Search is not available for this dataset
image
imagewidth (px) 640
640
| episode_idx
int64 0
0
| step_idx
int64 0
0
| timestamp
float64 0
7.05k
| observation
dict | action
dict | image_keys
stringclasses 1
value |
|---|---|---|---|---|---|---|
0 | 0 | 0 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/0/observation/image-35a605b7.jpg?Expires=1742305470&Signature=JkF87K9ypBR-fb7i98pa20ChswX4CffRoUO3hBwsI9RkvCNtsaC4s6mDp0-Z73ggqWmyiHcpZTokCIjFl3KbiVdE2VuCzIiNpqWvDBx5hW9UyNa6SU~xm-DJRELjclzM95GpSnKH87FYJgVH0drWXwdjHXe5gd1-Zz8PYGEWcd5-k987PZAiHgWuagLU6CP8JBcLNYs9LYvyQhpTTlJvppo~Dk2j~EW8PXJBtu-3y4WZ0m5kvWi-WR7Y8FoQC-uK12QXDhfiak~To1Ok3XZ1yXCa5w2Xn0XN9on~s9AERKPRdDWDEGxpXzKCSZuB5gjzGeietXFq1HbY4yg1XgOwGQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/0/observation/image-367d05c9.jpg?Expires=1742305470&Signature=uONojTdWqYVoCAMgAGTHSucAYOfuwF~DZwYgQBKzm8GN3Krns1EiyAJXi9KnmmNVEw3SU0aJrQicL~s0PbanwfkeuFTDtaWv8OiIayQ0vK~CXOlkuZxhWVY7beK786Z6Aw~urMPNwqrTTkJBPbMNJEucq~sSdv16l0J7fnKjOU9BU0mZ5XbgoWJiK5d60SxxlB1CXQ3ZGJPiXtCfXnTrj79VeYAz9wq4UC-6zAKsCRzjwOVc~iMcFwmwXaP7CUukEwZ5utVOilmcenSy8Dw8JrYb6HaDW5iH61N9zj-PLsdjVfPMsQihPrDAbcV7j1VpePEdDH4eMTQAgyO~x5hmMg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 331,
"y1": 249,
"x2": 334,
"y2": 278
},
"pose": {
"x": 57.37694549560547,
"y": 14.898506164550781,
"z": 1472.7637939453125,
"roll": -2.6773695276806486,
"pitch": -1.4298751061387787,
"yaw": -1.751573109915941
}
},
{
"name": "0",
"bbox_2d": {
"x1": 444,
"y1": 313,
"x2": 470,
"y2": 361
},
"pose": {
"x": 225.45530700683594,
"y": 168.51051330566406,
"z": 1008.190185546875,
"roll": -2.726481179713535,
"pitch": -1.4331145137885348,
"yaw": -1.701982147830286
}
},
{
"name": "1",
"bbox_2d": {
"x1": 390,
"y1": 220,
"x2": 420,
"y2": 294
},
"pose": {
"x": 183.8194580078125,
"y": 32.97506332397461,
"z": 1535.71630859375,
"roll": 1.8095645216238228,
"pitch": 1.01098456194969,
"yaw": 0.49084956503268273
}
},
{
"name": "5",
"bbox_2d": {
"x1": 316,
"y1": 238,
"x2": 334,
"y2": 252
},
"pose": {
"x": 21.83791732788086,
"y": 38.88886260986328,
"z": 1623.790283203125,
"roll": -1.7142606167912244,
"pitch": 0.49823843597504575,
"yaw": -2.923070184146582
}
},
{
"name": "3",
"bbox_2d": {
"x1": 471,
"y1": 257,
"x2": 561,
"y2": 393
},
"pose": {
"x": 291.3502197265625,
"y": 136.74551391601562,
"z": 933.6434936523438,
"roll": -1.7317762243628603,
"pitch": 0.6704447851833024,
"yaw": -2.954701791311629
}
},
{
"name": "4",
"bbox_2d": {
"x1": 402,
