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-00002801 | 1,775,282,587,697 | 30 | kitchen | 0.836 | {
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FRAME-00002802 | 1,775,282,587,699 | 90 | living_room | 0.445 | {
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FRAME-00002803 | 1,775,282,587,703 | 60 | kitchen | 0.758 | {
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FRAME-00002804 | 1,775,282,587,706 | 90 | kitchen | 0.612 | {
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FRAME-00002805 | 1,775,282,587,710 | 60 | living_room | 0.66 | {
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} | [
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FRAME-00002806 | 1,775,282,587,713 | 30 | bathroom | 0.435 | {
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} | {
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FRAME-00002807 | 1,775,282,587,717 | 30 | bedroom | 0.327 | {
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FRAME-00002808 | 1,775,282,587,721 | 90 | kitchen | 0.634 | {
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} | [
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} | [
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FRAME-00002809 | 1,775,282,587,724 | 60 | living_room | 0.965 | {
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FRAME-00002810 | 1,775,282,587,728 | 60 | dining_room | 0.904 | {
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FRAME-00002811 | 1,775,282,587,732 | 90 | bedroom | 0.437 | {
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FRAME-00002812 | 1,775,282,587,735 | 60 | bathroom | 0.515 | {
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} | {
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} | [
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FRAME-00002813 | 1,775,282,587,737 | 90 | dining_room | 0.481 | {
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FRAME-00002814 | 1,775,282,587,740 | 60 | bedroom | 0.6 | {
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} | [] |
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"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": [
0.916,
0.555,
0.714
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.7... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"safety_critical",
"near_collision",
"motion_blur"
] |
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