],
486
+ "functional_point_discription": [],
487
+ "orientation_point_discription": [],
488
+ "stable": true
489
+ }
490
+ },
491
+ "robot_qpos": [
492
+ 0.0,
493
+ 0.0,
494
+ -9.633261372242325e-17,
495
+ -9.633261372242325e-17,
496
+ 1.0562962993437147e-13,
497
+ 1.0562962993437147e-13,
498
+ -3.016615224282759e-08,
499
+ -3.258066882949606e-08,
500
+ -3.2333404842432856e-09,
501
+ -3.23495652487793e-09,
502
+ 5.267530808490758e-18,
503
+ 5.267530808490758e-18,
504
+ 1.3821598255984342e-17,
505
+ 1.3821598255984342e-17,
506
+ -5.666987590302597e-07,
507
+ -5.65274206110189e-07,
508
+ -4.906024386741592e-08,
509
+ -4.9084423636713836e-08,
510
+ -4.835828804061748e-06,
511
+ -4.838918357563671e-06,
512
+ -8.459834134555422e-06,
513
+ -8.459778655378614e-06,
514
+ 7.701128623693876e-08,
515
+ 7.693390813301448e-08,
516
+ -1.6475175002028664e-08,
517
+ -1.6467639696315928e-08,
518
+ 4.63164752773082e-07,
519
+ 4.6469963876916154e-07,
520
+ 3.108373114457663e-09,
521
+ 3.108284518660298e-09,
522
+ -8.158995683515968e-07,
523
+ -8.163781899384048e-07,
524
+ 1.5176220002910412e-10,
525
+ 1.5164668132339187e-10,
526
+ 0.044236842542886734,
527
+ 0.044238295406103134,
528
+ 0.04423683509230614,
529
+ 0.044238295406103134,
530
+ 0.0,
531
+ 0.0,
532
+ -9.633261372242325e-17,
533
+ -9.633261372242325e-17,
534
+ 1.0562962993437147e-13,
535
+ 1.0562962993437147e-13,
536
+ -3.016615224282759e-08,
537
+ -3.258066882949606e-08,
538
+ -3.2333404842432856e-09,
539
+ -3.23495652487793e-09,
540
+ 5.267530808490758e-18,
541
+ 5.267530808490758e-18,
542
+ 1.3821598255984342e-17,
543
+ 1.3821598255984342e-17,
544
+ -5.666987590302597e-07,
545
+ -5.65274206110189e-07,
546
+ -4.906024386741592e-08,
547
+ -4.9084423636713836e-08,
548
+ -4.835828804061748e-06,
549
+ -4.838918357563671e-06,
550
+ -8.459834134555422e-06,
551
+ -8.459778655378614e-06,
552
+ 7.701128623693876e-08,
553
+ 7.693390813301448e-08,
554
+ -1.6475175002028664e-08,
555
+ -1.6467639696315928e-08,
556
+ 4.63164752773082e-07,
557
+ 4.6469963876916154e-07,
558
+ 3.108373114457663e-09,
559
+ 3.108284518660298e-09,
560
+ -8.158995683515968e-07,
561
+ -8.163781899384048e-07,
562
+ 1.5176220002910412e-10,
563
+ 1.5164668132339187e-10,
564
+ 0.044236842542886734,
565
+ 0.044238295406103134,
566
+ 0.04423683509230614,
567
+ 0.044238295406103134
568
+ ]
569
+ }
meta/source_programs/seed-160.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9802c98bfc8f8185ce91a050ed03ba9fe2bcad5541b80f1aaa62cc5de4031df3
3
+ size 145991
meta/source_programs/seed-174.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:15cdfa2890efbe3bd3b57bdd7663da9478ff9beadd171d4e837ba48bd4fa175e
3
+ size 148606
meta/source_programs/seed-187.scene.json ADDED
@@ -0,0 +1,569 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scanner": {
3
+ "pose": [
4
+ 0.19823184609413147,
5
+ -0.14852802455425262,
6
+ 0.7389696836471558,
7
+ -0.2473715990781784,
8
+ -0.2598085105419159,
9
+ 0.6760567426681519,
10
+ 0.6436259746551514
11
+ ],
12
+ "config": {
13
+ "center": [
14
+ -0.004608263604749185,
15
+ 0.4908452717103828,
16
+ -0.007808226600344506
17
+ ],
18
+ "extents": [
19
+ 0.7102928924812577,
20
+ 1.0534337388822648,
21
+ 1.9575934885571753
22
+ ],
23
+ "scale": [
24
+ 0.08,
25
+ 0.08,
26
+ 0.08
27
+ ],
28
+ "transform_matrix": [
29
+ [
30
+ 1.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0
34
+ ],
35
+ [
36
+ 0.0,
37
+ 1.0,
38
+ 0.0,
39
+ 0.0
40
+ ],
41
+ [
42
+ 0.0,
43
+ 0.0,
44
+ 1.0,
45
+ 0.0
46
+ ],
47
+ [
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 1.0
52
+ ]
53
+ ],
54
+ "target_pose": [],
55
+ "contact_points_pose": [
56
+ [
57
+ [
58
+ -0.0,
59
+ -0.0,
60
+ -1.0,
61
+ 0.0
62
+ ],
63
+ [
64
+ 0.0,
65
+ 1.0,
66
+ -0.0,
67
+ 0.6083499789237976
68
+ ],
69
+ [
70
+ 1.0,
71
+ 0.0,
72
+ 0.0,
73
+ -0.14488999545574188
74
+ ],
75
+ [
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 1.0
80
+ ]
81
+ ]
82
+ ],
83
+ "functional_matrix": [
84
+ [
85
+ [
86
+ -0.0,
87
+ 1.0,
88
+ -0.0,
89
+ 0.020670000463724136
90
+ ],
91
+ [
92
+ -0.5142899751663208,
93
+ -0.0,
94
+ -0.8576200008392334,
95
+ 0.048089999705553055
96
+ ],
97
+ [
98
+ -0.8576200008392334,
99
+ 0.0,
100
+ 0.5142899751663208,
101
+ 0.7643300294876099
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 1.0,
113
+ 0.0,
114
+ 0.0,
115
+ 0.0
116
+ ],
117
+ [
118
+ 0.0,
119
+ 1.0,
120
+ -0.0,
121
+ 0.6254900097846985
122
+ ],
123
+ [
124
+ 0.0,
125
+ 0.0,
126
+ 1.0,
127
+ 0.6220700144767761
128
+ ],
129
+ [
130
+ 0.0,
131
+ 0.0,
132
+ 0.0,
133
+ 1.0
134
+ ]
135
+ ]
136
+ ],
137
+ "orientation_point": [],
138
+ "contact_points_group": [],
139
+ "contact_points_mask": [],
140
+ "target_point_discription": [],
141
+ "contact_points_discription": [],
142
+ "functional_point_discription": [],
143
+ "orientation_point_discription": [],
144
+ "stable": false
145
+ }
146
+ },
147
+ "object": {
148
+ "pose": [
149
+ -0.24295605719089508,
150
+ -0.003503879765048623,
151
+ 0.7406741380691528,
152
+ 0.22531215846538544,
153
+ 0.22525174915790558,
154
+ 0.6702635884284973,
155
+ 0.6702559590339661
156
+ ],
157
+ "config": {
158
+ "center": [
159
+ 1.846551007942463e-05,
160
+ 0.8533338325162682,
161
+ 3.307372110792254e-05
162
+ ],
163
+ "extents": [
164
+ 1.9433279632036553,
165
+ 1.7418067041330318,
166
+ 1.8765571679138717
167
+ ],
168
+ "scale": [
169
+ 0.04,
170
+ 0.04,
171
+ 0.04
172
+ ],
173
+ "transform_matrix": [
174
+ [
175
+ 1.0,
176
+ 0.0,
177
+ 0.0,
178
+ 0.0
179
+ ],
180
+ [
181
+ 0.0,
182
+ 1.0,
183
+ 0.0,
184
+ 0.0
185
+ ],
186
+ [
187
+ 0.0,
188
+ 0.0,
189
+ 1.0,
190
+ 0.0
191
+ ],
192
+ [
193
+ 0.0,
194
+ 0.0,
195
+ 0.0,
196
+ 1.0
197
+ ]
198
+ ],
199
+ "target_pose": [],
200
+ "contact_points_pose": [
201
+ [
202
+ [
203
+ 1.0,
204
+ 0.0,
205
+ 0.0,
206
+ 0.0
207
+ ],
208
+ [
209
+ 0.0,
210
+ 1.0,
211
+ -0.0,
212
+ 1.0899399518966675
213
+ ],
214
+ [
215
+ 0.0,
216
+ 0.0,
217
+ 1.0,
218
+ -0.0
219
+ ],
220
+ [
221
+ 0.0,
222
+ 0.0,
223
+ 0.0,
224
+ 1.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ -0.0,
230
+ 0.0,
231
+ 1.0,
232
+ 0.0
233
+ ],
234
+ [
235
+ 0.0,
236
+ 1.0,
237
+ -0.0,
238
+ 1.0899399518966675
239
+ ],
240
+ [
241
+ -1.0,
242
+ 0.0,
243
+ 0.0,
244
+ -0.0
245
+ ],
246
+ [
247
+ 0.0,
248
+ 0.0,
249
+ 0.0,
250
+ 1.0
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ -1.0,
