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-00001701 | 1,775,282,584,032 | 90 | bathroom | 0.743 | {
"lighting_lux": 615.6,
"texture_variation": 0.521,
"color_shift": -0.017
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.081,
1.373
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.188,
"y": -0.88,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.562,
0.234,
0.601
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.40... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"near_collision",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00001702 | 1,775,282,584,036 | 30 | dining_room | 0.358 | {
"lighting_lux": 267.1,
"texture_variation": 0.886,
"color_shift": 0.064
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.081,
1.347
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.886,
"y": -1.14,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.414,
0.384,
0.657
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.677,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00001703 | 1,775,282,584,039 | 30 | bedroom | 0.558 | {
"lighting_lux": 178.9,
"texture_variation": 0.844,
"color_shift": -0.029
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.081,
1.398
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.07,
"y": -1.268,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 22,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.779,
0.182,
0.98
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.83... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001704 | 1,775,282,584,042 | 90 | bathroom | 0.889 | {
"lighting_lux": 67.1,
"texture_variation": 0.858,
"color_shift": -0.136
} | {
"camera_to_base_transform": {
"position": [
0.158,
0.083,
1.433
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.338,
"y": -0.937,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 23,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.872,
0.322,
1.143
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.6... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00001705 | 1,775,282,584,046 | 60 | bathroom | 0.932 | {
"lighting_lux": 190.7,
"texture_variation": 0.809,
"color_shift": 0.062
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.076,
1.387
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.217,
"y": -0.929,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 28,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.533,
0.499,
0.679
],
"rotation_quat": [
0,
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",
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00001706 | 1,775,282,584,050 | 90 | bathroom | 0.918 | {
"lighting_lux": 744.8,
"texture_variation": 0.61,
"color_shift": 0.148
} | {
"camera_to_base_transform": {
"position": [
0.162,
0.077,
1.448
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.315,
"y": -1.129,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.428,
0.557,
0.705
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.09,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"reflective_surface"
] |
FRAME-00001707 | 1,775,282,584,053 | 60 | dining_room | 0.587 | {
"lighting_lux": 240,
"texture_variation": 0.991,
"color_shift": 0.107
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.079,
1.441
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.293,
"y": -0.51,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 20,
"pixel_perfect": true
} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.461,
0.362,
0.796
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.96... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"dynamic_human_interaction"
] |
FRAME-00001708 | 1,775,282,584,057 | 60 | dining_room | 0.467 | {
"lighting_lux": 953,
"texture_variation": 0.952,
"color_shift": 0.045
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.079,
1.426
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.054,
"y": -1.132,
"yaw_deg": 57.69
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 29,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.755,
0.47,
0.813
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.32... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00001709 | 1,775,282,584,061 | 30 | living_room | 0.66 | {
"lighting_lux": 812.5,
"texture_variation": 0.783,
"color_shift": 0.088
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.079,
1.518
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.13,
"y": -0.906,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.425,
0.262,
0.703
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.9... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001710 | 1,775,282,584,066 | 90 | bathroom | 0.932 | {
"lighting_lux": 190.7,
"texture_variation": 0.543,
"color_shift": -0.089
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.077,
1.457
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.156,
"y": -0.99,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 21,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.635,
0.48,
0.455
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00001711 | 1,775,282,584,070 | 90 | bedroom | 0.426 | {
"lighting_lux": 922.1,
"texture_variation": 0.859,
"color_shift": 0.041
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.079,
1.349
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.175,
"y": -0.895,
"yaw_deg": 226.22
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 27,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.796,
0.267,
0.603
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001712 | 1,775,282,584,073 | 90 | bedroom | 0.558 | {
"lighting_lux": 178.9,
"texture_variation": 0.601,
"color_shift": -0.005
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.075,
1.295
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.203,
"y": -0.963,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.353,
0.275,
0.831
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.287,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001713 | 1,775,282,584,075 | 90 | bedroom | 0.752 | {
"lighting_lux": 962.2,
"texture_variation": 0.702,
"color_shift": -0.127
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.079,
1.453
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.256,
"y": -0.991,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 28,
"pixel_perfect": true
} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.842,
0.608,
0.604
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.87... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001714 | 1,775,282,584,080 | 30 | bedroom | 0.327 | {
"lighting_lux": 617.5,
"texture_variation": 0.834,
"color_shift": -0.144
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.082,
1.489
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.214,
"y": -0.762,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 27,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.588,
