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-00005101 | 1,775,282,595,420 | 30 | bathroom | 0.261 | {
"lighting_lux": 323.4,
"texture_variation": 0.469,
"color_shift": -0.112
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.078,
1.427
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.341,
"y": -0.93,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 31,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.236,
0.308,
0.724
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00005102 | 1,775,282,595,424 | 60 | living_room | 0.357 | {
"lighting_lux": 496.8,
"texture_variation": 0.991,
"color_shift": -0.135
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.078,
1.394
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.596,
"y": -0.911,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 27,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.584,
0.494,
0.832
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005103 | 1,775,282,595,427 | 90 | kitchen | 0.903 | {
"lighting_lux": 954.9,
"texture_variation": 0.921,
"color_shift": -0.118
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.074,
1.479
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.082,
"y": -0.435,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.894,
0.678,
0.762
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"reflective_surface"
] |
FRAME-00005104 | 1,775,282,595,430 | 60 | bedroom | 0.752 | {
"lighting_lux": 962.2,
"texture_variation": 0.481,
"color_shift": 0.093
} | {
"camera_to_base_transform": {
"position": [
0.141,
0.083,
1.382
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.105,
"y": -1.177,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.513,
0.539,
0.622
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.758,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00005105 | 1,775,282,595,433 | 60 | kitchen | 0.594 | {
"lighting_lux": 264.3,
"texture_variation": 0.934,
"color_shift": 0.11
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.082,
1.424
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.046,
"y": -0.672,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.702,
0.579,
0.722
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.2... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00005106 | 1,775,282,595,436 | 30 | bedroom | 0.58 | {
"lighting_lux": 705.1,
"texture_variation": 0.784,
"color_shift": 0.139
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.076,
1.416
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.417,
"y": -0.828,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 16,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.401,
0.087,
0.805
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.57... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00005107 | 1,775,282,595,440 | 90 | bathroom | 0.539 | {
"lighting_lux": 946.9,
"texture_variation": 0.93,
"color_shift": -0.015
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.08,
1.451
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.397,
"y": -1.282,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 24,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.418,
0.12,
0.755
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.61... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"dynamic_human_interaction"
] |
FRAME-00005108 | 1,775,282,595,445 | 90 | living_room | 0.822 | {
"lighting_lux": 251.7,
"texture_variation": 0.493,
"color_shift": -0.015
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.077,
1.48
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.183,
"y": -0.814,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 20,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.788,
0.622,
0.708
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"safety_critical",
"near_collision",
"dynamic_human_interaction"
] |
FRAME-00005109 | 1,775,282,595,447 | 60 | bedroom | 0.413 | {
"lighting_lux": 422.3,
"texture_variation": 0.519,
"color_shift": -0.123
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.081,
1.335
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.148,
"y": -1.219,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 27,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.709,
0.182,
0.457
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005110 | 1,775,282,595,450 | 30 | bathroom | 0.603 | {
"lighting_lux": 460.4,
"texture_variation": 0.726,
"color_shift": 0.126
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.082,
1.328
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.216,
"y": -0.376,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.582,
0.388,
0.77
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00005111 | 1,775,282,595,454 | 90 | dining_room | 0.811 | {
"lighting_lux": 74.1,
"texture_variation": 0.705,
"color_shift": 0.066
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.079,
1.423
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.127,
"y": -0.609,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 31,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.364,
0.475,
1.04
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00005112 | 1,775,282,595,458 | 30 | kitchen | 0.612 | {
"lighting_lux": 313.2,
"texture_variation": 0.928,
"color_shift": 0.114
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.077,
1.43
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.756,
"y": -0.909,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.062,
0.566,
0.608
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00005113 | 1,775,282,595,460 | 60 | kitchen | 0.378 | {
"lighting_lux": 787.6,
"texture_variation": 0.645,
"color_shift": -0.014
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.076,
1.525
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.445,
"y": -0.907,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.584,
0.243,
0.665
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00005114 | 1,775,282,595,464 | 60 | bedroom | 0.381 | {
"lighting_lux": 287.9,
"texture_variation": 0.946,
"color_shift": 0
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.076,