256
+ 0.0,
257
+ 0.0,
258
+ 0.0
259
+ ],
260
+ [
261
+ 0.0,
262
+ 1.0,
263
+ 0.0,
264
+ 1.0899399518966675
265
+ ],
266
+ [
267
+ 0.0,
268
+ 0.0,
269
+ -1.0,
270
+ -0.0
271
+ ],
272
+ [
273
+ 0.0,
274
+ 0.0,
275
+ 0.0,
276
+ 1.0
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ -0.0,
282
+ 0.0,
283
+ -1.0,
284
+ 0.0
285
+ ],
286
+ [
287
+ 0.0,
288
+ 1.0,
289
+ -0.0,
290
+ 1.0899399518966675
291
+ ],
292
+ [
293
+ 1.0,
294
+ 0.0,
295
+ 0.0,
296
+ -0.0
297
+ ],
298
+ [
299
+ 0.0,
300
+ 0.0,
301
+ 0.0,
302
+ 1.0
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.0004900000058114529,
308
+ -0.014580000191926956,
309
+ 0.9998900294303894,
310
+ 0.0
311
+ ],
312
+ [
313
+ 1.0,
314
+ -0.0003499999875202775,
315
+ -0.0005000000237487257,
316
+ 0.7407500147819519
317
+ ],
318
+ [
319
+ 0.0003600000054575503,
320
+ 0.9998900294303894,
321
+ 0.014580000191926956,
322
+ 0.0002099999983329326
323
+ ],
324
+ [
325
+ 0.0,
326
+ 0.0,
327
+ 0.0,
328
+ 1.0
329
+ ]
330
+ ],
331
+ [
332
+ [
333
+ 0.0004900000058114529,
334
+ 1.0,
335
+ 2.9999999242136255e-05,
336
+ 0.0
337
+ ],
338
+ [
339
+ 1.0,
340
+ -0.0004900000058114529,
341
+ 0.0003499999875202775,
342
+ 0.7407500147819519
343
+ ],
344
+ [
345
+ 0.0003499999875202775,
346
+ 2.9999999242136255e-05,
347
+ -1.0,
348
+ 0.0002099999983329326
349
+ ],
350
+ [
351
+ 0.0,
352
+ 0.0,
353
+ 0.0,
354
+ 1.0
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.0004900000058114529,
360
+ 2.9999999242136255e-05,
361
+ -1.0,
362
+ 0.0
363
+ ],
364
+ [
365
+ 1.0,
366
+ 0.0003499999875202775,
367
+ 0.0004900000058114529,
368
+ 0.7407500147819519
369
+ ],
370
+ [
371
+ 0.0003499999875202775,
372
+ -1.0,
373
+ -2.9999999242136255e-05,
374
+ 0.0002099999983329326
375
+ ],
376
+ [
377
+ 0.0,
378
+ 0.0,
379
+ 0.0,
380
+ 1.0
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.0004900000058114529,
386
+ -1.0,
387
+ -2.9999999242136255e-05,
388
+ 0.0
389
+ ],
390
+ [
391
+ 1.0,
392
+ 0.0004900000058114529,
393
+ -0.0003499999875202775,
394
+ 0.7407500147819519
395
+ ],
396
+ [
397
+ 0.0003499999875202775,
398
+ -2.9999999242136255e-05,
399
+ 1.0,
400
+ 0.0002099999983329326
401
+ ],
402
+ [
403
+ 0.0,
404
+ 0.0,
405
+ 0.0,
406
+ 1.0
407
+ ]
408
+ ]
409
+ ],
410
+ "functional_matrix": [
411
+ [
412
+ [
413
+ -0.0,
414
+ -1.0,
415
+ 0.0,
416
+ 0.0
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ -1.0,
422
+ 0.0
423
+ ],
424
+ [
425
+ 1.0,
426
+ 0.0,
427
+ 0.0,
428
+ 0.0
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ -0.0,
440
+ -1.0,
441
+ 0.0,
442
+ 0.0
443
+ ],
444
+ [
445
+ 0.0,
446
+ 0.0,
447
+ 1.0,
448
+ 0.0
449
+ ],
450
+ [
451
+ -1.0,
452
+ 0.0,
453
+ 0.0,
454
+ 0.0
455
+ ],
456
+ [
457
+ 0.0,
458
+ 0.0,
459
+ 0.0,
460
+ 1.0
461
+ ]
462
+ ]
463
+ ],
464
+ "orientation_point": [],
465
+ "contact_points_group": [
466
+ [
467
+ 0,
468
+ 1,
469
+ 2,
470
+ 3
471
+ ],
472
+ [
473
+ 4,
474
+ 5,
475
+ 6,
476
+ 7
477
+ ]
478
+ ],
479
+ "contact_points_mask": [
480
+ true,
481
+ true,
482
+ true
483
+ ],
484
+ "target_point_discription": [],
485
+ "contact_points_discription": [],
486
+ "functional_point_discription": [],
487
+ "orientation_point_discription": [],
488
+ "stable": true
489
+ }
490
+ },
491
+ "robot_qpos": [
492
+ 0.0,
493
+ 0.0,
494
+ -9.633261372242325e-17,
495
+ -9.633261372242325e-17,
496
+ 1.0562962993437147e-13,
497
+ 1.0562962993437147e-13,
498
+ -3.016615224282759e-08,
499
+ -3.258066882949606e-08,
500
+ -3.2333404842432856e-09,
501
+ -3.23495652487793e-09,
502
+ 5.267530808490758e-18,
503
+ 5.267530808490758e-18,
504
+ 1.3821598255984342e-17,
505
+ 1.3821598255984342e-17,
506
+ -5.666987590302597e-07,
507
+ -5.65274206110189e-07,
508
+ -4.906024386741592e-08,
509
+ -4.9084423636713836e-08,
510
+ -4.835828804061748e-06,
511
+ -4.838918357563671e-06,
512
+ -8.459834134555422e-06,
513
+ -8.459778655378614e-06,
514
+ 7.701128623693876e-08,
515
+ 7.693390813301448e-08,
516
+ -1.6475175002028664e-08,
517
+ -1.6467639696315928e-08,
518
+ 4.63164752773082e-07,
519
+ 4.6469963876916154e-07,
520
+ 3.108373114457663e-09,
521
+ 3.108284518660298e-09,
522
+ -8.158995683515968e-07,
523
+ -8.163781899384048e-07,
524
+ 1.5176220002910412e-10,
525
+ 1.5164668132339187e-10,
526
+ 0.044236842542886734,
527
+ 0.044238295406103134,
528
+ 0.04423683509230614,
529
+ 0.044238295406103134,
530
+ 0.0,
531
+ 0.0,
532
+ -9.633261372242325e-17,
533
+ -9.633261372242325e-17,
534
+ 1.0562962993437147e-13,
535
+ 1.0562962993437147e-13,
536
+ -3.016615224282759e-08,
537
+ -3.258066882949606e-08,
538
+ -3.2333404842432856e-09,
539
+ -3.23495652487793e-09,
540
+ 5.267530808490758e-18,
541
+ 5.267530808490758e-18,
542
+ 1.3821598255984342e-17,
543
+ 1.3821598255984342e-17,
544
+ -5.666987590302597e-07,
545
+ -5.65274206110189e-07,
546
+ -4.906024386741592e-08,
547
+ -4.9084423636713836e-08,
548
+ -4.835828804061748e-06,
549
+ -4.838918357563671e-06,
550
+ -8.459834134555422e-06,
551
+ -8.459778655378614e-06,
552
+ 7.701128623693876e-08,
553
+ 7.693390813301448e-08,
554
+ -1.6475175002028664e-08,
555
+ -1.6467639696315928e-08,
556
+ 4.63164752773082e-07,
557
+ 4.6469963876916154e-07,
558
+ 3.108373114457663e-09,
559
+ 3.108284518660298e-09,
560
+ -8.158995683515968e-07,
561
+ -8.163781899384048e-07,
562
+ 1.5176220002910412e-10,
563
+ 1.5164668132339187e-10,
564
+ 0.044236842542886734,
565
+ 0.044238295406103134,
566
+ 0.04423683509230614,
567
+ 0.044238295406103134
568
+ ]
569
+ }
meta/source_programs/seed-189.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dbf3b6eb757d2a77b17ef3812e1e6b2dee68ae6cdcd77314bcec9e72401ecbb6
3
+ size 145057
meta/source_programs/seed-190.scene.json ADDED
@@ -0,0 +1,569 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scanner": {
3
+ "pose": [
4
+ 0.24296897649765015,
5
+ -0.08215901255607605,
6
+ 0.7411398887634277,
7
+ -0.2561962306499481,
8
+ -0.25843238830566406,
9
+ 0.6571919918060303,
10
+ 0.6600567698478699
11
+ ],
12
+ "config": {
13
+ "center": [
14
+ -0.020516590713582666,
15
+ 0.4093469120803495,
16
+ -0.007272068023921557
17
+ ],
18
+ "extents": [
19
+ 0.7323284322858983,
20
+ 0.9518428887559505,
21
+ 1.9678122505003266
22
+ ],
23
+ "scale": [
24
+ 0.08,
25
+ 0.08,
26
+ 0.08
27
+ ],
28
+ "transform_matrix": [
29
+ [
30
+ 1.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0
34
+ ],
35