0.506,
0.515
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00001715 | 1,775,282,584,083 | 30 | kitchen | 0.483 | {
"lighting_lux": 883.8,
"texture_variation": 0.516,
"color_shift": -0.002
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.082,
1.426
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.12,
"y": -0.56,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.463,
0.554,
0.774
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001716 | 1,775,282,584,088 | 90 | living_room | 0.782 | {
"lighting_lux": 693.3,
"texture_variation": 0.77,
"color_shift": -0.108
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.081,
1.448
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.041,
"y": -1.029,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.443,
0.368,
0.873
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00001717 | 1,775,282,584,093 | 60 | dining_room | 0.326 | {
"lighting_lux": 657,
"texture_variation": 0.93,
"color_shift": 0.11
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.08,
1.337
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.116,
"y": -0.939,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.227,
0.306,
0.826
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001718 | 1,775,282,584,096 | 60 | dining_room | 0.599 | {
"lighting_lux": 731.5,
"texture_variation": 0.909,
"color_shift": -0.048
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.08,
1.349
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.248,
"y": -0.842,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": [
0.583,
0.411,
0.964
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.417,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001719 | 1,775,282,584,100 | 60 | bathroom | 0.932 | {
"lighting_lux": 190.7,
"texture_variation": 0.861,
"color_shift": -0.045
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.074,
1.351
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.279,
"y": -0.571,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.3,
0.798,
0.607
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.616,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00001720 | 1,775,282,584,103 | 90 | kitchen | 0.62 | {
"lighting_lux": 14.7,
"texture_variation": 0.622,
"color_shift": -0.117
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.078,
1.413
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.446,
"y": -0.722,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.729,
0.601,
0.778
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 3.184,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"low_lighting",
"reflective_surface"
] |
FRAME-00001721 | 1,775,282,584,105 | 30 | dining_room | 0.507 | {
"lighting_lux": 380.8,
"texture_variation": 0.54,
"color_shift": 0.122
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.084,
1.479
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.048,
"y": -0.761,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.39,
0.197,
0.745
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 5.2... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00001722 | 1,775,282,584,107 | 60 | kitchen | 0.361 | {
"lighting_lux": 221.8,
"texture_variation": 0.475,
"color_shift": -0.107
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.08,
1.47
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.181,
"y": -0.7,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 19,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.424,
0.473,
0.13
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00001723 | 1,775,282,584,111 | 60 | bedroom | 0.634 | {
"lighting_lux": 214,
"texture_variation": 0.907,
"color_shift": -0.015
} | {
"camera_to_base_transform": {
"position": [
0.158,
0.082,
1.489
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.98,
"y": -1.009,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 17,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.595,
0.242,
0.235
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001724 | 1,775,282,584,114 | 30 | bedroom | 0.521 | {
"lighting_lux": 472.7,
"texture_variation": 0.839,
"color_shift": 0.039
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.078,
1.384
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.358,
"y": -0.74,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 26,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.43,
0.263,
0.493
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.2... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001725 | 1,775,282,584,117 | 60 | bathroom | 0.44 | {
"lighting_lux": 964.9,
"texture_variation": 0.944,
"color_shift": 0.038
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.081,
1.427
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.116,
"y": -0.812,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.39,
0.382,
0.574
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00001726 | 1,775,282,584,121 | 60 | kitchen | 0.56 | {
"lighting_lux": 256.2,
"texture_variation": 0.678,
"color_shift": -0.103
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.077,
1.419
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.897,
"y": -0.924,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 30,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.436,
0.586,
0.546
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.2... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00001727 | 1,775,282,584,125 | 60 | dining_room | 0.308 | {
"lighting_lux": 467.4,
"texture_variation": 0.498,
"color_shift": 0.131
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.079,
1.564
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.145,
"y": -0.927,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.708,
0.455,
0.641
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.124,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001728 | 1,775,282,584,129 | 30 | dining_room | 0.575 | {
"lighting_lux": 348.8,
"texture_variation": 0.957,
"color_shift": -0.009
} | {
"camera_to_base_transform": {
"position": [
0.14,
0.079,
1.428
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.797,
"y": -0.49,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 22,
"pixel_perfect": true
} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.567,
0.301,
0.76
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.16,... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001729 | 1,775,282,584,132 | 30 | bedroom | 0.473 | {
"lighting_lux": 608.8,
"texture_variation": 0.993,
"color_shift": 0.116
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.082,
1.45
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.215,
"y": -0.779,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 27,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.539,
0.118,
0.706