1.395
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.009,
"y": -0.691,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.318,
0.179,
0.673
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.359,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00005115 | 1,775,282,595,466 | 60 | living_room | 0.669 | {
"lighting_lux": 804,
"texture_variation": 0.531,
"color_shift": -0.079
} | {
"camera_to_base_transform": {
"position": [
0.142,
0.078,
1.313
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.008,
"y": -0.853,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.549,
0.562,
0.645
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 2.703,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00005116 | 1,775,282,595,469 | 30 | bathroom | 0.744 | {
"lighting_lux": 914.1,
"texture_variation": 0.48,
"color_shift": 0.149
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.083,
1.483
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.489,
"y": -0.863,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.346,
0.512,
0.43
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 3.5... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00005117 | 1,775,282,595,471 | 30 | dining_room | 0.504 | {
"lighting_lux": 115.6,
"texture_variation": 0.819,
"color_shift": 0.092
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.08,
1.443
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.312,
"y": -0.832,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.315,
0.501,
0.601
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.317,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00005118 | 1,775,282,595,473 | 60 | living_room | 0.459 | {
"lighting_lux": 1091,
"texture_variation": 0.824,
"color_shift": 0.15
} | {
"camera_to_base_transform": {
"position": [
0.158,
0.078,
1.405
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.421,
"y": -0.734,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.709,
0.474,
0.878
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 2.888,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00005119 | 1,775,282,595,476 | 30 | bedroom | 0.873 | {
"lighting_lux": 347.5,
"texture_variation": 0.401,
"color_shift": 0.051
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.077,
1.425
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.353,
"y": -0.74,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 24,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.631,
0.422,
0.559
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"dynamic_human_interaction"
] |
FRAME-00005120 | 1,775,282,595,478 | 90 | bedroom | 0.633 | {
"lighting_lux": 834.4,
"texture_variation": 0.402,
"color_shift": -0.111
} | {
"camera_to_base_transform": {
"position": [
0.136,
0.078,
1.452
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.446,
"y": -1.028,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.467,
0.155,
0.959
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00005121 | 1,775,282,595,480 | 60 | living_room | 0.944 | {
"lighting_lux": 838.6,
"texture_variation": 0.561,
"color_shift": -0.008
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.084,
1.434
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.062,
"y": -0.637,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 31,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.401,
0.638,
1.124
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.6... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005122 | 1,775,282,595,483 | 60 | bathroom | 0.435 | {
"lighting_lux": 639.5,
"texture_variation": 0.806,
"color_shift": -0.067
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.077,
1.421
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.362,
"y": -0.881,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.653,
0.395,
0.544
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.7... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"reflective_surface"
] |
FRAME-00005123 | 1,775,282,595,485 | 30 | bedroom | 0.452 | {
"lighting_lux": 82.2,
"texture_variation": 0.57,
"color_shift": -0.054
} | {
"camera_to_base_transform": {
"position": [
0.136,
0.081,
1.377
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.501,
"y": -0.909,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 20,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.332,
0.179,
0.726
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.9... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00005124 | 1,775,282,595,487 | 60 | bedroom | 0.458 | {
"lighting_lux": 71.9,
"texture_variation": 0.994,
"color_shift": -0.149
} | {
"camera_to_base_transform": {
"position": [
0.16,
0.08,
1.373
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.109,
"y": -0.953,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.67,
0.524,
0.208
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 6.3... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00005125 | 1,775,282,595,490 | 30 | bathroom | 0.718 | {
"lighting_lux": 605.4,
"texture_variation": 0.519,
"color_shift": 0.147
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.08,
1.391
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.313,
"y": -0.858,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.308,
0.258,
0.612
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"near_collision",
"dynamic_human_interaction"
] |
FRAME-00005126 | 1,775,282,595,495 | 60 | kitchen | 0.913 | {
"lighting_lux": 953.8,
"texture_variation": 0.995,
"color_shift": -0.088
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.079,
1.509
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.334,
"y": -0.654,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 19,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.212,
0.44,
0.759
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.14... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter"
] |
FRAME-00005127 | 1,775,282,595,498 | 30 | kitchen | 0.252 | {
"lighting_lux": 456.9,
"texture_variation": 0.875,
"color_shift": 0.002
} | {
"camera_to_base_transform": {
"position": [