+ [
36
+ 0.0,
37
+ 1.0,
38
+ 0.0,
39
+ 0.0
40
+ ],
41
+ [
42
+ 0.0,
43
+ 0.0,
44
+ 1.0,
45
+ 0.0
46
+ ],
47
+ [
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 1.0
52
+ ]
53
+ ],
54
+ "target_pose": [],
55
+ "contact_points_pose": [
56
+ [
57
+ [
58
+ -0.0,
59
+ -0.0,
60
+ -1.0,
61
+ 0.0
62
+ ],
63
+ [
64
+ 0.0,
65
+ 1.0,
66
+ -0.0,
67
+ 0.6083499789237976
68
+ ],
69
+ [
70
+ 1.0,
71
+ -0.0,
72
+ -0.0,
73
+ -0.25714001059532166
74
+ ],
75
+ [
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 1.0
80
+ ]
81
+ ]
82
+ ],
83
+ "functional_matrix": [
84
+ [
85
+ [
86
+ 0.0,
87
+ 1.0,
88
+ -0.0,
89
+ 0.0
90
+ ],
91
+ [
92
+ -0.19109000265598297,
93
+ -0.0,
94
+ -0.9815700054168701,
95
+ 0.033720001578330994
96
+ ],
97
+ [
98
+ -0.9815700054168701,
99
+ 0.0,
100
+ 0.19109000265598297,
101
+ 0.7643300294876099
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 1.0,
113
+ 0.0,
114
+ 0.0,
115
+ 0.0
116
+ ],
117
+ [
118
+ 0.0,
119
+ 1.0,
120
+ -0.0,
121
+ 0.6254900097846985
122
+ ],
123
+ [
124
+ 0.0,
125
+ 0.0,
126
+ 1.0,
127
+ 0.6220700144767761
128
+ ],
129
+ [
130
+ 0.0,
131
+ 0.0,
132
+ 0.0,
133
+ 1.0
134
+ ]
135
+ ]
136
+ ],
137
+ "orientation_point": [],
138
+ "contact_points_group": [],
139
+ "contact_points_mask": [],
140
+ "target_point_discription": [],
141
+ "contact_points_discription": [],
142
+ "functional_point_discription": [],
143
+ "orientation_point_discription": [],
144
+ "stable": true
145
+ }
146
+ },
147
+ "object": {
148
+ "pose": [
149
+ -0.1219523623585701,
150
+ -0.057590633630752563,
151
+ 0.7406741380691528,
152
+ 0.18067440390586853,
153
+ 0.180613711476326,
154
+ 0.6836447715759277,
155
+ 0.6836413145065308
156
+ ],
157
+ "config": {
158
+ "center": [
159
+ 1.846551007942463e-05,
160
+ 0.8533338325162682,
161
+ 3.307372110792254e-05
162
+ ],
163
+ "extents": [
164
+ 1.9433279632036553,
165
+ 1.7418067041330318,
166
+ 1.8765571679138717
167
+ ],
168
+ "scale": [
169
+ 0.04,
170
+ 0.04,
171
+ 0.04
172
+ ],
173
+ "transform_matrix": [
174
+ [
175
+ 1.0,
176
+ 0.0,
177
+ 0.0,
178
+ 0.0
179
+ ],
180
+ [
181
+ 0.0,
182
+ 1.0,
183
+ 0.0,
184
+ 0.0
185
+ ],
186
+ [
187
+ 0.0,
188
+ 0.0,
189
+ 1.0,
190
+ 0.0
191
+ ],
192
+ [
193
+ 0.0,
194
+ 0.0,
195
+ 0.0,
196
+ 1.0
197
+ ]
198
+ ],
199
+ "target_pose": [],
200
+ "contact_points_pose": [
201
+ [
202
+ [
203
+ 1.0,
204
+ 0.0,
205
+ 0.0,
206
+ 0.0
207
+ ],
208
+ [
209
+ 0.0,
210
+ 1.0,
211
+ -0.0,
212
+ 1.0899399518966675
213
+ ],
214
+ [
215
+ 0.0,
216
+ 0.0,
217
+ 1.0,
218
+ -0.0
219
+ ],
220
+ [
221
+ 0.0,
222
+ 0.0,
223
+ 0.0,
224
+ 1.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ -0.0,
230
+ 0.0,
231
+ 1.0,
232
+ 0.0
233
+ ],
234
+ [
235
+ 0.0,
236
+ 1.0,
237
+ -0.0,
238
+ 1.0899399518966675
239
+ ],
240
+ [
241
+ -1.0,
242
+ 0.0,
243
+ 0.0,
244
+ -0.0
245
+ ],
246
+ [
247
+ 0.0,
248
+ 0.0,
249
+ 0.0,
250
+ 1.0
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ -1.0,
256
+ 0.0,
257
+ 0.0,
258
+ 0.0
259
+ ],
260
+ [
261
+ 0.0,
262
+ 1.0,
263
+ 0.0,
264
+ 1.0899399518966675
265
+ ],
266
+ [
267
+ 0.0,
268
+ 0.0,
269
+ -1.0,
270
+ -0.0
271
+ ],
272
+ [
273
+ 0.0,
274
+ 0.0,
275
+ 0.0,
276
+ 1.0
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ -0.0,
282
+ 0.0,
283
+ -1.0,
284
+ 0.0
285
+ ],
286
+ [
287
+ 0.0,
288
+ 1.0,
289
+ -0.0,
290
+ 1.0899399518966675
291
+ ],
292
+ [
293
+ 1.0,
294
+ 0.0,
295
+ 0.0,
296
+ -0.0
297
+ ],
298
+ [
299
+ 0.0,
300
+ 0.0,
301
+ 0.0,
302
+ 1.0
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.0004900000058114529,
308
+ -0.014580000191926956,
309
+ 0.9998900294303894,
310
+ 0.0
311
+ ],
312
+ [
313
+ 1.0,
314
+ -0.0003499999875202775,
315
+ -0.0005000000237487257,
316
+ 0.7407500147819519
317
+ ],
318
+ [
319
+ 0.0003600000054575503,
320
+ 0.9998900294303894,
321
+ 0.014580000191926956,
322
+ 0.0002099999983329326
323
+ ],
324
+ [
325
+ 0.0,
326
+ 0.0,
327
+ 0.0,
328
+ 1.0
329
+ ]
330
+ ],
331
+ [
332
+ [
333
+ 0.0004900000058114529,
334
+ 1.0,
335
+ 2.9999999242136255e-05,
336
+ 0.0
337
+ ],
338
+ [
339
+ 1.0,
340
+ -0.0004900000058114529,
341
+ 0.0003499999875202775,
342
+ 0.7407500147819519
343
+ ],
344
+ [
345
+ 0.0003499999875202775,
346
+ 2.9999999242136255e-05,
347
+ -1.0,
348
+ 0.0002099999983329326
349
+ ],
350
+ [
351
+ 0.0,
352
+ 0.0,
353
+ 0.0,
354
+ 1.0
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.0004900000058114529,
360
+ 2.9999999242136255e-05,
361
+ -1.0,
362
+ 0.0
363
+ ],
364
+ [
365
+ 1.0,
366
+ 0.0003499999875202775,
367
+ 0.0004900000058114529,
368
+ 0.7407500147819519
369
+ ],
370
+ [
371
+ 0.0003499999875202775,
372
+ -1.0,
373
+ -2.9999999242136255e-05,
374
+ 0.0002099999983329326
375
+ ],
376
+ [
377
+ 0.0,
378
+ 0.0,
379
+ 0.0,
380
+ 1.0
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.0004900000058114529,
386
+ -1.0,
387
+ -2.9999999242136255e-05,
388
+ 0.0
389
+ ],
390
+ [
391
+ 1.0,
392
+ 0.0004900000058114529,
393
+ -0.0003499999875202775,
394
+ 0.7407500147819519
395
+ ],
396
+ [
397
+ 0.0003499999875202775,
398
+ -2.9999999242136255e-05,
399
+ 1.0,
400
+ 0.0002099999983329326
401
+ ],
402
+ [
403
+ 0.0,
404
+ 0.0,
405
+ 0.0,
406
+ 1.0
407
+ ]
408
+ ]
409
+ ],
410
+ "functional_matrix": [
411
+ [
412
+ [
413
+ -0.0,
414
+ -1.0,
415
+ 0.0,
416
+ 0.0
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ -1.0,
422
+ 0.0
423
+ ],
424
+ [
425
+ 1.0,
426
+ 0.0,
427
+ 0.0,
428
+ 0.0
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ -0.0,
440
+ -1.0,
441
+ 0.0,
442
+ 0.0
443
+ ],
444
+ [
445
+ 0.0,
446
+ 0.0,
447
+ 1.0,
448
+ 0.0
449
+ ],
450
+ [
451
+ -1.0,
452
+ 0.0,
453
+ 0.0,
454
+ 0.0
455
+ ],
456
+ [
457
+ 0.0,
458
+ 0.0,
459
+ 0.0,
460
+ 1.0
461
+ ]
462
+ ]
463
+ ],
464
+ "orientation_point": [],
465
+ "contact_points_group": [
466
+ [
467
+ 0,
468
+ 1,
469
+ 2,
470
+ 3
471
+ ],
472
+ [
473
+ 4,
474
+ 5,
475
+ 6,
476
+ 7
477
+ ]
478
+ ],
479
+ "contact_points_mask": [
480
+ true,
481
+ true,
482
+ true
483
+ ],
484
+ "target_point_discription": [],
485
+ "contact_points_discription": [],
486
+ "functional_point_discription": [],
487
+ "orientation_point_discription": [],
488
+ "stable": true
489
+ }
490
+ },
491
+ "robot_qpos": [
492
+ 0.0,
493
+ 0.0,
494
+ -9.633261372242325e-17,
495
+ -9.633261372242325e-17,
496
+ 1.0562962993437147e-13,
497
+ 1.0562962993437147e-13,
498
+ -3.016615224282759e-08,
