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-00000501 | 1,775,282,579,752 | 60 | bathroom | 0.802 | {
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FRAME-00000502 | 1,775,282,579,756 | 90 | bathroom | 0.858 | {
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} | [
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FRAME-00000503 | 1,775,282,579,758 | 90 | bedroom | 0.805 | {
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} | [
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FRAME-00000504 | 1,775,282,579,762 | 90 | bedroom | 0.438 | {
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} | [
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FRAME-00000505 | 1,775,282,579,765 | 30 | dining_room | 0.684 | {
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} | [
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} | [
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] |
FRAME-00000506 | 1,775,282,579,770 | 90 | bathroom | 0.79 | {
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"texture_variation": 0.851,
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} | {
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} | [
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} | [
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FRAME-00000507 | 1,775,282,579,774 | 30 | kitchen | 0.763 | {
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} | [
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} | [
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FRAME-00000508 | 1,775,282,579,776 | 60 | bathroom | 0.389 | {
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} | {
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} | [
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FRAME-00000509 | 1,775,282,579,779 | 30 | bedroom | 0.761 | {
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FRAME-00000510 | 1,775,282,579,782 | 30 | bedroom | 0.523 | {
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FRAME-00000511 | 1,775,282,579,785 | 30 | kitchen | 0.634 | {
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} | [
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} | [
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FRAME-00000512 | 1,775,282,579,788 | 60 | bedroom | 0.537 | {
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} | {
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} | [
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FRAME-00000513 | 1,775,282,579,791 | 90 | living_room | 0.708 | {
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FRAME-00000514 | 1,775,282,579,794 | 30 | bathroom | 0.853 | {
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} | [
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"position": [
0.607,
0.531,
0.824
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"near_collision",
"reflective_surface"
] |
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