0.159,
0.083,
1.437
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.452,
"y": -0.945,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.767,
0.503,
0.722
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.818,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
FRAME-00005128 | 1,775,282,595,500 | 60 | bedroom | 0.805 | {
"lighting_lux": 927.3,
"texture_variation": 0.758,
"color_shift": -0.129
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.084,
1.607
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.439,
"y": -0.446,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.545,
0.563,
0.746
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 4.011,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005129 | 1,775,282,595,502 | 60 | kitchen | 0.763 | {
"lighting_lux": 781.4,
"texture_variation": 0.887,
"color_shift": 0.089
} | {
"camera_to_base_transform": {
"position": [
0.16,
0.081,
1.354
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.266,
"y": -0.69,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.159,
0.326,
0.889
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.785,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"safety_critical",
"near_collision",
"reflective_surface"
] |
FRAME-00005130 | 1,775,282,595,505 | 90 | kitchen | 0.693 | {
"lighting_lux": 609.4,
"texture_variation": 0.856,
"color_shift": -0.042
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.077,
1.35
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.897,
"y": -1.049,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.523,
0.642,
0.591
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.9... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00005131 | 1,775,282,595,508 | 30 | kitchen | 0.612 | {
"lighting_lux": 313.2,
"texture_variation": 0.419,
"color_shift": 0.082
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.078,
1.455
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.958,
"y": -0.659,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.63,
0.576,
0.634
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00005132 | 1,775,282,595,512 | 90 | kitchen | 0.491 | {
"lighting_lux": 925.7,
"texture_variation": 0.843,
"color_shift": 0.027
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.08,
1.477
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.098,
"y": -0.827,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 32,
"pixel_perfect": true
} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.307,
0.414,
1.136
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.19... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"reflective_surface"
] |
FRAME-00005133 | 1,775,282,595,516 | 60 | bedroom | 0.426 | {
"lighting_lux": 922.1,
"texture_variation": 0.402,
"color_shift": -0.079
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.078,
1.418
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.459,
"y": -0.737,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.935,
0.239,
0.376
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.9... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
FRAME-00005134 | 1,775,282,595,519 | 90 | kitchen | 0.252 | {
"lighting_lux": 456.9,
"texture_variation": 0.94,
"color_shift": -0.043
} | {
"camera_to_base_transform": {
"position": [
0.159,
0.084,
1.578
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.683,
"y": -0.848,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.168,
0.542,
1.054
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.9... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
FRAME-00005135 | 1,775,282,595,522 | 30 | bedroom | 0.266 | {
"lighting_lux": 945.3,
"texture_variation": 0.702,
"color_shift": -0.044
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.078,
1.444
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.247,
"y": -1.07,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.985,
0.214,
0.513
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.97,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00005136 | 1,775,282,595,526 | 30 | dining_room | 0.697 | {
"lighting_lux": 496.3,
"texture_variation": 0.74,
"color_shift": -0.123
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.081,
1.375
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.488,
"y": -0.949,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 19,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.761,
0.362,
0.804
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.281,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00005137 | 1,775,282,595,530 | 30 | dining_room | 0.793 | {
"lighting_lux": 676.8,
"texture_variation": 0.771,
"color_shift": -0.117
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.079,
1.352
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.411,
"y": -1.281,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 32,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.643,
0.331,
0.657
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.5... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"safety_critical",
"near_collision",
"dynamic_human_interaction"
] |
FRAME-00005138 | 1,775,282,595,534 | 60 | dining_room | 0.669 | {
"lighting_lux": 1067.9,
"texture_variation": 0.475,
"color_shift": 0.09
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.08,
1.512
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.114,
"y": -0.895,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.586,
0.475,
0.761
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.613,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00005139 | 1,775,282,595,539 | 60 | bathroom | 0.932 | {
"lighting_lux": 190.7,
"texture_variation": 0.604,
"color_shift": 0.105
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.08,
1.28
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.177,
"y": -0.967,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.463,
0.35,
0.584
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 5.965,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00005140 | 1,775,282,595,543 | 30 | living_room | 0.268 | {
"lighting_lux": 190.6,