499
+ -3.258066882949606e-08,
500
+ -3.2333404842432856e-09,
501
+ -3.23495652487793e-09,
502
+ 5.267530808490758e-18,
503
+ 5.267530808490758e-18,
504
+ 1.3821598255984342e-17,
505
+ 1.3821598255984342e-17,
506
+ -5.666987590302597e-07,
507
+ -5.65274206110189e-07,
508
+ -4.906024386741592e-08,
509
+ -4.9084423636713836e-08,
510
+ -4.835828804061748e-06,
511
+ -4.838918357563671e-06,
512
+ -8.459834134555422e-06,
513
+ -8.459778655378614e-06,
514
+ 7.701128623693876e-08,
515
+ 7.693390813301448e-08,
516
+ -1.6475175002028664e-08,
517
+ -1.6467639696315928e-08,
518
+ 4.63164752773082e-07,
519
+ 4.6469963876916154e-07,
520
+ 3.108373114457663e-09,
521
+ 3.108284518660298e-09,
522
+ -8.158995683515968e-07,
523
+ -8.163781899384048e-07,
524
+ 1.5176220002910412e-10,
525
+ 1.5164668132339187e-10,
526
+ 0.044236842542886734,
527
+ 0.044238295406103134,
528
+ 0.04423683509230614,
529
+ 0.044238295406103134,
530
+ 0.0,
531
+ 0.0,
532
+ -9.633261372242325e-17,
533
+ -9.633261372242325e-17,
534
+ 1.0562962993437147e-13,
535
+ 1.0562962993437147e-13,
536
+ -3.016615224282759e-08,
537
+ -3.258066882949606e-08,
538
+ -3.2333404842432856e-09,
539
+ -3.23495652487793e-09,
540
+ 5.267530808490758e-18,
541
+ 5.267530808490758e-18,
542
+ 1.3821598255984342e-17,
543
+ 1.3821598255984342e-17,
544
+ -5.666987590302597e-07,
545
+ -5.65274206110189e-07,
546
+ -4.906024386741592e-08,
547
+ -4.9084423636713836e-08,
548
+ -4.835828804061748e-06,
549
+ -4.838918357563671e-06,
550
+ -8.459834134555422e-06,
551
+ -8.459778655378614e-06,
552
+ 7.701128623693876e-08,
553
+ 7.693390813301448e-08,
554
+ -1.6475175002028664e-08,
555
+ -1.6467639696315928e-08,
556
+ 4.63164752773082e-07,
557
+ 4.6469963876916154e-07,
558
+ 3.108373114457663e-09,
559
+ 3.108284518660298e-09,
560
+ -8.158995683515968e-07,
561
+ -8.163781899384048e-07,
562
+ 1.5176220002910412e-10,
563
+ 1.5164668132339187e-10,
564
+ 0.044236842542886734,
565
+ 0.044238295406103134,
566
+ 0.04423683509230614,
567
+ 0.044238295406103134
568
+ ]
569
+ }
meta/source_programs/seed-191.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d4362fc1b4a5560c259d2f1e3fd64f564f8edf9d1c1c7604bc0816fbde481e88
3
+ size 149978
meta/source_programs/seed-200.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c73e1eb36dd23a439003d8b1b7cb38a0f9999adab3c6f46beeb5a8906da9cb0d
3
+ size 140928
meta/source_programs/seed-200.scene.json ADDED
@@ -0,0 +1,569 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scanner": {
3
+ "pose": [
4
+ 0.2434569150209427,
5
+ -0.08748108893632889,
6
+ 0.738023579120636,
7
+ -0.1141439899802208,
8
+ -0.06712733209133148,
9
+ 0.6745224595069885,
10
+ 0.7262815237045288
11
+ ],
12
+ "config": {
13
+ "center": [
14
+ -0.0768633528283073,
15
+ 0.4634547011049793,
16
+ -0.008318984798050731
17
+ ],
18
+ "extents": [
19
+ 0.8593805745575148,
20
+ 1.0699315737858877,
21
+ 1.9985987059459176
22
+ ],
23
+ "scale": [
24
+ 0.08,
25
+ 0.08,
26
+ 0.08
27
+ ],
28
+ "transform_matrix": [
29
+ [
30
+ 1.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0
34
+ ],
35
+ [
36
+ 0.0,
37
+ 1.0,
38
+ 0.0,
39
+ 0.0
40
+ ],
41
+ [
42
+ 0.0,
43
+ 0.0,
44
+ 1.0,
45
+ 0.0
46
+ ],
47
+ [
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 1.0
52
+ ]
53
+ ],
54
+ "target_pose": [],
55
+ "contact_points_pose": [
56
+ [
57
+ [
58
+ -0.0,
59
+ -0.0,
60
+ -1.0,
61
+ 0.0
62
+ ],
63
+ [
64
+ 0.0,
65
+ 1.0,
66
+ -0.0,
67
+ 0.6083499789237976
68
+ ],
69
+ [
70
+ 1.0,
71
+ 0.0,
72
+ 0.0,
73
+ -0.14488999545574188
74
+ ],
75
+ [
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 1.0
80
+ ]
81
+ ]
82
+ ],
83
+ "functional_matrix": [
84
+ [
85
+ [
86
+ 0.0,
87
+ 1.0,
88
+ -0.0,
89
+ 0.0
90
+ ],
91
+ [
92
+ -0.2741599977016449,
93
+ -0.0,
94
+ -0.961679995059967,
95
+ 0.0
96
+ ],
97
+ [
98
+ -0.961679995059967,
99
+ 0.0,
100
+ 0.2741599977016449,
101
+ 0.7643300294876099
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 1.0,
113
+ 0.0,
114
+ 0.0,
115
+ 0.0
116
+ ],
117
+ [
118
+ 0.0,
119
+ 1.0,
120
+ -0.0,
121
+ 0.6254900097846985
122
+ ],
123
+ [
124
+ 0.0,
125
+ 0.0,
126
+ 1.0,
127
+ 0.6220700144767761
128
+ ],
129
+ [
130
+ 0.0,
131
+ 0.0,
132
+ 0.0,
133
+ 1.0
134
+ ]
135
+ ]
136
+ ],
137
+ "orientation_point": [],
138
+ "contact_points_group": [],
139
+ "contact_points_mask": [],
140
+ "target_point_discription": [],
141
+ "contact_points_discription": [],
142
+ "functional_point_discription": [],
143
+ "orientation_point_discription": [],
144
+ "stable": false
145
+ }
146
+ },
147
+ "object": {
148
+ "pose": [
149
+ -0.20804086327552795,
150
+ -0.13922396302223206,
151
+ 0.74069744348526,
152
+ 0.1545155793428421,
153
+ 0.15456171333789825,
154
+ 0.6901112198829651,
155
+ 0.6899145841598511
156
+ ],
157
+ "config": {
158
+ "center": [
159
+ 5.714026930715791e-05,
160
+ 0.831315844749565,
161
+ -0.00018208092978346847
162
+ ],
163
+ "extents": [
164
+ 1.8529326814468878,
165
+ 1.6975858885594453,
166
+ 1.9414277689539936
167
+ ],
168
+ "scale": [
169
+ 0.04,
170
+ 0.04,
171
+ 0.04
172
+ ],
173
+ "transform_matrix": [
174
+ [
175
+ 1.0,
176
+ 0.0,
177
+ 0.0,
178
+ 0.0
179
+ ],
180
+ [
181
+ 0.0,
182
+ 1.0,
183
+ 0.0,
184
+ 0.0
185
+ ],
186
+ [
187
+ 0.0,
188
+ 0.0,
189
+ 1.0,
190
+ 0.0
191
+ ],
192
+ [
193
+ 0.0,
194
+ 0.0,
195
+ 0.0,
196
+ 1.0
197
+ ]
198
+ ],
199
+ "target_pose": [],
200
+ "contact_points_pose": [
201
+ [
202
+ [
203
+ 1.0,
204
+ 0.0,
205
+ 0.0,
206
+ 0.0
207
+ ],
208
+ [
209
+ 0.0,
210
+ 1.0,
211
+ -0.0,
212
+ 1.1036399602890015
213
+ ],
214
+ [
215
+ 0.0,
216
+ 0.0,
217
+ 1.0,
218
+ 0.0
219
+ ],
220
+ [
221
+ 0.0,
222
+ 0.0,
223
+ 0.0,
224
+ 1.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ -0.0,
230
+ 0.0,
231
+ 1.0,
232
+ 0.0
233
+ ],
234
+ [
235
+ 0.0,
236
+ 1.0,
237
+ -0.0,
238
+ 1.1036399602890015
239
+ ],
240
+ [
241
+ -1.0,
242
+ 0.0,
243
+ 0.0,
244
+ 0.0
245
+ ],
246
+ [
247
+ 0.0,
248
+ 0.0,
249
+ 0.0,
250
+ 1.0
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ -1.0,
256
+ 0.0,
257
+ 0.0,
258
+ 0.0
259
+ ],
260
+ [
261
+ 0.0,
262
+ 1.0,
263
+ 0.0,
264
+ 1.1036399602890015
265
+ ],
266
+ [
267
+ 0.0,
268
+ 0.0,
269
+ -1.0,
270
+ 0.0
271
+ ],
272
+ [
273
+ 0.0,
274
+ 0.0,
275
+ 0.0,
276
+ 1.0
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ -0.0,
282
+ 0.0,
283
+ -1.0,
284
+ 0.0
285
+ ],
286
+ [
287
+ 0.0,
