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-00005001 | 1,775,282,595,079 | 30 | bathroom | 0.494 | {
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FRAME-00005002 | 1,775,282,595,082 | 60 | kitchen | 0.416 | {
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FRAME-00005003 | 1,775,282,595,086 | 60 | kitchen | 0.491 | {
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} | [
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FRAME-00005004 | 1,775,282,595,090 | 90 | bedroom | 0.924 | {
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FRAME-00005005 | 1,775,282,595,093 | 30 | bathroom | 0.389 | {
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} | [
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} | [
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FRAME-00005006 | 1,775,282,595,096 | 30 | bedroom | 0.426 | {
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} | {
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FRAME-00005007 | 1,775,282,595,100 | 30 | bedroom | 0.445 | {
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} | [
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FRAME-00005008 | 1,775,282,595,103 | 30 | kitchen | 0.69 | {
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} | [
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} | [
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FRAME-00005009 | 1,775,282,595,107 | 60 | living_room | 0.442 | {
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FRAME-00005010 | 1,775,282,595,110 | 60 | bedroom | 0.459 | {
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} | {
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FRAME-00005011 | 1,775,282,595,113 | 30 | living_room | 0.306 | {
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} | [
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FRAME-00005012 | 1,775,282,595,117 | 30 | bedroom | 0.484 | {
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} | {
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} | [] |
FRAME-00005013 | 1,775,282,595,121 | 60 | kitchen | 0.468 | {
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FRAME-00005014 | 1,775,282,595,125 | 30 | bathroom | 0.92 | {
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} | [
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] |
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"class_id": 11,
"pose_6dof": {
"position": [
0.435,
0.626,
0.963
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.48... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
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