"texture_variation": 0.855,
"color_shift": 0.034
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.079,
1.381
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.3,
"y": -1.004,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.729,
0.392,
0.951
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface"
] |
FRAME-00005141 | 1,775,282,595,547 | 90 | living_room | 0.459 | {
"lighting_lux": 1091,
"texture_variation": 0.469,
"color_shift": 0.035
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.074,
1.55
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.228,
"y": -1.071,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.452,
0.331,
0.585
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.5... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00005142 | 1,775,282,595,550 | 30 | living_room | 0.395 | {
"lighting_lux": 126.8,
"texture_variation": 0.614,
"color_shift": 0.066
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.078,
1.664
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.161,
"y": -0.874,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.721,
0.224,
0.724
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.664,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00005143 | 1,775,282,595,553 | 90 | dining_room | 0.372 | {
"lighting_lux": 1001,
"texture_variation": 0.802,
"color_shift": -0.069
} | {
"camera_to_base_transform": {
"position": [
0.163,
0.082,
1.572
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.373,
"y": -1.004,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.08,
0.06,
1.057
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00005144 | 1,775,282,595,558 | 30 | kitchen | 0.92 | {
"lighting_lux": 752.2,
"texture_variation": 0.596,
"color_shift": 0.025
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.082,
1.489
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.342,
"y": -0.979,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.629,
0.355,
0.514
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.511,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005145 | 1,775,282,595,562 | 60 | bedroom | 0.92 | {
"lighting_lux": 800.7,
"texture_variation": 0.886,
"color_shift": 0.015
} | {
"camera_to_base_transform": {
"position": [
0.163,
0.081,
1.559
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.055,
"y": -0.977,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.586,
0.426,
1.115
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.8... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"reflective_surface"
] |
FRAME-00005146 | 1,775,282,595,566 | 90 | dining_room | 0.474 | {
"lighting_lux": 366.1,
"texture_variation": 0.678,
"color_shift": 0.055
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.076,
1.574
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.097,
"y": -0.997,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.546,
0.388,
0.726
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.9... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00005147 | 1,775,282,595,570 | 90 | bedroom | 0.746 | {
"lighting_lux": 249.1,
"texture_variation": 0.823,
"color_shift": 0.11
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.075,
1.465
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.248,
"y": -0.882,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.037,
0.198,
0.639
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.413,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"near_collision"
] |
FRAME-00005148 | 1,775,282,595,575 | 60 | kitchen | 0.927 | {
"lighting_lux": 181.5,
"texture_variation": 0.537,
"color_shift": -0.149
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.078,
1.515
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.904,
"y": -1.036,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.688,
0.549,
0.683
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision"
] |
FRAME-00005149 | 1,775,282,595,579 | 90 | bathroom | 0.435 | {
"lighting_lux": 639.5,
"texture_variation": 0.77,
"color_shift": -0.01
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.081,
1.38
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.259,
"y": -0.801,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.775,
0.583,
1.148
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 7.296,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00005150 | 1,775,282,595,582 | 30 | dining_room | 0.845 | {
"lighting_lux": 222.3,
"texture_variation": 0.862,
"color_shift": 0.115
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.077,
1.551
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.312,
"y": -0.911,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.285,
0.192,
0.648
],
"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
} | [
"high_clutter",
"grasped_sharp_object",
"safety_critical",
"near_collision",
"motion_blur"
] |
FRAME-00005151 | 1,775,282,595,586 | 60 | dining_room | 0.832 | {
"lighting_lux": 271.1,
"texture_variation": 0.708,
"color_shift": 0.035
} | {
"camera_to_base_transform": {
"position": [
0.16,
0.078,
1.448
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.146,
"y": -1.038,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.578,
0.583,
0.864
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.46,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00005152 | 1,775,282,595,590 | 60 | bedroom | 0.451 | {
"lighting_lux": 240.2,
"texture_variation": 0.49,
"color_shift": -0.018
} | {
"camera_to_base_transform": {
"position": [
0.159,
0.083,
1.284
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.842,
"y": -0.687,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.279,
0.5,
0.909
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.33... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005153 | 1,775,282,595,594 | 90 | living_room | 0.319 | {
"lighting_lux": 107.4,
"texture_variation": 0.522,
"color_shift": -0.144
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.084,
1.485
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.241,
"y": -0.998,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 31,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.578,
