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-00002901 | 1,775,282,588,020 | 90 | bathroom | 0.44 | {
"lighting_lux": 964.9,
"texture_variation": 0.636,
"color_shift": -0.087
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.078,
1.444
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.218,
"y": -0.807,
"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": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.898,
0.525,
0.534
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00002902 | 1,775,282,588,024 | 60 | kitchen | 0.614 | {
"lighting_lux": 511.5,
"texture_variation": 0.672,
"color_shift": -0.054
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.075,
1.593
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.093,
"y": -1.038,
"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": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.68,
0.528,
0.366
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 7.252,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00002903 | 1,775,282,588,027 | 60 | bedroom | 0.426 | {
"lighting_lux": 922.1,
"texture_variation": 0.822,
"color_shift": 0.041
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.079,
1.348
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.138,
"y": -0.704,
"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": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.589,
0.296,
0.398
],
"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
} | [] |
FRAME-00002904 | 1,775,282,588,030 | 60 | kitchen | 0.755 | {
"lighting_lux": 279.8,
"texture_variation": 0.805,
"color_shift": -0.058
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.078,
1.586
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.193,
"y": -0.757,
"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": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.357,
0.279,
0.442
],
"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-00002905 | 1,775,282,588,033 | 60 | dining_room | 0.885 | {
"lighting_lux": 32.1,
"texture_variation": 0.527,
"color_shift": -0.104
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.075,
1.538
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.154,
"y": -0.832,
"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": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.541,
0.515,
0.339
],
"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
} | [
"high_clutter",
"grasped_sharp_object"
] |
FRAME-00002906 | 1,775,282,588,037 | 90 | kitchen | 0.927 | {
"lighting_lux": 181.5,
"texture_variation": 0.968,
"color_shift": -0.061
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.085,
1.452
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.993,
"y": -1.056,
"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": [
0.211,
0.52,
0.754
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.176,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision"
] |
FRAME-00002907 | 1,775,282,588,041 | 60 | living_room | 0.852 | {
"lighting_lux": 83.2,
"texture_variation": 0.786,
"color_shift": -0.046
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.081,
1.466
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.255,
"y": -1.016,
"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": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.951,
0.371,
0.449
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 2.59,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"dynamic_human_interaction"
] |
FRAME-00002908 | 1,775,282,588,043 | 90 | dining_room | 0.588 | {
"lighting_lux": 361,
"texture_variation": 0.854,
"color_shift": -0.147
} | {
"camera_to_base_transform": {
"position": [
0.16,
0.08,
1.428
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.11,
"y": -0.804,
"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": 25,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.59,
0.322,
1.284
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.25... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00002909 | 1,775,282,588,045 | 90 | kitchen | 0.442 | {
"lighting_lux": 537.7,
"texture_variation": 0.482,
"color_shift": -0.064
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.078,
1.62
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.245,
"y": -0.798,
"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": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.675,
0.487,
0.345
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 3.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00002910 | 1,775,282,588,049 | 90 | kitchen | 0.397 | {
"lighting_lux": 452.3,
"texture_variation": 0.753,
"color_shift": 0.015
} | {
"camera_to_base_transform": {
"position": [
0.14,
0.078,
1.338
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.972,
"y": -0.618,
"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": [
0.591,
0.06,
0.618
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.658,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00002911 | 1,775,282,588,052 | 90 | bathroom | 0.453 | {
"lighting_lux": 672.7,
"texture_variation": 0.482,
"color_shift": 0.067
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.081,
1.542
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.235,
"y": -0.715,
"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": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.506,
0.541,
0.693
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.58... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00002912 | 1,775,282,588,057 | 60 | dining_room | 0.617 | {
"lighting_lux": 91.8,
"texture_variation": 0.763,
"color_shift": -0.062
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.076,
1.408
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.341,
"y": -0.79,
"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": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.591,
0.507,
0.971
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.10... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00002913 | 1,775,282,588,060 | 30 | kitchen | 0.533 | {
"lighting_lux": 675.5,
"texture_variation": 0.801,
"color_shift": 0.058
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.081,
1.386
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.116,
