frame_id stringlengths 14 14 | timestamp_ms int64 1,775B 1,775B | capture_rate_hz int64 30 90 | scene_type stringclasses 5
values | clutter_level float64 0.25 0.98 | domain_randomization dict | camera_extrinsics dict | robot_state dict | vision_data dict | objects listlengths 12 42 | annotations dict | edge_case_flags listlengths 0 7 |
|---|---|---|---|---|---|---|---|---|---|---|---|
FRAME-00005301 | 1,775,282,596,273 | 60 | kitchen | 0.614 | {
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FRAME-00005302 | 1,775,282,596,277 | 60 | bathroom | 0.396 | {
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FRAME-00005303 | 1,775,282,596,283 | 60 | living_room | 0.413 | {
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FRAME-00005304 | 1,775,282,596,288 | 30 | kitchen | 0.468 | {
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FRAME-00005305 | 1,775,282,596,292 | 60 | living_room | 0.696 | {
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} | [
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FRAME-00005306 | 1,775,282,596,297 | 60 | living_room | 0.832 | {
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FRAME-00005307 | 1,775,282,596,300 | 30 | bathroom | 0.292 | {
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FRAME-00005308 | 1,775,282,596,305 | 90 | bathroom | 0.853 | {
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FRAME-00005309 | 1,775,282,596,309 | 60 | kitchen | 0.755 | {
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FRAME-00005310 | 1,775,282,596,311 | 30 | bedroom | 0.335 | {
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FRAME-00005311 | 1,775,282,596,315 | 60 | bathroom | 0.647 | {
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FRAME-00005312 | 1,775,282,596,320 | 30 | kitchen | 0.614 | {
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FRAME-00005313 | 1,775,282,596,325 | 30 | living_room | 0.945 | {
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FRAME-00005314 | 1,775,282,596,328 | 30 | living_room | 0.933 | {
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FRAME-00005315 | 1,775,282,596,332 | 90 | bedroom | 0.656 | {
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{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
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],
"rotation_quat": [
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1
]
},
"velocity": [
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],
"mass_kg": 4.587,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"near_collision",
"dynamic_human_interaction"
] |
FRAME-00005330 | 1,775,282,596,391 | 60 | kitchen | 0.378 | {
"lighting_lux": 787.6,
"texture_variation": 0.903,
"color_shift": -0.106
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.08,
1.417
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.139,
"y": -0.89,
"yaw_deg": 0
},
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],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.47,
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],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.384... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00005331 | 1,775,282,596,393 | 90 | living_room | 0.944 | {
"lighting_lux": 838.6,
"texture_variation": 0.735,
"color_shift": -0.101
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.08,
1.54
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.454,
"y": -0.817,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
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0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.383,
0.383,
0.338
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur"
] |
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