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-00003001 | 1,775,282,588,348 | 30 | dining_room | 0.736 | {
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FRAME-00003002 | 1,775,282,588,353 | 90 | bathroom | 0.932 | {
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} | [
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FRAME-00003003 | 1,775,282,588,357 | 60 | dining_room | 0.736 | {
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FRAME-00003004 | 1,775,282,588,361 | 30 | bathroom | 0.92 | {
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} | [
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} | [
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FRAME-00003005 | 1,775,282,588,365 | 60 | bathroom | 0.743 | {
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} | [
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FRAME-00003006 | 1,775,282,588,369 | 60 | bedroom | 0.251 | {
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} | {
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FRAME-00003007 | 1,775,282,588,372 | 30 | bedroom | 0.459 | {
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} | [
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FRAME-00003008 | 1,775,282,588,376 | 30 | living_room | 0.766 | {
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} | {
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} | [
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} | [
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FRAME-00003009 | 1,775,282,588,380 | 90 | living_room | 0.823 | {
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} | [
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FRAME-00003010 | 1,775,282,588,384 | 30 | living_room | 0.268 | {
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} | {
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FRAME-00003011 | 1,775,282,588,388 | 90 | kitchen | 0.468 | {
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} | [
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} | [] |
FRAME-00003012 | 1,775,282,588,391 | 60 | kitchen | 0.797 | {
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} | {
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} | [
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} | [
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FRAME-00003013 | 1,775,282,588,394 | 30 | living_room | 0.787 | {
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FRAME-00003014 | 1,775,282,588,397 | 30 | living_room | 0.787 | {
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} | [
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0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.531,
0.28,
0.779
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 5.534,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"safety_critical",
"near_collision"
] |
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