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-00001601 | 1,775,282,583,614 | 90 | bedroom | 0.445 | {
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FRAME-00001602 | 1,775,282,583,618 | 60 | dining_room | 0.955 | {
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FRAME-00001603 | 1,775,282,583,622 | 90 | kitchen | 0.92 | {
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FRAME-00001604 | 1,775,282,583,626 | 30 | bedroom | 0.309 | {
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FRAME-00001605 | 1,775,282,583,630 | 30 | kitchen | 0.68 | {
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FRAME-00001606 | 1,775,282,583,633 | 90 | bedroom | 0.948 | {
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FRAME-00001607 | 1,775,282,583,637 | 30 | kitchen | 0.913 | {
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FRAME-00001608 | 1,775,282,583,642 | 60 | bathroom | 0.873 | {
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FRAME-00001609 | 1,775,282,583,646 | 30 | bedroom | 0.58 | {
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FRAME-00001610 | 1,775,282,583,651 | 30 | bathroom | 0.539 | {
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FRAME-00001611 | 1,775,282,583,654 | 30 | bedroom | 0.805 | {
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FRAME-00001612 | 1,775,282,583,659 | 60 | bedroom | 0.251 | {
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FRAME-00001613 | 1,775,282,583,666 | 60 | kitchen | 0.858 | {
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FRAME-00001614 | 1,775,282,583,672 | 30 | kitchen | 0.56 | {
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0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.819,
0.55,
0.516
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.51... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"safety_critical",
"near_collision",
"motion_blur"
] |
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