0.729,
0.641
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005154 | 1,775,282,595,598 | 60 | bathroom | 0.853 | {
"lighting_lux": 67.7,
"texture_variation": 0.743,
"color_shift": -0.027
} | {
"camera_to_base_transform": {
"position": [
0.143,
0.08,
1.648
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.284,
"y": -0.905,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.353,
0.53,
0.658
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.09... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"reflective_surface"
] |
FRAME-00005155 | 1,775,282,595,600 | 60 | bedroom | 0.752 | {
"lighting_lux": 962.2,
"texture_variation": 0.589,
"color_shift": 0.033
} | {
"camera_to_base_transform": {
"position": [
0.15,
0.081,
1.461
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.373,
"y": -1.143,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.768,
0.776,
0.818
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.289,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00005156 | 1,775,282,595,603 | 90 | bathroom | 0.403 | {
"lighting_lux": 650.1,
"texture_variation": 0.501,
"color_shift": -0.142
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.08,
1.554
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.118,
"y": -0.668,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 20,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.383,
0.681,
0.663
],
"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
} | [
"motion_blur"
] |
FRAME-00005157 | 1,775,282,595,605 | 60 | kitchen | 0.722 | {
"lighting_lux": 206.1,
"texture_variation": 0.776,
"color_shift": -0.149
} | {
"camera_to_base_transform": {
"position": [
0.139,
0.083,
1.468
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.124,
"y": -0.724,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 24,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.181,
0.573,
1.013
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.902,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"near_collision",
"motion_blur",
"reflective_surface"
] |
FRAME-00005158 | 1,775,282,595,609 | 30 | dining_room | 0.553 | {
"lighting_lux": 585.3,
"texture_variation": 0.934,
"color_shift": 0.143
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.08,
1.383
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.956,
"y": -1.014,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.695,
0.635,
0.8
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.135... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005159 | 1,775,282,595,613 | 30 | kitchen | 0.483 | {
"lighting_lux": 883.8,
"texture_variation": 0.971,
"color_shift": -0.101
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.083,
1.253
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.136,
"y": -1.098,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "cup_01",
"class": "cup",
"class_id": 5,
"pose_6dof": {
"position": [
0.315,
0.682,
0.537
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.874,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00005160 | 1,775,282,595,618 | 90 | dining_room | 0.261 | {
"lighting_lux": 965.5,
"texture_variation": 0.465,
"color_shift": -0.146
} | {
"camera_to_base_transform": {
"position": [
0.141,
0.085,
1.361
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.958,
"y": -0.807,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.498,
0.635,
0.723
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005161 | 1,775,282,595,624 | 60 | bathroom | 0.802 | {
"lighting_lux": 420,
"texture_variation": 0.444,
"color_shift": 0.047
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.08,
1.557
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.392,
"y": -0.734,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.337,
0.343,
1.002
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.9... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005162 | 1,775,282,595,629 | 30 | bathroom | 0.647 | {
"lighting_lux": 740.6,
"texture_variation": 0.883,
"color_shift": -0.028
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.082,
1.432
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.569,
"y": -1,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.358,
0.213,
0.58
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.55... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00005163 | 1,775,282,595,635 | 30 | dining_room | 0.467 | {
"lighting_lux": 953,
"texture_variation": 0.618,
"color_shift": 0.039
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.077,
1.53
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.219,
"y": -0.798,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.336,
0.417,
0.586
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.68,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00005164 | 1,775,282,595,639 | 90 | bathroom | 0.889 | {
"lighting_lux": 67.1,
"texture_variation": 0.443,
"color_shift": -0.006
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.082,
1.701
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.146,
"y": -0.947,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.415,
0.253,
0.752
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.6... | {
"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"
] |
FRAME-00005165 | 1,775,282,595,642 | 90 | bathroom | 0.494 | {
"lighting_lux": 122.4,
"texture_variation": 0.975,
"color_shift": 0.106
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.082,
1.394
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.507,
"y": -1.114,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.551,
0.576,
0.907
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.038,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00005166 | 1,775,282,595,648 | 30 | bedroom | 0.474 | {
"lighting_lux": 301.2,
"texture_variation": 0.77,
"color_shift": -0.04
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.082,
1.5
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.15,
"y": -0.514,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.131,
0.435,
0.861
