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-00001801 | 1,775,282,584,383 | 30 | living_room | 0.576 | {
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FRAME-00001802 | 1,775,282,584,386 | 30 | dining_room | 0.511 | {
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FRAME-00001803 | 1,775,282,584,389 | 30 | living_room | 0.852 | {
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} | [
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FRAME-00001804 | 1,775,282,584,392 | 60 | dining_room | 0.504 | {
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} | [
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FRAME-00001805 | 1,775,282,584,395 | 90 | dining_room | 0.575 | {
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} | [
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} | [
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FRAME-00001806 | 1,775,282,584,399 | 90 | bedroom | 0.474 | {
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} | {
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} | [
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} | [] |
FRAME-00001807 | 1,775,282,584,402 | 30 | kitchen | 0.657 | {
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FRAME-00001808 | 1,775,282,584,405 | 90 | kitchen | 0.483 | {
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} | [
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} | [
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FRAME-00001809 | 1,775,282,584,409 | 60 | bathroom | 0.802 | {
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FRAME-00001810 | 1,775,282,584,414 | 60 | living_room | 0.413 | {
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FRAME-00001811 | 1,775,282,584,417 | 30 | bedroom | 0.3 | {
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} | [
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FRAME-00001812 | 1,775,282,584,420 | 30 | dining_room | 0.6 | {
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FRAME-00001813 | 1,775,282,584,423 | 90 | living_room | 0.268 | {
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FRAME-00001814 | 1,775,282,584,427 | 60 | bedroom | 0.922 | {
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} | [
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FRAME-00001815 | 1,775,282,584,430 | 30 | bedroom | 0.61 | {
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} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.597,
0.397,
0.558
],
"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
} | [
"motion_blur"
] |
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