"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": 31,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
-0.037,
0.15,
0.871
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.3... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00002914 | 1,775,282,588,064 | 90 | kitchen | 0.612 | {
"lighting_lux": 313.2,
"texture_variation": 0.836,
"color_shift": -0.143
} | {
"camera_to_base_transform": {
"position": [
0.136,
0.08,
1.514
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.303,
"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": 24,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.345,
0.443,
0.577
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.7... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00002915 | 1,775,282,588,068 | 30 | kitchen | 0.614 | {
"lighting_lux": 511.5,
"texture_variation": 0.712,
"color_shift": -0.114
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.082,
1.458
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.335,
"y": -1.186,
"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": [
0.205,
0.296,
0.855
],
"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"
] |
FRAME-00002916 | 1,775,282,588,071 | 90 | bedroom | 0.294 | {
"lighting_lux": 459.7,
"texture_variation": 0.639,
"color_shift": -0.038
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.077,
1.548
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.298,
"y": -0.924,
"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": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.634,
0.32,
0.583
],
"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-00002917 | 1,775,282,588,074 | 90 | bedroom | 0.474 | {
"lighting_lux": 301.2,
"texture_variation": 0.9,
"color_shift": 0.125
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.079,
1.544
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.002,
"y": -1.055,
"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": 15,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.199,
0.247,
0.6
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 3.52,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00002918 | 1,775,282,588,078 | 90 | bathroom | 0.494 | {
"lighting_lux": 122.4,
"texture_variation": 0.525,
"color_shift": 0.08
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.08,
1.499
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.002,
"y": -0.788,
"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": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.528,
0.311,
1.053
],
"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-00002919 | 1,775,282,588,080 | 60 | living_room | 0.395 | {
"lighting_lux": 126.8,
"texture_variation": 0.836,
"color_shift": 0.076
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.08,
1.589
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.16,
"y": -0.712,
"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": 19,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.425,
0.558,
1.081
],
"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
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00002920 | 1,775,282,588,084 | 30 | bedroom | 0.374 | {
"lighting_lux": 95.7,
"texture_variation": 0.836,
"color_shift": -0.121
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.079,
1.483
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.34,
"y": -0.918,
"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": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.283,
0.314,
0.369
],
"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
} | [
"reflective_surface"
] |
FRAME-00002921 | 1,775,282,588,088 | 90 | bedroom | 0.92 | {
"lighting_lux": 800.7,
"texture_variation": 0.689,
"color_shift": 0.051
} | {
"camera_to_base_transform": {
"position": [
0.16,
0.076,
1.398
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.14,
"y": -1.079,
"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": 25,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.814,
0.596,
0.5
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.619... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"reflective_surface"
] |
FRAME-00002922 | 1,775,282,588,091 | 30 | dining_room | 0.736 | {
"lighting_lux": 542.5,
"texture_variation": 0.727,
"color_shift": 0.041
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.079,
1.497
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.969,
"y": -0.912,
"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": [
0.917,
0.67,
0.747
],
"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
} | [
"near_collision"
] |
FRAME-00002923 | 1,775,282,588,095 | 30 | dining_room | 0.684 | {
"lighting_lux": 987.8,
"texture_variation": 0.685,
"color_shift": -0.103
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.074,
1.382
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.933,
"y": -0.659,
"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": [
0.239,
0.344,
1.118
],
"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",
"dynamic_human_interaction"
] |
FRAME-00002924 | 1,775,282,588,099 | 30 | living_room | 0.306 | {
"lighting_lux": 289.5,
"texture_variation": 0.657,
"color_shift": -0.118
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.082,
1.353
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.381,
"y": -1.068,
"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": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.176,
0.573,
0.625
],
"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
} | [
"grasped_sharp_object"
] |
FRAME-00002925 | 1,775,282,588,102 | 60 | living_room | 0.823 | {
"lighting_lux": 414.5,
"texture_variation": 0.727,
"color_shift": 0.068
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.083,
1.423
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.05,
"y": -0.878,
"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": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.243,
0.334,
0.729
],
"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
} | [
"high_clutter",
"near_collision"
] |
FRAME-00002926 | 1,775,282,588,105 | 60 | bedroom | 0.657 | {
"lighting_lux": 882.5,
"texture_variation": 0.94,
"color_shift": 0.149