288
+ 1.0,
289
+ -0.0,
290
+ 1.1036399602890015
291
+ ],
292
+ [
293
+ 1.0,
294
+ 0.0,
295
+ 0.0,
296
+ 0.0
297
+ ],
298
+ [
299
+ 0.0,
300
+ 0.0,
301
+ 0.0,
302
+ 1.0
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.0004900000058114529,
308
+ -0.014580000191926956,
309
+ 0.9998900294303894,
310
+ 0.0
311
+ ],
312
+ [
313
+ 1.0,
314
+ -0.0003499999875202775,
315
+ -0.0005000000237487257,
316
+ 0.7407500147819519
317
+ ],
318
+ [
319
+ 0.0003600000054575503,
320
+ 0.9998900294303894,
321
+ 0.014580000191926956,
322
+ 0.0002099999983329326
323
+ ],
324
+ [
325
+ 0.0,
326
+ 0.0,
327
+ 0.0,
328
+ 1.0
329
+ ]
330
+ ],
331
+ [
332
+ [
333
+ 0.0004900000058114529,
334
+ 1.0,
335
+ 2.9999999242136255e-05,
336
+ 0.0
337
+ ],
338
+ [
339
+ 1.0,
340
+ -0.0004900000058114529,
341
+ 0.0003499999875202775,
342
+ 0.7407500147819519
343
+ ],
344
+ [
345
+ 0.0003499999875202775,
346
+ 2.9999999242136255e-05,
347
+ -1.0,
348
+ 0.0002099999983329326
349
+ ],
350
+ [
351
+ 0.0,
352
+ 0.0,
353
+ 0.0,
354
+ 1.0
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.0004900000058114529,
360
+ 2.9999999242136255e-05,
361
+ -1.0,
362
+ 0.0
363
+ ],
364
+ [
365
+ 1.0,
366
+ 0.0003499999875202775,
367
+ 0.0004900000058114529,
368
+ 0.7407500147819519
369
+ ],
370
+ [
371
+ 0.0003499999875202775,
372
+ -1.0,
373
+ -2.9999999242136255e-05,
374
+ 0.0002099999983329326
375
+ ],
376
+ [
377
+ 0.0,
378
+ 0.0,
379
+ 0.0,
380
+ 1.0
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.0004900000058114529,
386
+ -1.0,
387
+ -2.9999999242136255e-05,
388
+ 0.0
389
+ ],
390
+ [
391
+ 1.0,
392
+ 0.0004900000058114529,
393
+ -0.0003499999875202775,
394
+ 0.7407500147819519
395
+ ],
396
+ [
397
+ 0.0003499999875202775,
398
+ -2.9999999242136255e-05,
399
+ 1.0,
400
+ 0.0002099999983329326
401
+ ],
402
+ [
403
+ 0.0,
404
+ 0.0,
405
+ 0.0,
406
+ 1.0
407
+ ]
408
+ ]
409
+ ],
410
+ "functional_matrix": [
411
+ [
412
+ [
413
+ -0.0,
414
+ -1.0,
415
+ 0.0,
416
+ 0.0
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ -1.0,
422
+ 0.0
423
+ ],
424
+ [
425
+ 1.0,
426
+ 0.0,
427
+ 0.0,
428
+ 0.0
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ -0.0,
440
+ -1.0,
441
+ 0.0,
442
+ 0.0
443
+ ],
444
+ [
445
+ 0.0,
446
+ 0.0,
447
+ 1.0,
448
+ 0.0
449
+ ],
450
+ [
451
+ -1.0,
452
+ 0.0,
453
+ 0.0,
454
+ 0.0
455
+ ],
456
+ [
457
+ 0.0,
458
+ 0.0,
459
+ 0.0,
460
+ 1.0
461
+ ]
462
+ ]
463
+ ],
464
+ "orientation_point": [],
465
+ "contact_points_group": [
466
+ [
467
+ 0,
468
+ 1,
469
+ 2,
470
+ 3
471
+ ],
472
+ [
473
+ 4,
474
+ 5,
475
+ 6,
476
+ 7
477
+ ]
478
+ ],
479
+ "contact_points_mask": [
480
+ true,
481
+ true,
482
+ true
483
+ ],
484
+ "target_point_discription": [],
485
+ "contact_points_discription": [],
486
+ "functional_point_discription": [],
487
+ "orientation_point_discription": [],
488
+ "stable": true
489
+ }
490
+ },
491
+ "robot_qpos": [
492
+ 0.0,
493
+ 0.0,
494
+ -9.633261372242325e-17,
495
+ -9.633261372242325e-17,
496
+ 1.0562962993437147e-13,
497
+ 1.0562962993437147e-13,
498
+ -3.016615224282759e-08,
499
+ -3.258066882949606e-08,
500
+ -3.2333404842432856e-09,
501
+ -3.23495652487793e-09,
502
+ 5.267530808490758e-18,
503
+ 5.267530808490758e-18,
504
+ 1.3821598255984342e-17,
505
+ 1.3821598255984342e-17,
506
+ -5.666987590302597e-07,
507
+ -5.65274206110189e-07,
508
+ -4.906024386741592e-08,
509
+ -4.9084423636713836e-08,
510
+ -4.835828804061748e-06,
511
+ -4.838918357563671e-06,
512
+ -8.459834134555422e-06,
513
+ -8.459778655378614e-06,
514
+ 7.701128623693876e-08,
515
+ 7.693390813301448e-08,
516
+ -1.6475175002028664e-08,
517
+ -1.6467639696315928e-08,
518
+ 4.63164752773082e-07,
519
+ 4.6469963876916154e-07,
520
+ 3.108373114457663e-09,
521
+ 3.108284518660298e-09,
522
+ -8.158995683515968e-07,
523
+ -8.163781899384048e-07,
524
+ 1.5176220002910412e-10,
525
+ 1.5164668132339187e-10,
526
+ 0.044236842542886734,
527
+ 0.044238295406103134,
528
+ 0.04423683509230614,
529
+ 0.044238295406103134,
530
+ 0.0,
531
+ 0.0,
532
+ -9.633261372242325e-17,
533
+ -9.633261372242325e-17,
534
+ 1.0562962993437147e-13,
535
+ 1.0562962993437147e-13,
536
+ -3.016615224282759e-08,
537
+ -3.258066882949606e-08,
538
+ -3.2333404842432856e-09,
539
+ -3.23495652487793e-09,
540
+ 5.267530808490758e-18,
541
+ 5.267530808490758e-18,
542
+ 1.3821598255984342e-17,
543
+ 1.3821598255984342e-17,
544
+ -5.666987590302597e-07,
545
+ -5.65274206110189e-07,
546
+ -4.906024386741592e-08,
547
+ -4.9084423636713836e-08,
548
+ -4.835828804061748e-06,
549
+ -4.838918357563671e-06,
550
+ -8.459834134555422e-06,
551
+ -8.459778655378614e-06,
552
+ 7.701128623693876e-08,
553
+ 7.693390813301448e-08,
554
+ -1.6475175002028664e-08,
555
+ -1.6467639696315928e-08,
556
+ 4.63164752773082e-07,
557
+ 4.6469963876916154e-07,
558
+ 3.108373114457663e-09,
559
+ 3.108284518660298e-09,
560
+ -8.158995683515968e-07,
561
+ -8.163781899384048e-07,
562
+ 1.5176220002910412e-10,
563
+ 1.5164668132339187e-10,
564
+ 0.044236842542886734,
565
+ 0.044238295406103134,
566
+ 0.04423683509230614,
567
+ 0.044238295406103134
568
+ ]
569
+ }
meta/source_programs/seed-202.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c29c26f8f0caef73367895ae8e7b0be6fe6cd2d29b1d74d45c5cb32b5965e7fe
3
+ size 137216
meta/source_programs/seed-34.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cbe1d0b147929eff940d91795f405b6a03be01130a0911ba004500fae4d2516b
3
+ size 141323
meta/source_programs/seed-58.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6e87b40c780c0c8215b8b09525776a081a8a289d113850d542320fa2b687e18b
3
+ size 142240
meta/source_programs/seed-59.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:288ba49bebda5e4a85f9aef9150007aabeef6d24147a4b4b5039f8689360797e
3
+ size 146007
meta/source_programs/seed-75.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f180e5674442b37c16bdb13f15dfda0c2ada750494ef040fcd3f38d71d282e99
3
+ size 145324
meta/source_programs/seed-76.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:990b629540b1b4a645d5f826726a5bcb7aca682c67e2855b71c40ed3985b9e80
3
+ size 149857
meta/source_programs/seed-78.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a621e5d4b3130dcefa2c9c7306639c99e456c091277c7ad8cd8b6c73fae894af
3
+ size 138202
meta/source_programs/seed-84.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8f968d410e56d2501539a135ebce9bf9316ac6ac2b6882c14248a877606820b4
