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-00004101 | 1,775,282,592,111 | 90 | bathroom | 0.744 | {
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FRAME-00004102 | 1,775,282,592,115 | 60 | kitchen | 0.669 | {
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FRAME-00004103 | 1,775,282,592,119 | 30 | bathroom | 0.587 | {
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FRAME-00004104 | 1,775,282,592,123 | 60 | living_room | 0.393 | {
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FRAME-00004105 | 1,775,282,592,126 | 30 | bedroom | 0.413 | {
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FRAME-00004106 | 1,775,282,592,128 | 90 | kitchen | 0.455 | {
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FRAME-00004107 | 1,775,282,592,131 | 60 | bedroom | 0.718 | {
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FRAME-00004108 | 1,775,282,592,133 | 90 | kitchen | 0.64 | {
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FRAME-00004109 | 1,775,282,592,136 | 90 | dining_room | 0.474 | {
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FRAME-00004110 | 1,775,282,592,139 | 90 | bedroom | 0.805 | {
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FRAME-00004111 | 1,775,282,592,143 | 30 | kitchen | 0.56 | {
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FRAME-00004112 | 1,775,282,592,147 | 60 | bathroom | 0.261 | {
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FRAME-00004113 | 1,775,282,592,150 | 30 | bedroom | 0.61 | {
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FRAME-00004114 | 1,775,282,592,153 | 90 | bedroom | 0.655 | {
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FRAME-00004115 | 1,775,282,592,158 | 90 | living_room | 0.822 | {
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0,
0
],
"joint_velocities": [
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": [
0.647,
0.737,
0.592
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.596,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
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