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.08,
1.421
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.118,
"y": -0.801,
"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": [
0.615,
0.293,
0.587
],
"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
} | [
"dynamic_human_interaction"
] |
FRAME-00002927 | 1,775,282,588,109 | 90 | kitchen | 0.669 | {
"lighting_lux": 997.7,
"texture_variation": 0.832,
"color_shift": 0.078
} | {
"camera_to_base_transform": {
"position": [
0.162,
0.078,
1.46
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.195,
"y": -0.961,
"yaw_deg": 338.96
},
"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": [
0.488,
0.634,
0.532
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.149,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00002928 | 1,775,282,588,112 | 30 | bathroom | 0.511 | {
"lighting_lux": 1065.6,
"texture_variation": 0.856,
"color_shift": 0.137
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.077,
1.357
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.239,
"y": -0.969,
"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": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.614,
0.227,
0.692
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 3.868,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00002929 | 1,775,282,588,115 | 90 | living_room | 0.852 | {
"lighting_lux": 83.2,
"texture_variation": 0.866,
"color_shift": 0.022
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.075,
1.552
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.113,
"y": -1.175,
"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": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.501,
0.308,
0.514
],
"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",
"dynamic_human_interaction"
] |
FRAME-00002930 | 1,775,282,588,118 | 30 | kitchen | 0.419 | {
"lighting_lux": 111.7,
"texture_variation": 0.421,
"color_shift": -0.047
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.075,
1.487
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.311,
"y": -1.137,
"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": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.699,
0.288,
0.651
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.597,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00002931 | 1,775,282,588,122 | 30 | dining_room | 0.308 | {
"lighting_lux": 467.4,
"texture_variation": 0.917,
"color_shift": 0.142
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.081,
1.362
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.237,
"y": -0.838,
"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": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.656,
0.315,
0.377
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.7... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00002932 | 1,775,282,588,126 | 30 | dining_room | 0.372 | {
"lighting_lux": 1001,
"texture_variation": 0.684,
"color_shift": 0.026
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.078,
1.474
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.285,
"y": -0.898,
"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": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.509,
0.167,
0.814
],
"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"
] |
FRAME-00002933 | 1,775,282,588,129 | 60 | bedroom | 0.426 | {
"lighting_lux": 922.1,
"texture_variation": 0.962,
"color_shift": -0.145
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.08,
1.492
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.27,
"y": -1.065,
"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": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.376,
0.519,
0.772
],
"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
} | [
"dynamic_human_interaction"
] |
FRAME-00002934 | 1,775,282,588,131 | 60 | kitchen | 0.294 | {
"lighting_lux": 526,
"texture_variation": 0.522,
"color_shift": 0.134
} | {
"camera_to_base_transform": {
"position": [
0.162,
0.077,
1.326
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.155,
"y": -0.925,
"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": [
0.401,
0.201,
0.864
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 6.397,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00002935 | 1,775,282,588,133 | 60 | dining_room | 0.521 | {
"lighting_lux": 57.3,
"texture_variation": 0.633,
"color_shift": -0.035
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.08,
1.424
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.009,
"y": -0.728,
"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": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.514,
0.553,
0.635
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00002936 | 1,775,282,588,136 | 30 | bathroom | 0.261 | {
"lighting_lux": 323.4,
"texture_variation": 0.625,
"color_shift": -0.066
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.082,
1.455
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.014,
"y": -0.7,
"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": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.482,
0.318,
0.58
],
"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
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00002937 | 1,775,282,588,140 | 90 | dining_room | 0.832 | {
"lighting_lux": 271.1,
"texture_variation": 0.675,
"color_shift": 0.076
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.082,
1.423
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.118,
"y": -1.025,
"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": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.512,
0.149,
0.932
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.201,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"reflective_surface"
] |
FRAME-00002938 | 1,775,282,588,144 | 90 | bedroom | 0.374 | {
"lighting_lux": 95.7,
"texture_variation": 0.866,
"color_shift": -0.121
} | {
"camera_to_base_transform": {
"position": [
0.168,
0.079,
1.328
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.27,
"y": -0.856,
"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": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.391,
0.318,
0.582
],
"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-00002939 | 1,775,282,588,148 | 60 | bedroom | 0.878 | {