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.2... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001730 | 1,775,282,584,136 | 90 | bedroom | 0.374 | {
"lighting_lux": 95.7,
"texture_variation": 0.575,
"color_shift": 0.068
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.082,
1.474
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.266,
"y": -0.752,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 18,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.484,
0.565,
0.929
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00001731 | 1,775,282,584,141 | 60 | living_room | 0.319 | {
"lighting_lux": 107.4,
"texture_variation": 0.4,
"color_shift": -0.021
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.08,
1.46
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.416,
"y": -1.215,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 31,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.257,
0.521,
0.885
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00001732 | 1,775,282,584,144 | 90 | bedroom | 0.411 | {
"lighting_lux": 687.1,
"texture_variation": 0.601,
"color_shift": 0.023
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.076,
1.429
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.305,
"y": -0.652,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.667,
0.361,
0.574
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001733 | 1,775,282,584,148 | 30 | bedroom | 0.474 | {
"lighting_lux": 301.2,
"texture_variation": 0.616,
"color_shift": -0.127
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.082,
1.312
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.206,
"y": -1.035,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.571,
0.33,
0.438
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001734 | 1,775,282,584,151 | 60 | dining_room | 0.6 | {
"lighting_lux": 18.1,
"texture_variation": 0.659,
"color_shift": -0.129
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.08,
1.491
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.262,
"y": -0.953,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.396,
0.456,
1.224
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.281,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"low_lighting",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00001735 | 1,775,282,584,154 | 30 | kitchen | 0.661 | {
"lighting_lux": 903.2,
"texture_variation": 0.738,
"color_shift": -0.008
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.075,
1.465
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.376,
"y": -0.913,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 30,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.374,
0.565,
0.771
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.13... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00001736 | 1,775,282,584,157 | 30 | kitchen | 0.297 | {
"lighting_lux": 752.8,
"texture_variation": 0.543,
"color_shift": -0.099
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.081,
1.382
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.005,
"y": -0.765,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.209,
0.488,
0.834
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.254,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001737 | 1,775,282,584,161 | 60 | dining_room | 0.559 | {
"lighting_lux": 244.9,
"texture_variation": 0.63,
"color_shift": -0.142
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.079,
1.419
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.911,
"y": -0.877,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.4,
0.369,
0.695
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.47,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"dynamic_human_interaction"
] |
FRAME-00001738 | 1,775,282,584,164 | 90 | dining_room | 0.4 | {
"lighting_lux": 21.1,
"texture_variation": 0.729,
"color_shift": 0.019
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.083,
1.485
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.029,
"y": -0.872,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.479,
0.337,
0.586
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.852,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"low_lighting",
"motion_blur"
] |
FRAME-00001739 | 1,775,282,584,167 | 90 | bedroom | 0.521 | {
"lighting_lux": 472.7,
"texture_variation": 0.876,
"color_shift": 0.024
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.08,
1.648
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.277,
"y": -0.937,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 16,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.242,
0.325,
0.895
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.8... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"dynamic_human_interaction"
] |
FRAME-00001740 | 1,775,282,584,171 | 60 | bathroom | 0.584 | {
"lighting_lux": 1037.7,
"texture_variation": 0.417,
"color_shift": -0.134
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.079,
1.398
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.012,
"y": -0.954,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.609,
0.327,
0.42
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001741 | 1,775,282,584,175 | 30 | kitchen | 0.68 | {
"lighting_lux": 1023.2,
"texture_variation": 0.568,
"color_shift": -0.052
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.078,
1.478
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.423,
"y": -0.984,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 30,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.452,
0.196,
0.564
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00001742 | 1,775,282,584,180 | 30 | dining_room | 0.617 | {
"lighting_lux": 91.8,
"texture_variation": 0.647,
"color_shift": 0.013
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.08,
1.43
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.406,
"y": -0.852,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 31,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.373,
0.004,
0.928
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.303,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00001743 | 1,775,282,584,183 | 60 | bedroom | 0.442 | {
"lighting_lux": 244.8,
"texture_variation": 0.786,
"color_shift": -0.117
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.082,
1.574
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.273,
"y": -0.704,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 31,
"pixel_perfect": true
} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.685,
0.488,
0.803
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.50... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00001744 | 1,775,282,584,186 | 30 | living_room | 0.696 | {
"lighting_lux": 583.5,
"texture_variation": 0.864,
"color_shift": 0.091
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.08,
1.344
