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-00001501 | 1,775,282,583,263 | 90 | living_room | 0.823 | {
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FRAME-00001502 | 1,775,282,583,267 | 60 | kitchen | 0.68 | {
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} | [] |
FRAME-00001503 | 1,775,282,583,269 | 60 | bathroom | 0.403 | {
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} | [
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} | [
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FRAME-00001504 | 1,775,282,583,273 | 90 | kitchen | 0.468 | {
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} | [
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} | [] |
FRAME-00001505 | 1,775,282,583,276 | 90 | bedroom | 0.948 | {
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} | [
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} | [
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"dynamic_human_interaction"
] |
FRAME-00001506 | 1,775,282,583,279 | 90 | kitchen | 0.69 | {
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} | {
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} | [
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} | [] |
FRAME-00001507 | 1,775,282,583,283 | 30 | kitchen | 0.443 | {
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FRAME-00001508 | 1,775,282,583,287 | 30 | bedroom | 0.445 | {
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} | [
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} | [
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FRAME-00001509 | 1,775,282,583,292 | 30 | living_room | 0.413 | {
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} | [
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FRAME-00001510 | 1,775,282,583,296 | 30 | bedroom | 0.474 | {
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FRAME-00001511 | 1,775,282,583,299 | 60 | bedroom | 0.633 | {
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FRAME-00001512 | 1,775,282,583,302 | 30 | living_room | 0.866 | {
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FRAME-00001513 | 1,775,282,583,305 | 90 | bedroom | 0.805 | {
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FRAME-00001514 | 1,775,282,583,307 | 90 | kitchen | 0.294 | {
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} | [
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FRAME-00001515 | 1,775,282,583,311 | 60 | bedroom | 0.437 | {
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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",
"dynamic_human_interaction"
] |
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