"lighting_lux": 877.8,
"texture_variation": 0.447,
"color_shift": -0.148
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.085,
1.55
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.256,
"y": -0.628,
"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": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.495,
0.276,
0.836
],
"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
} | [
"high_clutter",
"dynamic_human_interaction"
] |
FRAME-00002940 | 1,775,282,588,153 | 30 | dining_room | 0.326 | {
"lighting_lux": 657,
"texture_variation": 0.745,
"color_shift": -0.014
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.08,
1.356
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.359,
"y": -0.735,
"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": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.207,
0.339,
0.445
],
"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-00002941 | 1,775,282,588,156 | 60 | kitchen | 0.755 | {
"lighting_lux": 279.8,
"texture_variation": 0.623,
"color_shift": -0.135
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.079,
1.43
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.111,
"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": 17,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.85,
0.317,
0.838
],
"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"
] |
FRAME-00002942 | 1,775,282,588,160 | 90 | bedroom | 0.473 | {
"lighting_lux": 608.8,
"texture_variation": 0.474,
"color_shift": 0.138
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.079,
1.449
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.147,
"y": -0.579,
"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": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.564,
0.201,
0.777
],
"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
} | [] |
FRAME-00002943 | 1,775,282,588,163 | 60 | living_room | 0.524 | {
"lighting_lux": 332.2,
"texture_variation": 0.742,
"color_shift": -0.118
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.084,
1.319
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.373,
"y": -0.731,
"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": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.973,
0.63,
0.474
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.291,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00002944 | 1,775,282,588,166 | 60 | kitchen | 0.918 | {
"lighting_lux": 660.2,
"texture_variation": 0.583,
"color_shift": 0.08
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.08,
1.492
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.172,
"y": -0.958,
"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": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.556,
0.385,
0.425
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.221,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"dynamic_human_interaction"
] |
FRAME-00002945 | 1,775,282,588,169 | 90 | bedroom | 0.381 | {
"lighting_lux": 287.9,
"texture_variation": 0.81,
"color_shift": -0.131
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.078,
1.559
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.405,
"y": -0.87,
"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": [
0.717,
0.594,
0.727
],
"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
} | [
"dynamic_human_interaction"
] |
FRAME-00002946 | 1,775,282,588,173 | 30 | dining_room | 0.575 | {
"lighting_lux": 348.8,
"texture_variation": 0.458,
"color_shift": 0.032
} | {
"camera_to_base_transform": {
"position": [
0.158,
0.08,
1.41
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.362,
"y": -1.023,
"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": 15,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.362,
0.527,
0.791
],
"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
} | [
"grasped_sharp_object"
] |
FRAME-00002947 | 1,775,282,588,177 | 30 | bedroom | 0.381 | {
"lighting_lux": 287.9,
"texture_variation": 0.93,
"color_shift": 0.054
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.075,
1.447
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.329,
"y": -0.797,
"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": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.351,
0.415,
0.707
],
"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-00002948 | 1,775,282,588,180 | 90 | dining_room | 0.697 | {
"lighting_lux": 496.3,
"texture_variation": 0.87,
"color_shift": 0.079
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.081,
1.394
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.02,
"y": -0.813,
"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": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.462,
0.559,
0.936
],
"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
} | [] |
FRAME-00002949 | 1,775,282,588,184 | 60 | bedroom | 0.761 | {
"lighting_lux": 1098.4,
"texture_variation": 0.761,
"color_shift": -0.05
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.081,
1.387
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.466,
"y": -0.85,
"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": 15,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.496,
0.254,
0.839
],
"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
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00002950 | 1,775,282,588,187 | 60 | kitchen | 0.727 | {
"lighting_lux": 675.8,
"texture_variation": 0.594,
"color_shift": 0.037
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.081,
1.525
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.755,
"y": -1.07,
"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": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.443,
0.417,
0.839
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.02... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"near_collision"
] |
FRAME-00002951 | 1,775,282,588,189 | 90 | kitchen | 0.69 | {
"lighting_lux": 1000.9,
"texture_variation": 0.7,
"color_shift": -0.033
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.08,
1.412
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.334,
"y": -0.863,
"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": 19,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.534,