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00005167 | 1,775,282,595,652 | 30 | dining_room | 0.525 | {
"lighting_lux": 579.4,
"texture_variation": 0.546,
"color_shift": 0.148
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.083,
1.484
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.072,
"y": -0.818,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.623,
0.478,
0.643
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 3.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface"
] |
FRAME-00005168 | 1,775,282,595,656 | 90 | bathroom | 0.718 | {
"lighting_lux": 605.4,
"texture_variation": 0.761,
"color_shift": 0.075
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.078,
1.565
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.756,
"y": -1.087,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 24,
"pixel_perfect": true
} | [
{
"object_id": "remote_01",
"class": "remote",
"class_id": 14,
"pose_6dof": {
"position": [
0.165,
0.401,
0.893
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"near_collision"
] |
FRAME-00005169 | 1,775,282,595,662 | 30 | dining_room | 0.95 | {
"lighting_lux": 32.1,
"texture_variation": 0.694,
"color_shift": -0.053
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.082,
1.549
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.1,
"y": -0.559,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "table_01",
"class": "table",
"class_id": 6,
"pose_6dof": {
"position": [
0.296,
0.466,
0.626
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur"
] |
FRAME-00005170 | 1,775,282,595,667 | 30 | dining_room | 0.684 | {
"lighting_lux": 987.8,
"texture_variation": 0.669,
"color_shift": 0.136
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.079,
1.379
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.319,
"y": -0.809,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 20,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.354,
0.231,
0.713
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00005171 | 1,775,282,595,671 | 60 | kitchen | 0.361 | {
"lighting_lux": 221.8,
"texture_variation": 0.874,
"color_shift": 0.107
} | {
"camera_to_base_transform": {
"position": [
0.159,
0.081,
1.388
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.178,
"y": -0.937,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.39,
0.701,
0.815
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.4... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00005172 | 1,775,282,595,675 | 90 | dining_room | 0.546 | {
"lighting_lux": 682.1,
"texture_variation": 0.767,
"color_shift": 0.033
} | {
"camera_to_base_transform": {
"position": [
0.146,
0.081,
1.353
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.341,
"y": -0.898,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.629,
0.439,
0.94
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.723... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00005173 | 1,775,282,595,680 | 90 | living_room | 0.47 | {
"lighting_lux": 804.7,
"texture_variation": 0.629,
"color_shift": -0.062
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.077,
1.469
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.49,
"y": -0.911,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 15,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.415,
0.439,
0.817
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.3... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00005174 | 1,775,282,595,684 | 60 | bedroom | 0.426 | {
"lighting_lux": 922.1,
"texture_variation": 0.743,
"color_shift": 0.098
} | {
"camera_to_base_transform": {
"position": [
0.129,
0.079,
1.564
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.809,
"y": -0.765,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.412,
0.275,
1.185
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00005175 | 1,775,282,595,689 | 30 | dining_room | 0.474 | {
"lighting_lux": 366.1,
"texture_variation": 0.696,
"color_shift": 0.059
} | {
"camera_to_base_transform": {
"position": [
0.162,
0.079,
1.495
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.314,
"y": -0.804,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.228,
0.133,
0.802
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.81... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00005176 | 1,775,282,595,696 | 60 | dining_room | 0.261 | {
"lighting_lux": 965.5,
"texture_variation": 0.457,
"color_shift": 0.005
} | {
"camera_to_base_transform": {
"position": [
0.165,
0.082,
1.35
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.096,
"y": -0.848,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 22,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.606,
0.618,
0.502
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005177 | 1,775,282,595,699 | 90 | dining_room | 0.588 | {
"lighting_lux": 361,
"texture_variation": 0.503,
"color_shift": -0.107
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.081,
1.551
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.521,
"y": -1.004,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 31,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.4,
0.625,
0.707
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.385... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00005178 | 1,775,282,595,701 | 30 | kitchen | 0.553 | {
"lighting_lux": 342.2,
"texture_variation": 0.508,
"color_shift": 0.105
} | {
"camera_to_base_transform": {
"position": [
0.154,
0.076,
1.378
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.368,
"y": -0.783,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "book_01",
"class": "book",
"class_id": 11,
"pose_6dof": {
"position": [
0.379,
0.489,
0.527
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.36... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"motion_blur"
] |
FRAME-00005179 | 1,775,282,595,704 | 60 | bathroom | 0.511 | {
"lighting_lux": 1065.6,
"texture_variation": 0.837,
"color_shift": 0.036
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.082,
1.582
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.173,
"y": -0.892,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.733,