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.571,
"y": -0.663,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 16,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.374,
0.229,
0.734
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00001745 | 1,775,282,584,190 | 90 | bedroom | 0.436 | {
"lighting_lux": 836.6,
"texture_variation": 0.473,
"color_shift": -0.102
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.082,
1.385
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.18,
"y": -0.855,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 16,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.476,
0.708,
0.507
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00001746 | 1,775,282,584,193 | 60 | bathroom | 0.435 | {
"lighting_lux": 639.5,
"texture_variation": 0.917,
"color_shift": -0.129
} | {
"camera_to_base_transform": {
"position": [
0.14,
0.082,
1.386
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.017,
"y": -0.722,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 32,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.536,
0.386,
0.719
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"reflective_surface"
] |
FRAME-00001747 | 1,775,282,584,197 | 60 | dining_room | 0.977 | {
"lighting_lux": 854.9,
"texture_variation": 0.768,
"color_shift": 0.022
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.079,
1.488
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.168,
"y": -0.874,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 31,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.022,
0.253,
0.916
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.969,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"reflective_surface"
] |
FRAME-00001748 | 1,775,282,584,202 | 60 | living_room | 0.822 | {
"lighting_lux": 251.7,
"texture_variation": 0.454,
"color_shift": -0.021
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.081,
1.291
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.499,
"y": -0.974,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 20,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.312,
0.533,
0.64
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"safety_critical",
"near_collision"
] |
FRAME-00001749 | 1,775,282,584,205 | 30 | bathroom | 0.847 | {
"lighting_lux": 584.6,
"texture_variation": 0.567,
"color_shift": -0.045
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.082,
1.542
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.113,
"y": -0.988,
"yaw_deg": 88.36
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 24,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.749,
0.226,
0.822
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 2.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00001750 | 1,775,282,584,208 | 90 | kitchen | 0.416 | {
"lighting_lux": 718.6,
"texture_variation": 0.435,
"color_shift": 0.061
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.082,
1.345
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.07,
"y": -1.006,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.131,
0.482,
0.793
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 6.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00001751 | 1,775,282,584,211 | 90 | living_room | 0.26 | {
"lighting_lux": 32.9,
"texture_variation": 0.644,
"color_shift": -0.098
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.077,
1.545
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.214,
"y": -0.855,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.559,
0.464,
0.04
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.951,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
FRAME-00001752 | 1,775,282,584,215 | 60 | bedroom | 0.251 | {
"lighting_lux": 225.4,
"texture_variation": 0.919,
"color_shift": 0.046
} | {
"camera_to_base_transform": {
"position": [
0.161,
0.084,
1.523
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.254,
"y": -0.833,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 32,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.738,
0.69,
0.508
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.47... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00001753 | 1,775,282,584,219 | 30 | bedroom | 0.521 | {
"lighting_lux": 472.7,
"texture_variation": 0.543,
"color_shift": -0.063
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.077,
1.466
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.287,
"y": -1.028,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.248,
0.384,
0.474
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.49... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001754 | 1,775,282,584,223 | 90 | bedroom | 0.761 | {
"lighting_lux": 1098.4,
"texture_variation": 0.871,
"color_shift": 0.087
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.075,
1.395
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.544,
"y": -0.901,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.101,
0.737,
0.646
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00001755 | 1,775,282,584,225 | 60 | dining_room | 0.254 | {
"lighting_lux": 439.3,
"texture_variation": 0.508,
"color_shift": 0.024
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.075,
1.379
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.533,
"y": -1.059,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 17,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.493,
0.593,
0.689
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.289,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00001756 | 1,775,282,584,227 | 90 | bedroom | 0.507 | {
"lighting_lux": 179.5,
"texture_variation": 0.623,
"color_shift": -0.006
} | {
"camera_to_base_transform": {
"position": [
0.158,
0.079,
1.494
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.462,
"y": -0.679,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 31,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
-0.033,
0.03,
0.604
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001757 | 1,775,282,584,230 | 60 | kitchen | 0.297 | {
"lighting_lux": 752.8,
"texture_variation": 0.678,
"color_shift": -0.03
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.078,
1.421
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.29,
"y": -0.901,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.71,
0.662,
0.476
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.41,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001758 | 1,775,282,584,233 | 30 | bedroom | 0.451 | {
"lighting_lux": 240.2,
"texture_variation": 0.423,
"color_shift": 0.001
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.079,
1.528
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.027,
"y": -0.768,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 27,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.79,
0.441,
1.146