0.519,
0.212
],
"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
} | [] |
FRAME-00002952 | 1,775,282,588,192 | 60 | kitchen | 0.858 | {
"lighting_lux": 659,
"texture_variation": 0.766,
"color_shift": 0.102
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.077,
1.388
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.455,
"y": -0.892,
"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": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.465,
0.682,
0.947
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.7... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"dynamic_human_interaction"
] |
FRAME-00002953 | 1,775,282,588,194 | 30 | dining_room | 0.521 | {
"lighting_lux": 57.3,
"texture_variation": 0.758,
"color_shift": 0.05
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.077,
1.423
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.14,
"y": -0.945,
"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": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.529,
0.496,
0.785
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.901,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00002954 | 1,775,282,588,196 | 60 | bathroom | 0.515 | {
"lighting_lux": 376.7,
"texture_variation": 0.518,
"color_shift": 0.083
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.081,
1.398
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.09,
"y": -0.808,
"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": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.547,
0.394,
0.268
],
"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
} | [
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00002955 | 1,775,282,588,200 | 60 | bedroom | 0.655 | {
"lighting_lux": 857.3,
"texture_variation": 0.872,
"color_shift": -0.084
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.08,
1.537
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.09,
"y": -0.973,
"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": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.415,
0.157,
0.679
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.646,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"reflective_surface"
] |
FRAME-00002956 | 1,775,282,588,202 | 60 | living_room | 0.602 | {
"lighting_lux": 806.2,
"texture_variation": 0.498,
"color_shift": 0.123
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.08,
1.405
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.311,
"y": -0.813,
"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": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.56,
0.391,
0.647
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.612,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00002957 | 1,775,282,588,206 | 90 | dining_room | 0.885 | {
"lighting_lux": 32.1,
"texture_variation": 0.408,
"color_shift": 0.042
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.082,
1.477
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.332,
"y": -0.827,
"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": 25,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.369,
0.483,
1.011
],
"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",
"dynamic_human_interaction"
] |
FRAME-00002958 | 1,775,282,588,210 | 30 | living_room | 0.608 | {
"lighting_lux": 29.3,
"texture_variation": 0.788,
"color_shift": 0.037
} | {
"camera_to_base_transform": {
"position": [
0.159,
0.083,
1.357
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.021,
"y": -0.924,
"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": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.775,
0.332,
0.497
],
"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
} | [
"low_lighting",
"motion_blur"
] |
FRAME-00002959 | 1,775,282,588,213 | 30 | bedroom | 0.92 | {
"lighting_lux": 800.7,
"texture_variation": 0.618,
"color_shift": -0.145
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.084,
1.443
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.209,
"y": -0.811,
"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": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.37,
0.51,
0.273
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 3.488,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"reflective_surface"
] |
FRAME-00002960 | 1,775,282,588,216 | 30 | bathroom | 0.515 | {
"lighting_lux": 376.7,
"texture_variation": 0.422,
"color_shift": -0.064
} | {
"camera_to_base_transform": {
"position": [
0.162,
0.081,
1.437
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.276,
"y": -0.71,
"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": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.253,
0.528,
0.715
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.522,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00002961 | 1,775,282,588,220 | 30 | living_room | 0.782 | {
"lighting_lux": 693.3,
"texture_variation": 0.742,
"color_shift": 0.075
} | {
"camera_to_base_transform": {
"position": [
0.139,
0.081,
1.438
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.572,
"y": -0.99,
"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": 19,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.552,
0.443,
0.45
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.368,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00002962 | 1,775,282,588,223 | 60 | dining_room | 0.481 | {
"lighting_lux": 802.9,
"texture_variation": 0.66,
"color_shift": 0.113
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.083,
1.382
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.247,
"y": -0.918,
"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": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.482,
0.264,
1.265
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.301,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00002963 | 1,775,282,588,226 | 30 | bathroom | 0.494 | {
"lighting_lux": 122.4,
"texture_variation": 0.976,
"color_shift": 0.009
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.082,
1.539
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.154,
"y": -0.849,
"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": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.377,
