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-00002401 | 1,775,282,586,379 | 90 | living_room | 0.823 | {
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FRAME-00002402 | 1,775,282,586,383 | 60 | dining_room | 0.474 | {
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FRAME-00002403 | 1,775,282,586,387 | 30 | bedroom | 0.438 | {
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FRAME-00002404 | 1,775,282,586,389 | 60 | kitchen | 0.69 | {
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FRAME-00002405 | 1,775,282,586,392 | 30 | living_room | 0.576 | {
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} | [
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} | [
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FRAME-00002406 | 1,775,282,586,395 | 90 | living_room | 0.708 | {
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} | [
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FRAME-00002407 | 1,775,282,586,399 | 60 | dining_room | 0.575 | {
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FRAME-00002408 | 1,775,282,586,402 | 60 | bedroom | 0.761 | {
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FRAME-00002409 | 1,775,282,586,404 | 30 | dining_room | 0.511 | {
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FRAME-00002410 | 1,775,282,586,407 | 60 | bedroom | 0.718 | {
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FRAME-00002411 | 1,775,282,586,410 | 90 | kitchen | 0.442 | {
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FRAME-00002412 | 1,775,282,586,414 | 30 | living_room | 0.378 | {
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FRAME-00002413 | 1,775,282,586,418 | 30 | dining_room | 0.553 | {
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FRAME-00002414 | 1,775,282,586,421 | 90 | dining_room | 0.722 | {
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FRAME-00002415 | 1,775,282,586,424 | 90 | kitchen | 0.903 | {
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"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.682,
0.33,
0.645
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 6.033,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
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