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.435,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00001759 | 1,775,282,584,236 | 60 | bedroom | 0.633 | {
"lighting_lux": 834.4,
"texture_variation": 0.627,
"color_shift": 0.075
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.086,
1.566
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.244,
"y": -0.537,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 26,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.684,
0.249,
0.5
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.69,... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00001760 | 1,775,282,584,238 | 60 | living_room | 0.944 | {
"lighting_lux": 838.6,
"texture_variation": 0.964,
"color_shift": -0.052
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.081,
1.405
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.35,
"y": -0.935,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.437,
0.007,
0.641
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur"
] |
FRAME-00001761 | 1,775,282,584,241 | 30 | kitchen | 0.483 | {
"lighting_lux": 883.8,
"texture_variation": 0.768,
"color_shift": 0.141
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.083,
1.454
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.967,
"y": -0.86,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 31,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.434,
0.727,
0.74
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001762 | 1,775,282,584,243 | 30 | bedroom | 0.278 | {
"lighting_lux": 526.9,
"texture_variation": 0.78,
"color_shift": 0.098
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.08,
1.451
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.32,
"y": -0.835,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.315,
0.338,
0.845
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00001763 | 1,775,282,584,246 | 60 | dining_room | 0.481 | {
"lighting_lux": 802.9,
"texture_variation": 0.543,
"color_shift": -0.055
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.079,
1.417
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.997,
"y": -0.711,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 23,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
-0.239,
0.165,
0.786
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.436,... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00001764 | 1,775,282,584,248 | 30 | bedroom | 0.948 | {
"lighting_lux": 175.7,
"texture_variation": 0.493,
"color_shift": 0.045
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.08,
1.451
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.067,
"y": -0.865,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 27,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.53,
0.646,
0.983
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"safety_critical",
"near_collision"
] |
FRAME-00001765 | 1,775,282,584,251 | 60 | bathroom | 0.847 | {
"lighting_lux": 584.6,
"texture_variation": 0.737,
"color_shift": 0.056
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.076,
1.494
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.2,
"y": -0.479,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.677,
0.565,
0.887
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.158,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00001766 | 1,775,282,584,255 | 60 | dining_room | 0.372 | {
"lighting_lux": 1001,
"texture_variation": 0.477,
"color_shift": 0.121
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.08,
1.542
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.926,
"y": -0.839,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 16,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.795,
0.449,
0.393
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001767 | 1,775,282,584,258 | 60 | kitchen | 0.483 | {
"lighting_lux": 883.8,
"texture_variation": 0.508,
"color_shift": -0.06
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.08,
1.445
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.182,
"y": -0.916,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 14,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.572,
0.225,
0.768
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001768 | 1,775,282,584,262 | 30 | dining_room | 0.617 | {
"lighting_lux": 91.8,
"texture_variation": 0.905,
"color_shift": -0.141
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.079,
1.427
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.239,
"y": -0.81,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 17,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.385,
0.36,
0.472
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.74... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00001769 | 1,775,282,584,265 | 90 | dining_room | 0.525 | {
"lighting_lux": 579.4,
"texture_variation": 0.795,
"color_shift": 0.003
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.08,
1.312
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.208,
"y": -1.204,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 16,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.513,
0.261,
0.877
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.08... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00001770 | 1,775,282,584,269 | 30 | dining_room | 0.736 | {
"lighting_lux": 542.5,
"texture_variation": 0.904,
"color_shift": 0.01
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.081,
1.454
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.267,
"y": -0.462,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.919,
0.332,
0.412
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"near_collision"
] |
FRAME-00001771 | 1,775,282,584,274 | 30 | living_room | 0.268 | {
"lighting_lux": 190.6,
"texture_variation": 0.557,
"color_shift": -0.007
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.082,
1.498
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.194,
"y": -0.5,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 27,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.775,
0.504,
0.584
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.948,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00001772 | 1,775,282,584,278 | 90 | bedroom | 0.922 | {
"lighting_lux": 150.1,
"texture_variation": 0.699,
"color_shift": -0.14
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.079,
1.36
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.077,
"y": -0.978,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 31,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.758,
0.618,
0.716
],
"rotation_quat": [
0,
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",
"grasped_sharp_object",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00001773 | 1,775,282,584,283 | 90 | dining_room | 0.261 | {
"lighting_lux": 965.5,
"texture_variation": 0.516,
"color_shift": -0.006