0.521,
0.686
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.547,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00002964 | 1,775,282,588,228 | 90 | kitchen | 0.661 | {
"lighting_lux": 903.2,
"texture_variation": 0.788,
"color_shift": -0.078
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.081,
1.362
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.244,
"y": -0.915,
"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": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.282,
0.455,
0.524
],
"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
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00002965 | 1,775,282,588,232 | 90 | bedroom | 0.437 | {
"lighting_lux": 900,
"texture_variation": 0.462,
"color_shift": -0.074
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.084,
1.379
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.277,
"y": -1.248,
"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": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.24,
0.411,
0.385
],
"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"
] |
FRAME-00002966 | 1,775,282,588,235 | 90 | bedroom | 0.633 | {
"lighting_lux": 834.4,
"texture_variation": 0.574,
"color_shift": 0.122
} | {
"camera_to_base_transform": {
"position": [
0.139,
0.08,
1.361
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.915,
"y": -0.719,
"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": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.467,
0.615,
0.742
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.5... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00002967 | 1,775,282,588,237 | 60 | bedroom | 0.523 | {
"lighting_lux": 561.2,
"texture_variation": 0.748,
"color_shift": 0.13
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.081,
1.442
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.453,
"y": -1.068,
"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": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.618,
0.516,
0.739
],
"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
} | [
"grasped_sharp_object"
] |
FRAME-00002968 | 1,775,282,588,240 | 30 | living_room | 0.709 | {
"lighting_lux": 672.3,
"texture_variation": 0.708,
"color_shift": 0.105
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.08,
1.466
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.28,
"y": -1.056,
"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": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.648,
0.18,
0.56
],
"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",
"near_collision",
"reflective_surface"
] |
FRAME-00002969 | 1,775,282,588,244 | 60 | living_room | 0.457 | {
"lighting_lux": 924.5,
"texture_variation": 0.885,
"color_shift": 0.104
} | {
"camera_to_base_transform": {
"position": [
0.161,
0.079,
1.488
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.32,
"y": -0.848,
"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": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
1.061,
0.388,
0.68
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 3.2... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00002970 | 1,775,282,588,248 | 90 | living_room | 0.782 | {
"lighting_lux": 693.3,
"texture_variation": 0.987,
"color_shift": -0.076
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.082,
1.486
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.603,
"y": -0.686,
"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": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.284,
0.305,
0.466
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.72... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00002971 | 1,775,282,588,252 | 90 | bedroom | 0.527 | {
"lighting_lux": 922.4,
"texture_variation": 0.951,
"color_shift": 0.127
} | {
"camera_to_base_transform": {
"position": [
0.137,
0.077,
1.574
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.064,
"y": -1.156,
"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": [
0.364,
0.426,
0.754
],
"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
} | [
"reflective_surface"
] |
FRAME-00002972 | 1,775,282,588,255 | 60 | kitchen | 0.613 | {
"lighting_lux": 219.8,
"texture_variation": 0.845,
"color_shift": -0.101
} | {
"camera_to_base_transform": {
"position": [
0.158,
0.081,
1.432
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.264,
"y": -1.01,
"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": 25,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
1.025,
0.392,
0.394
],
"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
} | [
"reflective_surface"
] |
FRAME-00002973 | 1,775,282,588,259 | 90 | dining_room | 0.326 | {
"lighting_lux": 657,
"texture_variation": 0.979,
"color_shift": 0.08
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.08,
1.528
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.254,
"y": -0.964,
"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": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.476,
0.351,
0.797
],
"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"
] |
FRAME-00002974 | 1,775,282,588,263 | 30 | dining_room | 0.811 | {
"lighting_lux": 74.1,
"texture_variation": 0.983,
"color_shift": 0.123
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.083,
1.472
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.335,
"y": -0.714,
"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": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.988,
0.371,
0.736
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.516,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00002975 | 1,775,282,588,267 | 30 | kitchen | 0.903 | {
"lighting_lux": 954.9,
"texture_variation": 0.862,
"color_shift": -0.058
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.076,
1.374
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.944,
"y": -0.593,
"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": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.542,
0.426,
1.237
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.65... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"reflective_surface"
] |
FRAME-00002976 | 1,775,282,588,269 | 30 | bedroom | 0.61 | {
"lighting_lux": 562,
"texture_variation": 0.974,