0.351,
1.048
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005180 | 1,775,282,595,708 | 30 | living_room | 0.787 | {
"lighting_lux": 617.8,
"texture_variation": 0.695,
"color_shift": -0.061
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.077,
1.487
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.462,
"y": -0.879,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.513,
0.476,
0.602
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"near_collision",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00005181 | 1,775,282,595,712 | 30 | bathroom | 0.858 | {
"lighting_lux": 300.1,
"texture_variation": 0.991,
"color_shift": -0.069
} | {
"camera_to_base_transform": {
"position": [
0.156,
0.08,
1.294
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.257,
"y": -1.003,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.86,
0.482,
0.75
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.608... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005182 | 1,775,282,595,715 | 90 | bathroom | 0.563 | {
"lighting_lux": 822.9,
"texture_variation": 0.746,
"color_shift": -0.052
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.08,
1.447
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.186,
"y": -0.927,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.316,
0.616,
0.918
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.581,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface"
] |
FRAME-00005183 | 1,775,282,595,719 | 30 | dining_room | 0.697 | {
"lighting_lux": 496.3,
"texture_variation": 0.805,
"color_shift": -0.137
} | {
"camera_to_base_transform": {
"position": [
0.141,
0.076,
1.487
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.869,
"y": -0.835,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.433,
0.358,
0.98
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 2.286,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
FRAME-00005184 | 1,775,282,595,724 | 30 | dining_room | 0.333 | {
"lighting_lux": 616.8,
"texture_variation": 0.55,
"color_shift": 0.08
} | {
"camera_to_base_transform": {
"position": [
0.148,
0.08,
1.373
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.603,
"y": -1.006,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 19,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.721,
0.365,
0.769
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.2... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005185 | 1,775,282,595,728 | 30 | bathroom | 0.743 | {
"lighting_lux": 615.6,
"texture_variation": 0.649,
"color_shift": 0.116
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.075,
1.316
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.837,
"y": -0.824,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 26,
"pixel_perfect": true
} | [
{
"object_id": "lamp_01",
"class": "lamp",
"class_id": 15,
"pose_6dof": {
"position": [
0.516,
0.237,
0.939
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.95... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"near_collision",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00005186 | 1,775,282,595,733 | 30 | living_room | 0.852 | {
"lighting_lux": 83.2,
"texture_variation": 0.953,
"color_shift": 0.044
} | {
"camera_to_base_transform": {
"position": [
0.158,
0.079,
1.453
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.304,
"y": -1.004,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 28,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.591,
0.363,
0.792
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 6.134,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"dynamic_human_interaction"
] |
FRAME-00005187 | 1,775,282,595,736 | 30 | kitchen | 0.455 | {
"lighting_lux": 732.6,
"texture_variation": 0.553,
"color_shift": -0.017
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.08,
1.42
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.065,
"y": -1.021,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 23,
"pixel_perfect": true
} | [
{
"object_id": "chair_01",
"class": "chair",
"class_id": 4,
"pose_6dof": {
"position": [
0.666,
0.354,
0.874
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.8... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00005188 | 1,775,282,595,740 | 30 | bathroom | 0.515 | {
"lighting_lux": 376.7,
"texture_variation": 0.896,
"color_shift": 0.132
} | {
"camera_to_base_transform": {
"position": [
0.155,
0.076,
1.386
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.205,
"y": -1.132,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.507,
0.205,
0.674
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.346,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00005189 | 1,775,282,595,743 | 60 | bathroom | 0.847 | {
"lighting_lux": 584.6,
"texture_variation": 0.46,
"color_shift": -0.141
} | {
"camera_to_base_transform": {
"position": [
0.149,
0.081,
1.497
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.965,
"y": -0.946,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.086,
0.221,
0.397
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"near_collision",
"motion_blur",
"reflective_surface"
] |
FRAME-00005190 | 1,775,282,595,747 | 90 | living_room | 0.696 | {
"lighting_lux": 583.5,
"texture_variation": 0.782,
"color_shift": 0.02
} | {
"camera_to_base_transform": {
"position": [
0.153,
0.08,
1.559
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.072,
"y": -1.117,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 25,
"pixel_perfect": true
} | [
{
"object_id": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.529,
0.591,
0.588
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.617,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object",
"reflective_surface",
"dynamic_human_interaction"
] |
FRAME-00005191 | 1,775,282,595,751 | 90 | dining_room | 0.845 | {
"lighting_lux": 222.3,
"texture_variation": 0.916,
"color_shift": -0.069
} | {
"camera_to_base_transform": {
"position": [
0.163,
0.083,
1.396
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.899,
"y": -0.674,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 24,