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.081,
1.592
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.168,
"y": -0.774,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 26,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.54,
0.463,
0.281
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.875,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00001774 | 1,775,282,584,287 | 30 | living_room | 0.766 | {
"lighting_lux": 679,
"texture_variation": 0.886,
"color_shift": 0.129
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.074,
1.571
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.161,
"y": -0.814,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.462,
0.405,
1.066
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.219,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00001775 | 1,775,282,584,291 | 30 | living_room | 0.608 | {
"lighting_lux": 29.3,
"texture_variation": 0.736,
"color_shift": 0.094
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.08,
1.348
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.036,
"y": -1.059,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 22,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.426,
0.729,
0.93
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.90... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"low_lighting",
"motion_blur"
] |
FRAME-00001776 | 1,775,282,584,295 | 90 | bedroom | 0.329 | {
"lighting_lux": 318.3,
"texture_variation": 0.637,
"color_shift": 0.077
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.081,
1.616
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.165,
"y": -0.866,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.558,
0.517,
0.353
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.5... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001777 | 1,775,282,584,298 | 30 | bedroom | 0.254 | {
"lighting_lux": 187.6,
"texture_variation": 0.656,
"color_shift": -0.094
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.075,
1.349
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.929,
"y": -0.935,
"yaw_deg": 207.4
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 32,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.819,
0.504,
0.875
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.826,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00001778 | 1,775,282,584,300 | 90 | kitchen | 0.553 | {
"lighting_lux": 342.2,
"texture_variation": 0.905,
"color_shift": -0.038
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.077,
1.382
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.12,
"y": -1.037,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 24,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.309,
0.58,
0.531
],
"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
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00001779 | 1,775,282,584,304 | 90 | living_room | 0.669 | {
"lighting_lux": 963.2,
"texture_variation": 0.662,
"color_shift": -0.035
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.084,
1.327
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.576,
"y": -0.714,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 32,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.285,
0.56,
0.471
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.16... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00001780 | 1,775,282,584,307 | 30 | bedroom | 0.474 | {
"lighting_lux": 301.2,
"texture_variation": 0.619,
"color_shift": 0.099
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.077,
1.496
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.259,
"y": -0.927,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.451,
0.429,
1.089
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.861,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001781 | 1,775,282,584,311 | 60 | kitchen | 0.288 | {
"lighting_lux": 1008.4,
"texture_variation": 0.47,
"color_shift": -0.068
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.082,
1.49
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.279,
"y": -0.973,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 21,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.555,
0.649,
0.608
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.2... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00001782 | 1,775,282,584,316 | 60 | living_room | 0.782 | {
"lighting_lux": 693.3,
"texture_variation": 0.595,
"color_shift": -0.024
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.082,
1.432
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.345,
"y": -1.035,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 20,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.477,
0.132,
0.645
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.415,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00001783 | 1,775,282,584,320 | 60 | bathroom | 0.539 | {
"lighting_lux": 946.9,
"texture_variation": 0.829,
"color_shift": 0.054
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.085,
1.417
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.277,
"y": -0.921,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 18,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.287,
0.057,
0.721
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.9... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001784 | 1,775,282,584,322 | 60 | bedroom | 0.459 | {
"lighting_lux": 537.9,
"texture_variation": 0.881,
"color_shift": 0.117
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.081,
1.374
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.179,
"y": -0.903,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.355,
0.406,
1.168
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.5... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00001785 | 1,775,282,584,325 | 30 | kitchen | 0.918 | {
"lighting_lux": 660.2,
"texture_variation": 0.623,
"color_shift": 0.026
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.083,
1.29
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.203,
"y": -0.781,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 29,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.405,
0.376,
0.848
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.8... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision"
] |
FRAME-00001786 | 1,775,282,584,328 | 30 | bedroom | 0.657 | {
"lighting_lux": 882.5,
"texture_variation": 0.463,
"color_shift": 0.08
} | {
"camera_to_base_transform": {
"position": [
0.141,
0.075,
1.402
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.194,
"y": -0.993,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 20,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.573,
0.534,
0.959
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.648,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
FRAME-00001787 | 1,775,282,584,332 | 90 | kitchen | 0.913 | {