"y1": 318,
"x2": 448,
"y2": 375
},
"pose": {
"x": 175.43698120117188,
"y": 167.77467346191406,
"z": 925.9227905273438,
"roll": -1.83749731440489,
"pitch": -1.0740876336660468,
"yaw": -2.6184183939022763
}
}
]
} | image |
|
0 | 0 | 1 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/1/observation/image-35a605b7.jpg?Expires=1742305470&Signature=H7mpNONbvn3TI58gRvNxzz~gdHWcX6RorOmO1~USgu~afmRrhzxGdm8N~3XhjlBFC3e8gvYJ~4TFMfOCPQU-xdkxMBA~DBuZHaIn8tC~204D8iqeVK8C4tJQTf1DybCDSZYpif73I7gBb1dIlx9p6jL6ASUKezZjEw~yEg-sFRBZJLZoNs3Emw-qTfscz42GT8aCjMCPeN8s71m-ufWtISigCx~uFjm0QvePVf7tAjmxsd1IDbZf3OT~-E2aYzzeVUmM078G7zzefV55UrbF5H1DJZrWwFALOB9KXOGwl8F6UReuLSL4B5xVDIduAcXmudh42~UVneDvqNFyhg4euw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/1/observation/image-367d05c9.jpg?Expires=1742305470&Signature=oHSBauGMAtxMQtl3k69qBaPl7XVUj8ixPxn~GrYZFTadx8GnZx7VS7JEmNaoZH0AZx-zYD4BdqOMDZwWeuOCO-~RGGgAuDyIdPKYzoEWlEEPQW0fpDao2jddni6ItWuiKu8uv593BqQNsuD-IafVhBlpBHO9vPRuW0hfdcLUwyV7QKZn2ikTc~6piLR~XCtGt3GMGvwnEYSFqTmCCVWKE~0iPiak11i3DsadE5aYiA-qlmIkE2N~F0chX6HCzJrNkJ8ced7GLkKCItsm1DkCAHqt4ORKlA2zYDWQ~AKSsO0mAi1w6WqIFqgFHx0Zv0VukHMs7nxEnxKm9yVS4RK6ZA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 349,
"y1": 291,
"x2": 466,
"y2": 418
},
"pose": {
"x": 84.48395538330078,
"y": 115.62137603759766,
"z": 584.0111083984375,
"roll": 2.938619631430879,
"pitch": -0.7069234736709574,
"yaw": -1.201119668987845
}
},
{
"name": "6",
"bbox_2d": {
"x1": 260,
"y1": 230,
"x2": 319,
"y2": 360
},
"pose": {
"x": -37.49312973022461,
"y": 48.070709228515625,
"z": 582.4973754882812,
"roll": -2.5633738681396094,
"pitch": 0.4749276729318137,
"yaw": 2.5932326702532826
}
},
{
"name": "0",
"bbox_2d": {
"x1": 432,
"y1": 58,
"x2": 478,
"y2": 114
},
"pose": {
"x": 215.95216369628906,
"y": -251.84950256347656,
"z": 919.3784790039062,
"roll": -2.5601178461517695,
"pitch": 0.4707587575775345,
"yaw": 2.6003821138462744
}
},
{
"name": "1",
"bbox_2d": {
"x1": 103,
"y1": 151,
"x2": 247,
"y2": 319
},
"pose": {
"x": -164.6666717529297,
"y": -8.74227523803711,
"z": 612.1072387695312,
"roll": 2.857149105194882,
"pitch": -0.6826028002919788,
"yaw": -1.073972568461347
}
},
{
"name": "5",
"bbox_2d": {
"x1": 93,
"y1": 341,
"x2": 263,
"y2": 479
},
"pose": {
"x": -139.620361328125,
"y": 161.27603149414062,
"z": 545.0511474609375,
"roll": 2.446926096104089,
"pitch": 0.24803973356158543,
"yaw": 0.3493540047512498
}
},
{
"name": "3",
"bbox_2d": {
"x1": 406,
"y1": 0,
"x2": 525,
"y2": 92
},