3
+ size 144459
meta/source_programs/seed-86.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9615f0165988410ebd990f04568c1adf87285220df5b860dc3ad652c5cd6ee91
3
+ size 142440
meta/source_programs/seed-86.scene.json ADDED
@@ -0,0 +1,569 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scanner": {
3
+ "pose": [
4
+ 0.09826309978961945,
5
+ -0.05776967108249664,
6
+ 0.7378011345863342,
7
+ -0.12390321493148804,
8
+ -0.12106668949127197,
9
+ 0.6656237244606018,
10
+ 0.7259037494659424
11
+ ],
12
+ "config": {
13
+ "center": [
14
+ -0.0768633528283073,
15
+ 0.4634547011049793,
16
+ -0.008318984798050731
17
+ ],
18
+ "extents": [
19
+ 0.8593805745575148,
20
+ 1.0699315737858877,
21
+ 1.9985987059459176
22
+ ],
23
+ "scale": [
24
+ 0.08,
25
+ 0.08,
26
+ 0.08
27
+ ],
28
+ "transform_matrix": [
29
+ [
30
+ 1.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0
34
+ ],
35
+ [
36
+ 0.0,
37
+ 1.0,
38
+ 0.0,
39
+ 0.0
40
+ ],
41
+ [
42
+ 0.0,
43
+ 0.0,
44
+ 1.0,
45
+ 0.0
46
+ ],
47
+ [
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 1.0
52
+ ]
53
+ ],
54
+ "target_pose": [],
55
+ "contact_points_pose": [
56
+ [
57
+ [
58
+ -0.0,
59
+ -0.0,
60
+ -1.0,
61
+ 0.0
62
+ ],
63
+ [
64
+ 0.0,
65
+ 1.0,
66
+ -0.0,
67
+ 0.6083499789237976
68
+ ],
69
+ [
70
+ 1.0,
71
+ 0.0,
72
+ 0.0,
73
+ -0.14488999545574188
74
+ ],
75
+ [
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 1.0
80
+ ]
81
+ ]
82
+ ],
83
+ "functional_matrix": [
84
+ [
85
+ [
86
+ 0.0,
87
+ 1.0,
88
+ -0.0,
89
+ 0.0
90
+ ],
91
+ [
92
+ -0.2741599977016449,
93
+ -0.0,
94
+ -0.961679995059967,
95
+ 0.0
96
+ ],
97
+ [
98
+ -0.961679995059967,
99
+ 0.0,
100
+ 0.2741599977016449,
101
+ 0.7643300294876099
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 1.0,
113
+ 0.0,
114
+ 0.0,
115
+ 0.0
116
+ ],
117
+ [
118
+ 0.0,
119
+ 1.0,
120
+ -0.0,
121
+ 0.6254900097846985
122
+ ],
123
+ [
124
+ 0.0,
125
+ 0.0,
126
+ 1.0,
127
+ 0.6220700144767761
128
+ ],
129
+ [
130
+ 0.0,
131
+ 0.0,
132
+ 0.0,
133
+ 1.0
134
+ ]
135
+ ]
136
+ ],
137
+ "orientation_point": [],
138
+ "contact_points_group": [],
139
+ "contact_points_mask": [],
140
+ "target_point_discription": [],
141
+ "contact_points_discription": [],
142
+ "functional_point_discription": [],
143
+ "orientation_point_discription": [],
144
+ "stable": false
145
+ }
146
+ },
147
+ "object": {
148
+ "pose": [
149
+ -0.18863260746002197,
150
+ -0.16429822146892548,
151
+ 0.7406972646713257,
152
+ 0.6098546385765076,
153
+ 0.610028862953186,
154
+ 0.3577808439731598,
155
+ 0.35768017172813416
156
+ ],
157
+ "config": {
158
+ "center": [
159
+ 5.714026930715791e-05,
160
+ 0.831315844749565,
161
+ -0.00018208092978346847
162
+ ],
163
+ "extents": [
164
+ 1.8529326814468878,
165
+ 1.6975858885594453,
166
+ 1.9414277689539936
167
+ ],
168
+ "scale": [
169
+ 0.04,
170
+ 0.04,
171
+ 0.04
172
+ ],
173
+ "transform_matrix": [
174
+ [
175
+ 1.0,
176
+ 0.0,
177
+ 0.0,
178
+ 0.0
179
+ ],
180
+ [
181
+ 0.0,
182
+ 1.0,
183
+ 0.0,
184
+ 0.0
185
+ ],
186
+ [
187
+ 0.0,
188
+ 0.0,
189
+ 1.0,
190
+ 0.0
191
+ ],
192
+ [
193
+ 0.0,
194
+ 0.0,
195
+ 0.0,
196
+ 1.0
197
+ ]
198
+ ],
199
+ "target_pose": [],
200
+ "contact_points_pose": [
201
+ [
202
+ [
203
+ 1.0,
204
+ 0.0,
205
+ 0.0,
206
+ 0.0
207
+ ],
208
+ [
209
+ 0.0,
210
+ 1.0,
211
+ -0.0,
212
+ 1.1036399602890015
213
+ ],
214
+ [
215
+ 0.0,
216
+ 0.0,
217
+ 1.0,
218
+ 0.0
219
+ ],
220
+ [
221
+ 0.0,
222
+ 0.0,
223
+ 0.0,
224
+ 1.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ -0.0,
230
+ 0.0,
231
+ 1.0,
232
+ 0.0
233
+ ],
234
+ [
235
+ 0.0,
236
+ 1.0,
237
+ -0.0,
238
+ 1.1036399602890015
239
+ ],
240
+ [
241
+ -1.0,
242
+ 0.0,
243
+ 0.0,
244
+ 0.0
245
+ ],
246
+ [
247
+ 0.0,
248
+ 0.0,
249
+ 0.0,
250
+ 1.0
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ -1.0,
256
+ 0.0,
257
+ 0.0,
258
+ 0.0
259
+ ],
260
+ [
261
+ 0.0,
262
+ 1.0,
263
+ 0.0,
264
+ 1.1036399602890015
265
+ ],
266
+ [
267
+ 0.0,
268
+ 0.0,
269
+ -1.0,
270
+ 0.0
271
+ ],
272
+ [
273
+ 0.0,
274
+ 0.0,
275
+ 0.0,
276
+ 1.0
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ -0.0,
282
+ 0.0,
283
+ -1.0,
284
+ 0.0
285
+ ],
286
+ [
287
+ 0.0,
288
+ 1.0,
289
+ -0.0,
290
+ 1.1036399602890015
291
+ ],
292
+ [
293
+ 1.0,
294
+ 0.0,
295
+ 0.0,
296
+ 0.0
297
+ ],
298
+ [
299
+ 0.0,
300
+ 0.0,
301
+ 0.0,
302
+ 1.0
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.0004900000058114529,
308
+ -0.014580000191926956,
309
+ 0.9998900294303894,
310
+ 0.0
311
+ ],
312
+ [
313
+ 1.0,
314
+ -0.0003499999875202775,
315
+ -0.0005000000237487257,
316
+ 0.7407500147819519
317
+ ],
318
+ [
319
+ 0.0003600000054575503,
320
+ 0.9998900294303894,
321
+ 0.014580000191926956,
322
+ 0.0002099999983329326
323
+ ],
324
+ [
325
+ 0.0,
326
+ 0.0,
327
+ 0.0,
328
+ 1.0
329
+ ]
330
+ ],
331
+ [
332
+ [
333
+ 0.0004900000058114529,
334
+ 1.0,
335
+ 2.9999999242136255e-05,
336
+ 0.0
337
+ ],
338
+ [
339
+ 1.0,
340
+ -0.0004900000058114529,
341
+ 0.0003499999875202775,
342
+ 0.7407500147819519
343
+ ],
344
+ [
345
+ 0.0003499999875202775,
346
+ 2.9999999242136255e-05,
347
+ -1.0,
348
+ 0.0002099999983329326
349
+ ],
350
+ [
351
+ 0.0,
352
+ 0.0,
353
+ 0.0,
354
+ 1.0
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.0004900000058114529,
360
+ 2.9999999242136255e-05,
361
+ -1.0,
362
+ 0.0
363
+ ],
364
+ [
365
+ 1.0,
366
+ 0.0003499999875202775,
367
+ 0.0004900000058114529,
368
+ 0.7407500147819519
369
+ ],
370
+ [
371
+ 0.0003499999875202775,
372
+ -1.0,
373
+ -2.9999999242136255e-05,
374
+ 0.0002099999983329326
375
+ ],
376
+ [
377
+ 0.0,
378
+ 0.0,
379
+ 0.0,
380
+ 1.0
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.0004900000058114529,
386
+ -1.0,
387
+ -2.9999999242136255e-05,
388
+ 0.0
389
+ ],
390
+ [
391
+ 1.0,
392
+ 0.0004900000058114529,
393
+ -0.0003499999875202775,
394
+ 0.7407500147819519
395
+ ],
396
+ [
397
+ 0.0003499999875202775,
398
+ -2.9999999242136255e-05,
399
+ 1.0,
400
+ 0.0002099999983329326
401
+ ],
402
+ [
403
+ 0.0,
404
+ 0.0,
405
+ 0.0,
406
+ 1.0
407
+ ]
408
+ ]
409
+ ],
410
+ "functional_matrix": [
411
+ [
412
+ [
413
+ -0.0,
414
+ -1.0,
415
+ 0.0,
416
+ 0.0
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ -1.0,
422
+ 0.0
423
+ ],
424
+ [
425
+ 1.0,
426
+ 0.0,
427
+ 0.0,
428
+ 0.0