"color_shift": -0.089
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.081,
1.396
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.236,
"y": -1.095,
"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": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.661,
0.357,
0.474
],
"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-00002977 | 1,775,282,588,273 | 90 | bedroom | 0.289 | {
"lighting_lux": 1070.6,
"texture_variation": 0.825,
"color_shift": -0.094
} | {
"camera_to_base_transform": {
"position": [
0.138,
0.083,
1.573
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.143,
"y": -0.806,
"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": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.868,
0.359,
0.833
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.88... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00002978 | 1,775,282,588,277 | 60 | kitchen | 0.491 | {
"lighting_lux": 925.7,
"texture_variation": 0.802,
"color_shift": 0.022
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.079,
1.549
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.342,
"y": -0.983,
"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,
0.696,
0.785
],
"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",
"motion_blur",
"reflective_surface"
] |
FRAME-00002979 | 1,775,282,588,281 | 60 | kitchen | 0.657 | {
"lighting_lux": 647.1,
"texture_variation": 0.412,
"color_shift": 0.103
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.075,
1.371
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.086,
"y": -0.994,
"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": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.412,
0.195,
0.651
],
"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
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00002980 | 1,775,282,588,284 | 60 | dining_room | 0.4 | {
"lighting_lux": 21.1,
"texture_variation": 0.462,
"color_shift": -0.13
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.08,
1.581
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.597,
"y": -0.915,
"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": 25,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.511,
0.352,
0.301
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 6.873,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"low_lighting",
"motion_blur"
] |
FRAME-00002981 | 1,775,282,588,286 | 30 | kitchen | 0.378 | {
"lighting_lux": 787.6,
"texture_variation": 0.985,
"color_shift": -0.094
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.083,
1.438
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.468,
"y": -0.959,
"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": 25,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.286,
0.516,
0.619
],
"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
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00002982 | 1,775,282,588,289 | 90 | dining_room | 0.818 | {
"lighting_lux": 727.7,
"texture_variation": 0.647,
"color_shift": -0.087
} | {
"camera_to_base_transform": {
"position": [
0.141,
0.085,
1.428
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.227,
"y": -0.999,
"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": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.555,
0.505,
0.798
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.504,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00002983 | 1,775,282,588,291 | 30 | dining_room | 0.587 | {
"lighting_lux": 240,
"texture_variation": 0.682,
"color_shift": -0.016
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.078,
1.407
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.296,
"y": -0.796,
"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": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.688,
0.483,
0.487
],
"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-00002984 | 1,775,282,588,293 | 90 | living_room | 0.944 | {
"lighting_lux": 838.6,
"texture_variation": 0.556,
"color_shift": 0.059
} | {
"camera_to_base_transform": {
"position": [
0.166,
0.08,
1.461
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.154,
"y": -1.166,
"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": 25,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.463,
0.278,
0.304
],
"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
} | [
"high_clutter",
"near_collision",
"motion_blur"
] |
FRAME-00002985 | 1,775,282,588,296 | 30 | living_room | 0.696 | {
"lighting_lux": 583.5,
"texture_variation": 0.915,
"color_shift": 0.089
} | {
"camera_to_base_transform": {
"position": [
0.138,
0.083,
1.317
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.209,
"y": -1.292,
"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": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.468,
0.393,
0.695
],
"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
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00002986 | 1,775,282,588,299 | 60 | bathroom | 0.853 | {
"lighting_lux": 67.7,
"texture_variation": 0.438,
"color_shift": 0.037
} | {
"camera_to_base_transform": {
"position": [
0.164,
0.085,
1.404
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.91,
"y": -0.915,
"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": 15,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.495,
0.331,
0.835
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.083,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"reflective_surface"
] |
FRAME-00002987 | 1,775,282,588,302 | 60 | living_room | 0.802 | {
"lighting_lux": 869.7,
"texture_variation": 0.626,
"color_shift": -0.107
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.08,
1.479
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.865,
"y": -0.969,
"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": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.462,
0.22,
0.805
],
"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
} | [
"high_clutter",
"near_collision"
] |
FRAME-00002988 | 1,775,282,588,304 | 90 | living_room | 0.569 | {
"lighting_lux": 800.4,
"texture_variation": 0.992,
"color_shift": 0.119
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.078,
1.401
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.206,
