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-00001201 | 1,775,282,582,187 | 30 | dining_room | 0.358 | {
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FRAME-00001202 | 1,775,282,582,191 | 90 | living_room | 0.413 | {
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} | [
{
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} | [
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FRAME-00001203 | 1,775,282,582,195 | 90 | dining_room | 0.885 | {
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} | [
{
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} | [
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] |
FRAME-00001204 | 1,775,282,582,199 | 60 | bathroom | 0.427 | {
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} | {
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} | [
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} | [
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FRAME-00001205 | 1,775,282,582,204 | 30 | kitchen | 0.974 | {
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} | [
{
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... | {
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} | [
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] |
FRAME-00001206 | 1,775,282,582,209 | 30 | kitchen | 0.56 | {
"lighting_lux": 256.2,
"texture_variation": 0.428,
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} | {
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} | {
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} | [
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} | [
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FRAME-00001207 | 1,775,282,582,212 | 90 | bathroom | 0.389 | {
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} | [
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} | [
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] |
FRAME-00001208 | 1,775,282,582,214 | 60 | bedroom | 0.6 | {
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} | {
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} | {
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} | [
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} | [] |
FRAME-00001209 | 1,775,282,582,218 | 90 | bathroom | 0.802 | {
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} | {
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} | [
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FRAME-00001210 | 1,775,282,582,223 | 90 | living_room | 0.822 | {
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} | {
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} | [
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} | [
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FRAME-00001211 | 1,775,282,582,227 | 60 | living_room | 0.782 | {
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} | [
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} | [
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FRAME-00001212 | 1,775,282,582,231 | 90 | kitchen | 0.858 | {
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} | {
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} | [
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} | [
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FRAME-00001213 | 1,775,282,582,234 | 90 | living_room | 0.357 | {
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} | [
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FRAME-00001214 | 1,775,282,582,238 | 60 | dining_room | 0.648 | {
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} | [
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} | [
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0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.233,
0.292,
0.637
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.309,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
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