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-00004901 | 1,775,282,594,752 | 60 | kitchen | 0.419 | {
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FRAME-00004902 | 1,775,282,594,756 | 90 | kitchen | 0.634 | {
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FRAME-00004903 | 1,775,282,594,759 | 90 | living_room | 0.306 | {
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FRAME-00004904 | 1,775,282,594,761 | 60 | bathroom | 0.292 | {
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FRAME-00004905 | 1,775,282,594,764 | 60 | bathroom | 0.827 | {
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} | [
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FRAME-00004906 | 1,775,282,594,767 | 30 | bathroom | 0.373 | {
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} | {
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FRAME-00004907 | 1,775,282,594,769 | 90 | living_room | 0.696 | {
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FRAME-00004908 | 1,775,282,594,772 | 30 | living_room | 0.905 | {
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FRAME-00004909 | 1,775,282,594,776 | 30 | kitchen | 0.913 | {
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FRAME-00004910 | 1,775,282,594,778 | 30 | dining_room | 0.507 | {
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FRAME-00004911 | 1,775,282,594,782 | 60 | bathroom | 0.932 | {
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FRAME-00004912 | 1,775,282,594,787 | 90 | bathroom | 0.45 | {
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FRAME-00004913 | 1,775,282,594,791 | 60 | bedroom | 0.878 | {
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FRAME-00004914 | 1,775,282,594,796 | 30 | kitchen | 0.871 | {
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FRAME-00004915 | 1,775,282,594,799 | 30 | kitchen | 0.727 | {
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"segmentation_mask_count": 31,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.585,
0.393,
0.373
],
"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"
] |
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