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ -0.0,
440
+ -1.0,
441
+ 0.0,
442
+ 0.0
443
+ ],
444
+ [
445
+ 0.0,
446
+ 0.0,
447
+ 1.0,
448
+ 0.0
449
+ ],
450
+ [
451
+ -1.0,
452
+ 0.0,
453
+ 0.0,
454
+ 0.0
455
+ ],
456
+ [
457
+ 0.0,
458
+ 0.0,
459
+ 0.0,
460
+ 1.0
461
+ ]
462
+ ]
463
+ ],
464
+ "orientation_point": [],
465
+ "contact_points_group": [
466
+ [
467
+ 0,
468
+ 1,
469
+ 2,
470
+ 3
471
+ ],
472
+ [
473
+ 4,
474
+ 5,
475
+ 6,
476
+ 7
477
+ ]
478
+ ],
479
+ "contact_points_mask": [
480
+ true,
481
+ true,
482
+ true
483
+ ],
484
+ "target_point_discription": [],
485
+ "contact_points_discription": [],
486
+ "functional_point_discription": [],
487
+ "orientation_point_discription": [],
488
+ "stable": true
489
+ }
490
+ },
491
+ "robot_qpos": [
492
+ 0.0,
493
+ 0.0,
494
+ -9.633261372242325e-17,
495
+ -9.633261372242325e-17,
496
+ 1.0562962993437147e-13,
497
+ 1.0562962993437147e-13,
498
+ -3.016615224282759e-08,
499
+ -3.258066882949606e-08,
500
+ -3.2333404842432856e-09,
501
+ -3.23495652487793e-09,
502
+ 5.267530808490758e-18,
503
+ 5.267530808490758e-18,
504
+ 1.3821598255984342e-17,
505
+ 1.3821598255984342e-17,
506
+ -5.666987590302597e-07,
507
+ -5.65274206110189e-07,
508
+ -4.906024386741592e-08,
509
+ -4.9084423636713836e-08,
510
+ -4.835828804061748e-06,
511
+ -4.838918357563671e-06,
512
+ -8.459834134555422e-06,
513
+ -8.459778655378614e-06,
514
+ 7.701128623693876e-08,
515
+ 7.693390813301448e-08,
516
+ -1.6475175002028664e-08,
517
+ -1.6467639696315928e-08,
518
+ 4.63164752773082e-07,
519
+ 4.6469963876916154e-07,
520
+ 3.108373114457663e-09,
521
+ 3.108284518660298e-09,
522
+ -8.158995683515968e-07,
523
+ -8.163781899384048e-07,
524
+ 1.5176220002910412e-10,
525
+ 1.5164668132339187e-10,
526
+ 0.044236842542886734,
527
+ 0.044238295406103134,
528
+ 0.04423683509230614,
529
+ 0.044238295406103134,
530
+ 0.0,
531
+ 0.0,
532
+ -9.633261372242325e-17,
533
+ -9.633261372242325e-17,
534
+ 1.0562962993437147e-13,
535
+ 1.0562962993437147e-13,
536
+ -3.016615224282759e-08,
537
+ -3.258066882949606e-08,
538
+ -3.2333404842432856e-09,
539
+ -3.23495652487793e-09,
540
+ 5.267530808490758e-18,
541
+ 5.267530808490758e-18,
542
+ 1.3821598255984342e-17,
543
+ 1.3821598255984342e-17,
544
+ -5.666987590302597e-07,
545
+ -5.65274206110189e-07,
546
+ -4.906024386741592e-08,
547
+ -4.9084423636713836e-08,
548
+ -4.835828804061748e-06,
549
+ -4.838918357563671e-06,
550
+ -8.459834134555422e-06,
551
+ -8.459778655378614e-06,
552
+ 7.701128623693876e-08,
553
+ 7.693390813301448e-08,
554
+ -1.6475175002028664e-08,
555
+ -1.6467639696315928e-08,
556
+ 4.63164752773082e-07,
557
+ 4.6469963876916154e-07,
558
+ 3.108373114457663e-09,
559
+ 3.108284518660298e-09,
560
+ -8.158995683515968e-07,
561
+ -8.163781899384048e-07,
562
+ 1.5176220002910412e-10,
563
+ 1.5164668132339187e-10,
564
+ 0.044236842542886734,
565
+ 0.044238295406103134,
566
+ 0.04423683509230614,
567
+ 0.044238295406103134
568
+ ]
569
+ }
meta/source_programs/seed-87.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22f43eb1218cc33245e6d7d2792eae97e0ea2aec492d6d32240b7513141db22e
3
+ size 141893
meta/source_programs/seed-90.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b1cb76038e9bc18a7214364252c0e9e15f331639a33c3b1631786763b51b6bec
3
+ size 147743
meta/source_programs/seed-90.scene.json ADDED
@@ -0,0 +1,569 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scanner": {
3
+ "pose": [
4
+ 0.13455358147621155,
5
+ -0.05576255917549133,
6
+ 0.7411398887634277,
7
+ 0.0939268171787262,
8
+ 0.09060845524072647,
9
+ 0.7003387212753296,
10
+ 0.7017790079116821
11
+ ],
12
+ "config": {
13
+ "center": [
14
+ -0.020516590713582666,
15
+ 0.4093469120803495,
16
+ -0.007272068023921557
17
+ ],
18
+ "extents": [
19
+ 0.7323284322858983,
20
+ 0.9518428887559505,
21
+ 1.9678122505003266
22
+ ],
23
+ "scale": [
24
+ 0.08,
25
+ 0.08,
26
+ 0.08
27
+ ],
28
+ "transform_matrix": [
29
+ [
30
+ 1.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0
34
+ ],
35
+ [
36
+ 0.0,
37
+ 1.0,
38
+ 0.0,
39
+ 0.0
40
+ ],
41
+ [
42
+ 0.0,
43
+ 0.0,
44
+ 1.0,
45
+ 0.0
46
+ ],
47
+ [
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 1.0
52
+ ]
53
+ ],
54
+ "target_pose": [],
55
+ "contact_points_pose": [
56
+ [
57
+ [
58
+ -0.0,
59
+ -0.0,
60
+ -1.0,
61
+ 0.0
62
+ ],
63
+ [
64
+ 0.0,
65
+ 1.0,
66
+ -0.0,
67
+ 0.6083499789237976
68
+ ],
69
+ [
70
+ 1.0,
71
+ -0.0,
72
+ -0.0,
73
+ -0.25714001059532166
74
+ ],
75
+ [
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 1.0
80
+ ]
81
+ ]
82
+ ],
83
+ "functional_matrix": [
84
+ [
85
+ [
86
+ 0.0,
87
+ 1.0,
88
+ -0.0,
89
+ 0.0
90
+ ],
91
+ [
92
+ -0.19109000265598297,
93
+ -0.0,
94
+ -0.9815700054168701,
95
+ 0.033720001578330994
96
+ ],
97
+ [
98
+ -0.9815700054168701,
99
+ 0.0,
100
+ 0.19109000265598297,
101
+ 0.7643300294876099
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 1.0,
113
+ 0.0,
114
+ 0.0,
115
+ 0.0
116
+ ],
117
+ [
118
+ 0.0,
119
+ 1.0,
120
+ -0.0,
121
+ 0.6254900097846985
122
+ ],
123
+ [
124
+ 0.0,
125
+ 0.0,
126
+ 1.0,
127
+ 0.6220700144767761
128
+ ],
129
+ [
130
+ 0.0,
131
+ 0.0,
132
+ 0.0,
133
+ 1.0
134
+ ]
135
+ ]
136
+ ],
137
+ "orientation_point": [],
138
+ "contact_points_group": [],
139
+ "contact_points_mask": [],
140
+ "target_point_discription": [],
141
+ "contact_points_discription": [],
142
+ "functional_point_discription": [],
143
+ "orientation_point_discription": [],
144
+ "stable": true
145
+ }
146
+ },
147
+ "object": {
148
+ "pose": [
149
+ -0.22400681674480438,
150
+ -0.03222861886024475,
151
+ 0.740676760673523,
152
+ 0.46109843254089355,
153
+ 0.46121492981910706,
154
+ 0.5346981883049011,
155
+ 0.5373705625534058
156
+ ],
157
+ "config": {
158
+ "center": [
159
+ 0.0032817539471226968,
160
+ 0.8273564187194553,
161
+ -4.440546035730014e-06
162
+ ],
163
+ "extents": [
164
+ 1.9310736290350883,
165
+ 1.6896629086437276,
166
+ 1.8311920762062075
167
+ ],
168
+ "scale": [
169
+ 0.04,
170
+ 0.04,
171
+ 0.04
172
+ ],
173
+ "transform_matrix": [
174
+ [
175
+ 1.0,
176
+ 0.0,
177
+ 0.0,
178
+ 0.0
179
+ ],
180
+ [
181
+ 0.0,
182
+ 1.0,
183
+ 0.0,
184
+ 0.0
185
+ ],
186
+ [
187
+ 0.0,
188
+ 0.0,
189
+ 1.0,
190
+ 0.0
191
+ ],
192
+ [
193
+ 0.0,
194
+ 0.0,
195
+ 0.0,
196
+ 1.0
197
+ ]
198
+ ],
199
+ "target_pose": [],
200
+ "contact_points_pose": [
201
+ [
202