"pose": {
"x": 239.9857940673828,
"y": -352.60015869140625,
"z": 932.7955322265625,
"roll": 2.4212150857359354,
"pitch": 0.13464028910370104,
"yaw": 0.214570326855763
}
}
]
} | image |
|
0 | 0 | 2 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/2/observation/image-35a605b7.jpg?Expires=1742305470&Signature=eLW494PdGl8wU834TA2BvAGnOuTHwvUR2jvmq8khwif0EM2SmxsDfEpF3t8koKnhG5f2BtrE919PS~at68sa2vb~-Mk4m2XwuqfTDN2~ldwO-6FyN4BoXAkB3-KejWSLLQSyPQnbRKxwuUwplLXf-XkxNjQnuPZiNzEmsx9QkVHLrKck6T~6B39zzEhHfB90TAlgiTlVuEOj6JfaRa4F6WLirqXbcRvB7MpeJEdlD8S-bhwxircVdUycr-dOlQUTQPd9u2d2fGxqvqROF3ydv1AWEfckiIpOtNFi2ZJXTbcRoFWiW4skchGvxbPgXXA3Mj7RdV7C9Nj-Ry3c6OUuDw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/2/observation/image-367d05c9.jpg?Expires=1742305470&Signature=iYQgI64LhF7skcIjSmiLfRdd85gXGhxVu4mTZO5mfLLIrmyEbtvmqQOtMoYxDudsPP7JMrU~fD9qY3zPp6zekCsIMBianSrxZ-AW-76gz9a3HQx~RRdbwRtZxX4krFDqO~ndCz4R6vTyFtMY7ztTmcXP5HERX5zND-kdaBZgpVSy6IZhmiw~qL2KNq9VoodLDoAs~DJH0ww3LJRCDVv2FeIfD5u9zVSF9nxJxAEGOzAkxqmJA-OYQ9LJlVDJLiK-VeWgLkuzw40kFnuxjNIMop-NaXrjhF7PO9sjjq28hF7BKp65d44dU8szAqOakouByXvty5lYn1wlJFOwWRzeaQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 201,
"y1": 251,
"x2": 286,
"y2": 346
},
"pose": {
"x": -122.27269744873047,
"y": 85.18221282958984,
"z": 843.832763671875,
"roll": 2.812836674347961,
"pitch": -0.19707144230408996,
"yaw": -0.692666428847938
}
},
{
"name": "6",
"bbox_2d": {
"x1": 168,
"y1": 194,
"x2": 215,
"y2": 262
},
"pose": {
"x": -201.36058044433594,
"y": -29.474029541015625,
"z": 850.3790283203125,
"roll": -2.760298854923255,
"pitch": -0.011271530210099733,
"yaw": 2.9980971113655897
}
},
{
"name": "0",
"bbox_2d": {
"x1": 454,
"y1": 74,
"x2": 496,
"y2": 107
},
"pose": {
"x": 259.21893310546875,
"y": -244.2607421875,
"z": 947.3772583007812,
"roll": -2.7603890423711976,
"pitch": -0.014104073592365192,
"yaw": 3.0051599362632824
}
},
{
"name": "1",
"bbox_2d": {
"x1": 101,
"y1": 99,
"x2": 193,
"y2": 199
},
"pose": {
"x": -274.82354736328125,
"y": -144.92623901367188,
"z": 889.7691650390625,
"roll": 2.7955041865070616,
"pitch": -0.16373287661398903,
"yaw": -0.5961534647367274
}
},
{
"name": "5",
"bbox_2d": {
"x1": 61,
"y1": 210,
"x2": 150,
"y2": 310
},
"pose": {
"x": -341.34613037109375,
"y": 27.09579849243164,
"z": 893.408447265625,
"roll": 2.983462030756831,
"pitch": 0.34860078475418155,
"yaw": 0.9624188624137744
}
},
{
"name": "3",
"bbox_2d": {
"x1": 471,
"y1": 0,
"x2": 607,
"y2": 102
},
"pose": {
