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-00001301 | 1,775,282,582,517 | 90 | bedroom | 0.655 | {
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FRAME-00001302 | 1,775,282,582,520 | 90 | dining_room | 0.722 | {
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FRAME-00001303 | 1,775,282,582,523 | 60 | kitchen | 0.553 | {
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FRAME-00001304 | 1,775,282,582,526 | 90 | bedroom | 0.761 | {
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FRAME-00001305 | 1,775,282,582,529 | 90 | bedroom | 0.656 | {
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} | [
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FRAME-00001306 | 1,775,282,582,532 | 60 | dining_room | 0.721 | {
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FRAME-00001307 | 1,775,282,582,536 | 30 | living_room | 0.457 | {
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FRAME-00001308 | 1,775,282,582,540 | 30 | bathroom | 0.603 | {
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FRAME-00001309 | 1,775,282,582,542 | 90 | dining_room | 0.546 | {
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FRAME-00001310 | 1,775,282,582,546 | 90 | bedroom | 0.517 | {
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FRAME-00001311 | 1,775,282,582,550 | 60 | kitchen | 0.974 | {
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FRAME-00001312 | 1,775,282,582,553 | 90 | kitchen | 0.466 | {
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FRAME-00001313 | 1,775,282,582,556 | 90 | dining_room | 0.694 | {
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FRAME-00001314 | 1,775,282,582,560 | 90 | dining_room | 0.885 | {
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FRAME-00001315 | 1,775,282,582,564 | 90 | living_room | 0.766 | {
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0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 23,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.531,
0.487,
0.819
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
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