+ [
203
+ 1.0,
204
+ 0.0,
205
+ 0.0,
206
+ 0.0
207
+ ],
208
+ [
209
+ 0.0,
210
+ 1.0,
211
+ -0.0,
212
+ 1.0461000204086304
213
+ ],
214
+ [
215
+ 0.0,
216
+ 0.0,
217
+ 1.0,
218
+ -0.0
219
+ ],
220
+ [
221
+ 0.0,
222
+ 0.0,
223
+ 0.0,
224
+ 1.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ -0.0,
230
+ 0.0,
231
+ 1.0,
232
+ 0.0
233
+ ],
234
+ [
235
+ 0.0,
236
+ 1.0,
237
+ -0.0,
238
+ 1.0461000204086304
239
+ ],
240
+ [
241
+ -1.0,
242
+ 0.0,
243
+ 0.0,
244
+ -0.0
245
+ ],
246
+ [
247
+ 0.0,
248
+ 0.0,
249
+ 0.0,
250
+ 1.0
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ -1.0,
256
+ 0.0,
257
+ 0.0,
258
+ 0.0
259
+ ],
260
+ [
261
+ 0.0,
262
+ 1.0,
263
+ 0.0,
264
+ 1.0461000204086304
265
+ ],
266
+ [
267
+ 0.0,
268
+ 0.0,
269
+ -1.0,
270
+ -0.0
271
+ ],
272
+ [
273
+ 0.0,
274
+ 0.0,
275
+ 0.0,
276
+ 1.0
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ -0.0,
282
+ 0.0,
283
+ -1.0,
284
+ 0.0
285
+ ],
286
+ [
287
+ 0.0,
288
+ 1.0,
289
+ -0.0,
290
+ 1.0461000204086304
291
+ ],
292
+ [
293
+ 1.0,
294
+ 0.0,
295
+ 0.0,
296
+ -0.0
297
+ ],
298
+ [
299
+ 0.0,
300
+ 0.0,
301
+ 0.0,
302
+ 1.0
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.0004900000058114529,
308
+ -0.004809999838471413,
309
+ 0.9999899864196777,
310
+ 0.0
311
+ ],
312
+ [
313
+ 1.0,
314
+ -0.0003499999875202775,
315
+ -0.0004900000058114529,
316
+ 0.7340400218963623
317
+ ],
318
+ [
319
+ 0.0003499999875202775,
320
+ 0.9999899864196777,
321
+ 0.004809999838471413,
322
+ 0.0002099999983329326
323
+ ],
324
+ [
325
+ 0.0,
326
+ 0.0,
327
+ 0.0,
328
+ 1.0
329
+ ]
330
+ ],
331
+ [
332
+ [
333
+ 0.0004900000058114529,
334
+ 1.0,
335
+ 2.9999999242136255e-05,
336
+ 0.0
337
+ ],
338
+ [
339
+ 1.0,
340
+ -0.0004900000058114529,
341
+ 0.0003499999875202775,
342
+ 0.7340400218963623
343
+ ],
344
+ [
345
+ 0.0003499999875202775,
346
+ 2.9999999242136255e-05,
347
+ -1.0,
348
+ 0.0002099999983329326
349
+ ],
350
+ [
351
+ 0.0,
352
+ 0.0,
353
+ 0.0,
354
+ 1.0
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.0004900000058114529,
360
+ 2.9999999242136255e-05,
361
+ -1.0,
362
+ 0.0
363
+ ],
364
+ [
365
+ 1.0,
366
+ 0.0003499999875202775,
367
+ 0.0004900000058114529,
368
+ 0.7340400218963623
369
+ ],
370
+ [
371
+ 0.0003499999875202775,
372
+ -1.0,
373
+ -2.9999999242136255e-05,
374
+ 0.0002099999983329326
375
+ ],
376
+ [
377
+ 0.0,
378
+ 0.0,
379
+ 0.0,
380
+ 1.0
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.0004900000058114529,
386
+ -1.0,
387
+ -2.9999999242136255e-05,
388
+ 0.0
389
+ ],
390
+ [
391
+ 1.0,
392
+ 0.0004900000058114529,
393
+ -0.0003499999875202775,
394
+ 0.7340400218963623
395
+ ],
396
+ [
397
+ 0.0003499999875202775,
398
+ -2.9999999242136255e-05,
399
+ 1.0,
400
+ 0.0002099999983329326
401
+ ],
402
+ [
403
+ 0.0,
404
+ 0.0,
405
+ 0.0,
406
+ 1.0
407
+ ]
408
+ ]
409
+ ],
410
+ "functional_matrix": [
411
+ [
412
+ [
413
+ -0.0,
414
+ -1.0,
415
+ 0.0,
416
+ 0.0
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ -1.0,
422
+ 0.0
423
+ ],
424
+ [
425
+ 1.0,
426
+ 0.0,
427
+ 0.0,
428
+ 0.0
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ -0.0,
440
+ -1.0,
441
+ 0.0,
442
+ 0.0
443
+ ],
444
+ [
445
+ 0.0,
446
+ 0.0,
447
+ 1.0,
448
+ 0.0
449
+ ],
450
+ [
451
+ -1.0,
452
+ 0.0,
453
+ 0.0,
454
+ 0.0
455
+ ],
456
+ [
457
+ 0.0,
458
+ 0.0,
459
+ 0.0,
460
+ 1.0
461
+ ]
462
+ ]
463
+ ],
464
+ "orientation_point": [],
465
+ "contact_points_group": [
466
+ [
467
+ 0,
468
+ 1,
469
+ 2,
470
+ 3
471
+ ],
472
+ [
473
+ 4,
474
+ 5,
475
+ 6,
476
+ 7
477
+ ]
478
+ ],
479
+ "contact_points_mask": [
480
+ true,
481
+ true,
482
+ true
483
+ ],
484
+ "target_point_discription": [],
485
+ "contact_points_discription": [],
486
+ "functional_point_discription": [],
487
+ "orientation_point_discription": [],
488
+ "stable": false
489
+ }
490
+ },
491
+ "robot_qpos": [
492
+ 0.0,
493
+ 0.0,
494
+ -9.633261372242325e-17,
495
+ -9.633261372242325e-17,
496
+ 1.0562962993437147e-13,
497
+ 1.0562962993437147e-13,
498
+ -3.016615224282759e-08,
499
+ -3.258066882949606e-08,
500
+ -3.2333404842432856e-09,
501
+ -3.23495652487793e-09,
502
+ 5.267530808490758e-18,
503
+ 5.267530808490758e-18,
504
+ 1.3821598255984342e-17,
505
+ 1.3821598255984342e-17,
506
+ -5.666987590302597e-07,
507
+ -5.65274206110189e-07,
508
+ -4.906024386741592e-08,
509
+ -4.9084423636713836e-08,
510
+ -4.835828804061748e-06,
511
+ -4.838918357563671e-06,
512
+ -8.459834134555422e-06,
513
+ -8.459778655378614e-06,
514
+ 7.701128623693876e-08,
515
+ 7.693390813301448e-08,
516
+ -1.6475175002028664e-08,
517
+ -1.6467639696315928e-08,
518
+ 4.63164752773082e-07,
519
+ 4.6469963876916154e-07,
520
+ 3.108373114457663e-09,
521
+ 3.108284518660298e-09,
522
+ -8.158995683515968e-07,
523
+ -8.163781899384048e-07,
524
+ 1.5176220002910412e-10,
525
+ 1.5164668132339187e-10,
526
+ 0.044236842542886734,
527
+ 0.044238295406103134,
528
+ 0.04423683509230614,
529
+ 0.044238295406103134,
530
+ 0.0,
531
+ 0.0,
532
+ -9.633261372242325e-17,
533
+ -9.633261372242325e-17,
534
+ 1.0562962993437147e-13,
535
+ 1.0562962993437147e-13,
536
+ -3.016615224282759e-08,
537
+ -3.258066882949606e-08,
538
+ -3.2333404842432856e-09,
539
+ -3.23495652487793e-09,
540
+ 5.267530808490758e-18,
541
+ 5.267530808490758e-18,
542
+ 1.3821598255984342e-17,
543
+ 1.3821598255984342e-17,
544
+ -5.666987590302597e-07,
545
+ -5.65274206110189e-07,
546
+ -4.906024386741592e-08,
547
+ -4.9084423636713836e-08,
548
+ -4.835828804061748e-06,
549
+ -4.838918357563671e-06,
550
+ -8.459834134555422e-06,
551
+ -8.459778655378614e-06,
552
+ 7.701128623693876e-08,
553
+ 7.693390813301448e-08,
554
+ -1.6475175002028664e-08,
555
+ -1.6467639696315928e-08,
556
+ 4.63164752773082e-07,
557
+ 4.6469963876916154e-07,
558
+ 3.108373114457663e-09,
559
+ 3.108284518660298e-09,
560
+ -8.158995683515968e-07,
561
+ -8.163781899384048e-07,
562
+ 1.5176220002910412e-10,
563
+ 1.5164668132339187e-10,
564
+ 0.044236842542886734,
565
+ 0.044238295406103134,
566
+ 0.04423683509230614,
567
+ 0.044238295406103134
568
+ ]
569
+ }
meta/source_programs/seed-98.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:94ded963124f49432ebfbfdc12f0ef6cf8ef494ceca6c12e729f685a68ec8488
3
+ size 146906
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b06faa69cbf3c6dc00c41393470a50676e52e89350df1853fab5af7109d065d8
3
+ size 2070