"x": 319.47125244140625,
"y": -321.50244140625,
"z": 911.1594848632812,
"roll": 2.924242896933798,
"pitch": 0.31599343641064337,
"yaw": 0.7813531574177297
}
},
{
"name": "4",
"bbox_2d": {
"x1": 503,
"y1": 95,
"x2": 563,
"y2": 149
},
"pose": {
"x": 345.5318603515625,
"y": -205.54966735839844,
"z": 929.4375610351562,
"roll": -2.786094079564924,
"pitch": 0.1413313830727189,
"yaw": 2.6073541026761733
}
},
{
"name": "2",
"bbox_2d": {
"x1": 0,
"y1": 318,
"x2": 90,
"y2": 376
},
"pose": {
"x": -423.3382568359375,
"y": 148.16351318359375,
"z": 825.2037963867188,
"roll": -3.0045367876519506,
"pitch": -0.3571094379549748,
"yaw": -2.11820733623387
}
}
]
} | image |
|
0 | 0 | 3 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/3/observation/image-35a605b7.jpg?Expires=1742305470&Signature=i9zx3~v2vVcIRPRR~XAPJpQML6ojmJN0rkudXn7WjEny-6txItgO7vAk3XFAt47s~XkLvFYyoNrP88t32fmWWOHdZkOPGXEjvJI5HFdbty~wGghBSFNMrXMpZ2kShtjiGPZGcriV-y1MfE33U0P3yd9-kz644IrlywoI9YLCtw4OvaGrg3OM6cQck73lvfYCvC08AM03vMw~8qpHE4N9g~G88hM8Yoed4sJ58y3HhmQX8IVzRA3UHnJbD8br3HcBsNpzy193PppX2VBJnBxiPfLPAoFeiJXguWLEIynZrS0RWs0ZZcmRiIIyQ8a49LmUp7PyZM5oCpKaGuvvTdry1g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/3/observation/image-367d05c9.jpg?Expires=1742305470&Signature=xoI~0socgQeWgIjb9Vp3b6m5e6W1ezfvYy2Qq2x3jU8DCV9c2syaDnKNLPXIh4mKrL7PUmeMROkPxa~W4aWS4Vhkw8ACEDUf2CK09OyQQdh92PUuTtAKnw-V~GbaLHvjCJkmaBQOxq3Z~5U3jQCzevElSYxXzpJYvEQhild-mfDMCXh0v1O3E1JFw3stVGEwcHPf8ahLSSxV3rz1RT11A7e~Sh4FzCa7oHBG~Jspx84acVxxDLv6SokDgYNB30oJyAUFC5hwC-qJSO0iTCxXJVY4DH~ccSg3qw0gcQuRjNW4jQ8hMZ4MydTPtek7FLZ7uaFr0~joGqRS1imuzqYolg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 341,
"y1": 226,
"x2": 389,
"y2": 269
},
"pose": {
"x": 105.25061798095703,
"y": -0.5554696917533875,
"z": 1488.289306640625,
"roll": -2.6172426344608737,
"pitch": 0.6628014120814493,
"yaw": 2.4988160814769445
}
},
{
"name": "6",
"bbox_2d": {
"x1": 394,
"y1": 233,
"x2": 418,
"y2": 289
},
"pose": {
"x": 203.47511291503906,
"y": 43.640960693359375,
"z": 1399.731689453125,
"roll": 2.3664206245889416,
"pitch": -0.3001442293399783,
"yaw": -0.11948981968613287
}
},
{
"name": "0",
"bbox_2d": {
"x1": 212,
"y1": 346,
"x2": 240,
"y2": 380
},
"pose": {
"x": -211.41677856445312,
"y": 247.42222595214844,
"z": 1167.3238525390625,
"roll": 2.3647554800876653,
"pitch": -0.2948147181374314,
"yaw": -0.11380978595441074
}
},
{
"name": "1",
"bbox_2d": {
"x1": 423,
"y1": 263,
"x2": 483,
"y2": 337
},
"pose": {
"x": 296.3594055175781,
