Hugging Face's logo

Datasets:
Shiki42
/
ctr-sortblocks-100ep-sequential

Languages:
English
Tags:
lerobot
robotics
simulation
Dataset card Files
xet
 Community
ctr-sortblocks-100ep-sequential / meta /source_programs /slot-039 /scene.json
Shiki42's picture
Shiki42
Add files using upload-large-folder tool
57d4512 verified
Raw History Blame Contribute Delete
20.4 kB
{
"seed": 39,
"initial": {
"red": {
"pose": [
-0.19262056052684784,
0.03555547073483467,
0.7642572522163391,
0.970292329788208,
-5.521540060726693e-06,
-5.2043642426724546e-06,
0.24193549156188965
],
"config": {
"center": [
0,
0,
0
],
"extents": [
0.024256638804726637,
0.024256638804726637,
0.024256638804726637
],
"scale": [
0.024256638804726637,
0.024256638804726637,
0.024256638804726637
],
"target_pose": [
[
[
1,
0,
0,
0
],
[
0,
1,
0,
0
],
[
0,
0,
1,
1
],
[
0,
0,
0,
1
]
]
],
"contact_points_pose": [
[
[
0,
0,
1,
0
],
[
1,
0,
0,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
],
[
[
1,
0,
0,
0
],
[
0,
0,
-1,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
],
[
[
-1,
0,
0,
0
],
[
0,
0,
1,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
],
[
[
0,
0,
-1,
0
],
[
-1,
0,
0,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
]
],
"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
]
],
"functional_matrix": [
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
-1.0,
0,
0.0
],
[
0.0,
0,
-1.0,
-1
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
-1.0,
0,
0.0
],
[
0.0,
0,
-1.0,
1
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"contact_points_description": [],
"contact_points_group": [
[
0,
1,
2,
3
],
[
4,
5,
6,
7
]
],
"contact_points_mask": [
true,
true
],
"target_point_description": [
"The center point on the bottom of the box."
]
}
},
"yellow": {
"pose": [
-0.32758837938308716,
-0.006813758052885532,
0.7642577290534973,
0.9445100426673889,
-3.1330034744314617e-06,
-1.4990604540798813e-05,
0.32848262786865234
],
"config": {
"center": [
0,
0,
0
],
"extents": [
0.024256638804726637,
0.024256638804726637,
0.024256638804726637
],
"scale": [
0.024256638804726637,
0.024256638804726637,
0.024256638804726637
],
"target_pose": [
[
[
1,
0,
0,
0
],
[
0,
1,
0,
0
],
[
0,
0,
1,
1
],
[
0,
0,
0,
1
]
]
],
"contact_points_pose": [
[
[
0,
0,
1,
0
],
[
1,
0,
0,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
],
[
[
1,
0,
0,
0
],
[
0,
0,
-1,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
],
[
[
-1,
0,
0,
0
],
[
0,
0,
1,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
],
[
[
0,
0,
-1,
0
],
[
-1,
0,
0,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
]
],
"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
]
],
"functional_matrix": [
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
-1.0,
0,
0.0
],
[
0.0,
0,
-1.0,
-1
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
-1.0,
0,
0.0
],
[
0.0,
0,
-1.0,
1
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"contact_points_description": [],
"contact_points_group": [
[
0,
1,
2,
3
],
[
4,
5,
6,
7
]
],
"contact_points_mask": [
true,
true
],
"target_point_description": [
"The center point on the bottom of the box."
]
}
},
"blue": {
"pose": [
0.19261986017227173,
0.03555561229586601,
0.7642572522163391,
0.9702929258346558,
-4.99339967063861e-06,
-4.212494786770549e-06,
-0.24193334579467773
],
"config": {
"center": [
0,
0,
0
],
"extents": [
0.024256638804726637,
0.024256638804726637,
0.024256638804726637
],
"scale": [
0.024256638804726637,
0.024256638804726637,
0.024256638804726637
],
"target_pose": [
[
[
1,
0,
0,
0
],
[
0,
1,
0,
0
],
[
0,
0,
1,
1
],
[
0,
0,
0,
1
]
]
],
"contact_points_pose": [
[
[
0,
0,
1,
0
],
[
1,
0,
0,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
],
[
[
1,
0,
0,
0
],
[
0,
0,
-1,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
],
[
[
-1,
0,
0,
0
],
[
0,
0,
1,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
],
[
[
0,
0,
-1,
0
],
[
-1,
0,
0,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
]
],
"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
]
],
"functional_matrix": [
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
-1.0,
0,
0.0
],
[
0.0,
0,
-1.0,
-1
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
-1.0,
0,
0.0
],
[
0.0,
0,
-1.0,
1
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"contact_points_description": [],
"contact_points_group": [
[
0,
1,
2,
3
],
[
4,
5,
6,
7
]
],
"contact_points_mask": [
true,
true
],
"target_point_description": [
"The center point on the bottom of the box."
]
}
},
"green": {
"pose": [
0.3275870978832245,
-0.0068128639832139015,
0.7642576694488525,
0.9445109963417053,
-1.138616516982438e-05,
-9.671442967373878e-06,
-0.3284798562526703
],
"config": {
"center": [
0,
0,
0
],
"extents": [
0.024256638804726637,
0.024256638804726637,
0.024256638804726637
],
"scale": [
0.024256638804726637,
0.024256638804726637,
0.024256638804726637
],
"target_pose": [
[
[
1,
0,
0,
0
],
[
0,
1,
0,
0
],
[
0,
0,
1,
1
],
[
0,
0,
0,
1
]
]
],
"contact_points_pose": [
[
[
0,
0,
1,
0
],
[
1,
0,
0,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
],
[
[
1,
0,
0,
0
],
[
0,
0,
-1,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
],
[
[
-1,
0,
0,
0
],
[
0,
0,
1,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
],
[
[
0,
0,
-1,
0
],
[
-1,
0,
0,
0
],
[
0,
1,
0,
0.0
],
[
0,
0,
0,
1
]
]
],
"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
]
],
"functional_matrix": [
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
-1.0,
0,
0.0
],
[
0.0,
0,
-1.0,
-1
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
-1.0,
0,
0.0
],
[
0.0,
0,
-1.0,
1
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"contact_points_description": [],
"contact_points_group": [
[
0,
1,
2,
3
],
[
4,
5,
6,
7
]
],
"contact_points_mask": [
true,
true
],
"target_point_description": [
"The center point on the bottom of the box."
]
}
},
"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
]
},
"hashes": {
"sort/left": "3da5da03b857ce429ad691b6876c6e56174b2387d4a5e7d01343ac543367d0e5",
"sort/right": "d562bd5f53a1d12e1d41b211f6402a332a73e842192639a56518545b839b7edf"
}
}