"lighting_lux": 953.8,
"texture_variation": 0.731,
"color_shift": -0.039
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.083,
1.534
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.411,
"y": -0.875,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 31,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.326,
0.166,
0.575
],
"rotation_quat": [
0,
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"
] |
FRAME-00001788 | 1,775,282,584,336 | 90 | kitchen | 0.858 | {
"lighting_lux": 659,
"texture_variation": 0.838,
"color_shift": 0.121
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.08,
1.46
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.294,
"y": -0.791,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 24,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.753,
0.501,
0.686
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.992,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter"
] |
FRAME-00001789 | 1,775,282,584,340 | 60 | bathroom | 0.45 | {
"lighting_lux": 767.5,
"texture_variation": 0.529,
"color_shift": 0.033
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.082,
1.58
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.98,
"y": -0.714,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 14,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.639,
0.299,
0.616
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00001790 | 1,775,282,584,344 | 30 | kitchen | 0.913 | {
"lighting_lux": 590.4,
"texture_variation": 0.563,
"color_shift": 0.01
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.079,
1.607
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.398,
"y": -0.964,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 31,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.499,
0.532,
0.687
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.6... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00001791 | 1,775,282,584,348 | 30 | bedroom | 0.708 | {
"lighting_lux": 103,
"texture_variation": 0.403,
"color_shift": -0.108
} | {
"camera_to_base_transform": {
"position": [
0.14,
0.083,
1.456
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.123,
"y": -0.593,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 27,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.591,
0.515,
0.663
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.442,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"dynamic_human_interaction"
] |
FRAME-00001792 | 1,775,282,584,353 | 60 | kitchen | 0.614 | {
"lighting_lux": 511.5,
"texture_variation": 0.674,
"color_shift": 0.012
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.076,
1.527
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.105,
"y": -0.853,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 30,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.716,
0.018,
0.438
],
"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
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00001793 | 1,775,282,584,357 | 90 | kitchen | 0.903 | {
"lighting_lux": 954.9,
"texture_variation": 0.417,
"color_shift": -0.016
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.075,
1.534
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.26,
"y": -1.117,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.62,
0.136,
0.543
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.58... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"reflective_surface"
] |
FRAME-00001794 | 1,775,282,584,360 | 30 | kitchen | 0.758 | {
"lighting_lux": 1074,
"texture_variation": 0.597,
"color_shift": -0.141
} | {
"camera_to_base_transform": {
"position": [
0.14,
0.083,
1.459
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.314,
"y": -0.737,
"yaw_deg": 19.27
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 27,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.867,
0.408,
0.698
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"near_collision",
"motion_blur"
] |
FRAME-00001795 | 1,775,282,584,363 | 60 | bathroom | 0.857 | {
"lighting_lux": 891.7,
"texture_variation": 0.603,
"color_shift": 0.056
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.08,
1.314
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.896,
"y": -0.774,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.635,
0.378,
0.641
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.34,
... | {
"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"
] |
FRAME-00001796 | 1,775,282,584,367 | 60 | living_room | 0.669 | {
"lighting_lux": 963.2,
"texture_variation": 0.412,
"color_shift": -0.003
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.082,
1.529
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.242,
"y": -1.012,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 24,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.288,
0.675,
0.728
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00001797 | 1,775,282,584,370 | 90 | dining_room | 0.599 | {
"lighting_lux": 731.5,
"texture_variation": 0.884,
"color_shift": -0.053
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.079,
1.59
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.167,
"y": -0.863,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 23,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.727,
0.483,
0.651
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 5.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"dynamic_human_interaction"
] |
FRAME-00001798 | 1,775,282,584,374 | 30 | bathroom | 0.396 | {
"lighting_lux": 545.8,
"texture_variation": 0.746,
"color_shift": -0.077
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.075,
1.526
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.916,
"y": -0.944,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": 21,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.859,
0.13,
1.11
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.59,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00001799 | 1,775,282,584,378 | 30 | bedroom | 0.436 | {
"lighting_lux": 836.6,
"texture_variation": 0.918,
"color_shift": 0.14
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.078,
1.468
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.107,
"y": -0.717,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.842,
0.622,
0.678
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.3... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00001800 | 1,775,282,584,381 | 90 | bathroom | 0.453 | {
"lighting_lux": 672.7,
"texture_variation": 0.425,
"color_shift": -0.14
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.076,
1.489
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.956,
"y": -1.191,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 31,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.693,
0.274,
0.414
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.