"y": 118.80940246582031,
"z": 1322.2734375,
"roll": -2.5540434722623226,
"pitch": 0.6096382963968616,
"yaw": 2.6050812619696675
}
},
{
"name": "5",
"bbox_2d": {
"x1": 423,
"y1": 237,
"x2": 481,
"y2": 278
},
"pose": {
"x": 331.2422180175781,
"y": 51.860897064208984,
"z": 1490.59228515625,
"roll": -2.461547381196227,
"pitch": -0.4999791973906911,
"yaw": -2.4329066663589294
}
},
{
"name": "3",
"bbox_2d": {
"x1": 141,
"y1": 307,
"x2": 239,
"y2": 428
},
"pose": {
"x": -257.0345458984375,
"y": 247.74822998046875,
"z": 1073.370361328125,
"roll": -2.3987759480081423,
"pitch": -0.38601737318025103,
"yaw": -2.57889656815396
}
},
{
"name": "4",
"bbox_2d": {
"x1": 154,
"y1": 331,
"x2": 198,
"y2": 376
},
"pose": {
"x": -303.2666015625,
"y": 222.2020263671875,
"z": 1181.39013671875,
"roll": 2.518070383550284,
"pitch": -0.5725307122836005,
"yaw": -0.4719845756418975
}
},
{
"name": "2",
"bbox_2d": {
"x1": 440,
"y1": 200,
"x2": 483,
"y2": 239
},
"pose": {
"x": 390.28985595703125,
"y": -62.96040725708008,
"z": 1587.3465576171875,
"roll": 2.4874438718597283,
"pitch": 0.5357737062997653,
"yaw": 0.7609810472674906
}
}
]
} | image |
|
0 | 0 | 4 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/4/observation/image-35a605b7.jpg?Expires=1742305470&Signature=vjHln~GlzBEtp0ZiKPbJqqbP0FaKzPP5msZWKa6wOzMyNVAX5C6CQqBx-ubCkTmVW7cQoohazs5Vo7yO7ze4RO-wFy-7zLiqKXHUF-ZcKlWSksGA~fo7s1PvH7PCGyJtkYwMuPChGTRwpvwUQjWc1Uzm9CCkmQNZwbbQwJX4hAZfuzM697TK20IBTuClEcp-bQsWOhIBMziPIpUjNdOa5xAbRXpiWtEfkKwcoqgB2R2swPgH7kwImYhhuhidYlrztYOyB2qi4xUGgs5zfLr22wSU0FnUxfmqrqrvvXNxOeo02bxXdSas8YYkNWEkGu0hw58pna2xwwVIxI5Rllb-Lw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/4/observation/image-367d05c9.jpg?Expires=1742305470&Signature=W6wKyZExgAqZ7bXdqFcrmHIxznHNMcuQsLk1DYWVNQK9-oerXRl0co9udufQyWXQ6No7uuTE5VoQXt2SLsMHWRLTBuJAomeBlxPMcTJ-NZaVK3pgieeEAN85wcu4Vd65ShEbjDqbkHkyUW~GDvuE3GkMKfN1-vPU7a6kdr2f~h0Dw6StsgSBzYv~jERzylIq-P3gdlx9x7H8~9HlVt4SK5fbcfXGMEh5jY2wqXmVqtUA7MerHHYvaHWWJ4T0lU5IV1-0MBlzkhe6EUlwUFZjnkwA6xccGM6narbkyk5o6ION~nElJiocZHYDlXOAHefMqXX4X70J~q2KR42eCWVf~A__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 342,
"y1": 188,
"x2": 393,
"y2": 240
},
"pose": {
"x": 103.73221588134766,
"y": -73.21556091308594,
"z": 1385.73486328125,
"roll": -3.084601562342597,
"pitch": 0.21142221666833147,
"yaw": 2.216567030051283
}
},
{
"name": "6",
"bbox_2d": {
"x1": 395,
"y1": 233,
"x2": 424,
"y2": 266
},
"pose": {
"x": 205.8336181640625,
"y": 7.384865760803223,
"z": 1335.508544921875,