"pixel_perfect": true
} | [
{
"object_id": "adult_01",
"class": "adult",
"class_id": 2,
"pose_6dof": {
"position": [
0.835,
0.372,
0.732
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.9... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"high_clutter",
"grasped_sharp_object",
"safety_critical",
"near_collision",
"motion_blur"
] |
FRAME-00005192 | 1,775,282,595,756 | 90 | kitchen | 0.755 | {
"lighting_lux": 279.8,
"texture_variation": 0.854,
"color_shift": 0.051
} | {
"camera_to_base_transform": {
"position": [
0.152,
0.083,
1.34
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.781,
"y": -0.924,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "phone_01",
"class": "phone",
"class_id": 13,
"pose_6dof": {
"position": [
0.74,
0.512,
0.876
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 1.8... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"motion_blur"
] |
FRAME-00005193 | 1,775,282,595,760 | 30 | bedroom | 0.656 | {
"lighting_lux": 683.5,
"texture_variation": 0.639,
"color_shift": -0.044
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.076,
1.386
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.26,
"y": -0.816,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 27,
"pixel_perfect": true
} | [
{
"object_id": "bottle_01",
"class": "bottle",
"class_id": 10,
"pose_6dof": {
"position": [
0.349,
0.147,
0.738
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": ... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"dynamic_human_interaction"
] |
FRAME-00005194 | 1,775,282,595,764 | 90 | bedroom | 0.746 | {
"lighting_lux": 249.1,
"texture_variation": 0.913,
"color_shift": -0.067
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.08,
1.398
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.556,
"y": -0.929,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 29,
"pixel_perfect": true
} | [
{
"object_id": "pan_01",
"class": "pan",
"class_id": 8,
"pose_6dof": {
"position": [
0.436,
0.779,
0.547
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 7.805,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"near_collision"
] |
FRAME-00005195 | 1,775,282,595,769 | 60 | dining_room | 0.6 | {
"lighting_lux": 18.1,
"texture_variation": 0.496,
"color_shift": 0.089
} | {
"camera_to_base_transform": {
"position": [
0.147,
0.077,
1.39
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.132,
"y": -1.073,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 17,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.541,
0.314,
0.78
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 3.554,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"low_lighting",
"motion_blur",
"dynamic_human_interaction"
] |
FRAME-00005196 | 1,775,282,595,773 | 90 | bathroom | 0.267 | {
"lighting_lux": 74.4,
"texture_variation": 0.554,
"color_shift": 0.029
} | {
"camera_to_base_transform": {
"position": [
0.144,
0.073,
1.6
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.38,
"y": -0.957,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 30,
"pixel_perfect": true
} | [
{
"object_id": "child_01",
"class": "child",
"class_id": 3,
"pose_6dof": {
"position": [
0.178,
0.215,
0.779
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.2... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00005197 | 1,775,282,595,777 | 30 | bathroom | 0.453 | {
"lighting_lux": 672.7,
"texture_variation": 0.487,
"color_shift": -0.027
} | {
"camera_to_base_transform": {
"position": [
0.157,
0.08,
1.619
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 0.925,
"y": -1.008,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 21,
"pixel_perfect": true
} | [
{
"object_id": "pot_01",
"class": "pot",
"class_id": 9,
"pose_6dof": {
"position": [
0.499,
0.497,
0.477
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 7.977,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00005198 | 1,775,282,595,783 | 60 | bedroom | 0.708 | {
"lighting_lux": 103,
"texture_variation": 0.677,
"color_shift": 0.04
} | {
"camera_to_base_transform": {
"position": [
0.145,
0.079,
1.562
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.14,
"y": -0.878,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
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": "toy_01",
"class": "toy",
"class_id": 1,
"pose_6dof": {
"position": [
0.467,
0.441,
0.724
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.259,
... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"grasped_sharp_object"
] |
FRAME-00005199 | 1,775,282,595,788 | 90 | bedroom | 0.484 | {
"lighting_lux": 797.3,
"texture_variation": 0.978,
"color_shift": 0.049
} | {
"camera_to_base_transform": {
"position": [
0.163,
0.079,
1.402
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.259,
"y": -0.914,
"yaw_deg": 0
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 18,
"pixel_perfect": true
} | [
{
"object_id": "knife_01",
"class": "knife",
"class_id": 12,
"pose_6dof": {
"position": [
0.597,
0.52,
0.413
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 7.1... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [] |
FRAME-00005200 | 1,775,282,595,793 | 90 | bedroom | 0.254 | {
"lighting_lux": 187.6,
"texture_variation": 0.573,
"color_shift": 0.107
} | {
"camera_to_base_transform": {
"position": [
0.151,
0.083,
1.458
],
"rotation_quat": [
0,
0,
0,
1
]
}
} | {
"base_pose": {
"x": 1.438,
"y": -0.825,
"yaw_deg": 360
},
"joint_angles_deg": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"joint_velocities": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
... | {
"rgb_resolution": "1280x720",
"depth_resolution": "640x480",
"segmentation_mask_count": 14,
"pixel_perfect": true
} | [
{
"object_id": "plate_01",
"class": "plate",
"class_id": 7,
"pose_6dof": {
"position": [
0.448,
0.137,
0.629
],
"rotation_quat": [
0,
0,
0,
1
]
},
"velocity": [
0,
0,
0
],
"mass_kg": 0.3... | {
"6dof_poses": true,
"contact_points": true,
"velocity_vectors": true,
"semantic_segmentation": true,
"grasp_labels": true
} | [
"reflective_surface",
"dynamic_human_interaction"
] |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.