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-00001101 | 1,775,282,581,837 | 60 | bedroom | 0.746 | {
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FRAME-00001102 | 1,775,282,581,841 | 60 | living_room | 0.47 | {
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FRAME-00001103 | 1,775,282,581,844 | 90 | bathroom | 0.515 | {
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} | [
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FRAME-00001104 | 1,775,282,581,847 | 60 | living_room | 0.787 | {
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} | [
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FRAME-00001105 | 1,775,282,581,850 | 60 | bedroom | 0.458 | {
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} | [
{
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} | [
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] |
FRAME-00001106 | 1,775,282,581,852 | 90 | bedroom | 0.335 | {
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} | {
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} | [
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FRAME-00001107 | 1,775,282,581,854 | 60 | bathroom | 0.857 | {
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} | [
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} | [
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FRAME-00001108 | 1,775,282,581,858 | 90 | bathroom | 0.74 | {
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} | {
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} | [
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FRAME-00001109 | 1,775,282,581,861 | 60 | living_room | 0.395 | {
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FRAME-00001110 | 1,775,282,581,864 | 90 | living_room | 0.306 | {
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FRAME-00001111 | 1,775,282,581,866 | 90 | bedroom | 0.459 | {
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} | [
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} | [
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FRAME-00001112 | 1,775,282,581,868 | 60 | bedroom | 0.523 | {
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} | {
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} | [
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FRAME-00001113 | 1,775,282,581,872 | 90 | living_room | 0.669 | {
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FRAME-00001114 | 1,775,282,581,875 | 30 | kitchen | 0.913 | {
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} | [
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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": 19,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.581,
0.493,
0.57
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.21... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
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