"y": -1.057,
"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": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.289,
0.429,
0.335
],
"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
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00002989 | 1,775,282,588,308 | 30 | living_room | 0.866 | {
"lighting_lux": 861.5,
"texture_variation": 0.911,
"color_shift": -0.001
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.081,
1.528
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.22,
"y": -0.715,
"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": [
0.59,
0.323,
0.85
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.149,... | {
"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",
"dynamic_human_interaction"
] |
FRAME-00002990 | 1,775,282,588,311 | 60 | living_room | 0.646 | {
"lighting_lux": 263.8,
"texture_variation": 0.993,
"color_shift": 0.144
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.079,
1.553
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.348,
"y": -0.91,
"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": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.865,
0.624,
0.814
],
"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-00002991 | 1,775,282,588,316 | 60 | bathroom | 0.932 | {
"lighting_lux": 190.7,
"texture_variation": 0.487,
"color_shift": 0.033
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.08,
1.426
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.254,
"y": -0.665,
"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": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.144,
0.53,
0.97
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.927... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00002992 | 1,775,282,588,319 | 60 | kitchen | 0.64 | {
"lighting_lux": 522,
"texture_variation": 0.829,
"color_shift": 0.139
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.079,
1.445
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.264,
"y": -0.898,
"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": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.809,
0.421,
0.344
],
"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
} | [
"reflective_surface"
] |
FRAME-00002993 | 1,775,282,588,322 | 30 | kitchen | 0.473 | {
"lighting_lux": 649.8,
"texture_variation": 0.925,
"color_shift": -0.138
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.081,
1.597
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.126,
"y": -0.935,
"yaw_deg": 5.63
},
"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": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.207,
0.706,
0.847
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.447,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00002994 | 1,775,282,588,324 | 60 | living_room | 0.602 | {
"lighting_lux": 806.2,
"texture_variation": 0.983,
"color_shift": -0.127
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.076,
1.512
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.449,
"y": -0.956,
"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": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.019,
0.446,
0.491
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 7.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00002995 | 1,775,282,588,327 | 30 | bedroom | 0.451 | {
"lighting_lux": 240.2,
"texture_variation": 0.644,
"color_shift": -0.132
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.085,
1.408
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.171,
"y": -0.322,
"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": [
0.508,
0.095,
0.375
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.243,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00002996 | 1,775,282,588,329 | 90 | bedroom | 0.61 | {
"lighting_lux": 562,
"texture_variation": 0.804,
"color_shift": 0.12
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.076,
1.592
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.182,
"y": -1.032,
"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": [
0.299,
0.514,
1.032
],
"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
} | [
"motion_blur"
] |
FRAME-00002997 | 1,775,282,588,333 | 60 | bedroom | 0.473 | {
"lighting_lux": 14.5,
"texture_variation": 0.425,
"color_shift": -0.066
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.074,
1.487
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.272,
"y": -0.987,
"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": 25,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.309,
0.31,
0.803
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.54... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"low_lighting"
] |
FRAME-00002998 | 1,775,282,588,337 | 90 | kitchen | 0.974 | {
"lighting_lux": 972.9,
"texture_variation": 0.776,
"color_shift": 0.043
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.082,
1.518
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.265,
"y": -0.766,
"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": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.35,
0.427,
0.327
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.99... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00002999 | 1,775,282,588,341 | 90 | bathroom | 0.494 | {
"lighting_lux": 122.4,
"texture_variation": 0.625,
"color_shift": 0.104
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.082,
1.593
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.511,
"y": -0.67,
"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": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.617,
0.444,
0.33
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.67... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00003000 | 1,775,282,588,344 | 90 | bedroom | 0.309 | {
"lighting_lux": 568.3,
"texture_variation": 0.724,
"color_shift": -0.014
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.08,
1.372
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.437,
"y": -0.624,
"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": 19,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.616,
0.49,
0.716
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.495,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.