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-00004601 | 1,775,282,593,762 | 30 | bedroom | 0.746 | {
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FRAME-00004602 | 1,775,282,593,766 | 30 | dining_room | 0.474 | {
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FRAME-00004603 | 1,775,282,593,769 | 30 | kitchen | 0.634 | {
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FRAME-00004604 | 1,775,282,593,773 | 60 | kitchen | 0.634 | {
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FRAME-00004605 | 1,775,282,593,776 | 60 | living_room | 0.852 | {
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} | [
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FRAME-00004606 | 1,775,282,593,779 | 30 | kitchen | 0.424 | {
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FRAME-00004607 | 1,775,282,593,781 | 60 | bedroom | 0.633 | {
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FRAME-00004608 | 1,775,282,593,784 | 60 | living_room | 0.933 | {
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FRAME-00004609 | 1,775,282,593,786 | 90 | bedroom | 0.458 | {
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FRAME-00004610 | 1,775,282,593,790 | 60 | living_room | 0.447 | {
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FRAME-00004611 | 1,775,282,593,793 | 90 | bedroom | 0.761 | {
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FRAME-00004612 | 1,775,282,593,796 | 90 | kitchen | 0.473 | {
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FRAME-00004613 | 1,775,282,593,799 | 60 | living_room | 0.933 | {
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FRAME-00004614 | 1,775,282,593,801 | 30 | bathroom | 0.889 | {
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0.683,
0.331,
0.769
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.352,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"reflective_surface",
"dynamic_human_interaction"
] |
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