"roll": 2.9769461491892892,
"pitch": -0.14484754274817094,
"yaw": -0.3349647127391007
}
},
{
"name": "0",
"bbox_2d": {
"x1": 224,
"y1": 375,
"x2": 257,
"y2": 406
},
"pose": {
"x": -190.6661376953125,
"y": 334.505615234375,
"z": 1276.7254638671875,
"roll": 2.9758561927097893,
"pitch": -0.14359649295059337,
"yaw": -0.32738066067436744
}
},
{
"name": "1",
"bbox_2d": {
"x1": 428,
"y1": 256,
"x2": 486,
"y2": 319
},
"pose": {
"x": 304.7494201660156,
"y": 107.16973876953125,
"z": 1312.3524169921875,
"roll": -3.063392418618264,
"pitch": 0.20462003464131162,
"yaw": 2.3191747949128683
}
},
{
"name": "5",
"bbox_2d": {
"x1": 429,
"y1": 192,
"x2": 490,
"y2": 254
},
"pose": {
"x": 332.9048767089844,
"y": -46.650550842285156,
"z": 1410.2125244140625,
"roll": -2.9398925861857634,
"pitch": -0.08553080351312976,
"yaw": -2.365548583907874
}
},
{
"name": "3",
"bbox_2d": {
"x1": 160,
"y1": 395,
"x2": 261,
"y2": 474
},
"pose": {
"x": -235.156005859375,
"y": 391.9024353027344,
"z": 1201.6611328125,
"roll": -2.928331526050532,
"pitch": -0.049557783279602544,
"yaw": -2.536398152725574
}
},
{
"name": "4",
"bbox_2d": {
"x1": 179,
"y1": 361,
"x2": 219,
"y2": 401
},
"pose": {
"x": -284.25067138671875,
"y": 311.8729553222656,
"z": 1276.7830810546875,
"roll": 3.0500998468964413,
"pitch": -0.19909490316295644,
"yaw": -0.7561402798319935
}
},
{
"name": "2",
"bbox_2d": {
"x1": 450,
"y1": 135,
"x2": 500,
"y2": 189
},
"pose": {
"x": 382.4200744628906,
"y": -199.81285095214844,
"z": 1421.2366943359375,
"roll": 2.945082651964523,
"pitch": 0.0969733278097772,
"yaw": 0.8329761989872515
}
}
]
} | image |
|
0 | 0 | 5 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/5/observation/image-35a605b7.jpg?Expires=1742305470&Signature=gxsCVKNeI7RTCgu9WO15CZZWO0z24wfoMd20Xu5Pz6lAq2LP~UcQzcdL9ZHNOkep5cDFm4X8tqegAbigfww9wweYw2zDwPmdrdF5T-Y0nAsCm9Zmkqb2zIQcWcrJmjR~3woKoP5vfQ9SB0HqcqY3XEbpko50yd6R0fCezNCvLBmIfHzFyPv6oKoMckouRv1WSvRmmXFV~uU9B~pGyHP2-jdXkd~VN4rQ~ZFlGViAIA57xImaBvdljiQ83DizC374naUk6dzjnCnRa06hlPkd20QUjr3dy8Su9~Y0LuVRI2o5c60KOxgqOfX~AFtEV7gcIjjs-7tqxvGm7Ih-11bBKw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/5/observation/image-367d05c9.jpg?Expires=1742305470&Signature=nRy2MQ5gMkHD7f6kgx4NUm4HzE5iHhyRPfxeMmwNewIEOV7fLSr4NMmODN1IG4KuDWIwG25tsdMp0aNTnuDeO-I3fcCGDerln9sZ~iwwn1lGs8orgUdfF60EPZplmvIxoVE9QYYsHzTWP6NSswf9pbaWj0WCCj5WqL9TehbLeZ6EYbrMa-3KkMinNqYwgLCb~98H-DqQn-w7GF9bqnnliW8Wl3m09LOlyqgO2td2nvlLMi-tCTq5m-Mm~IERtEPgcS~3DKZE76c1nGsraVMuNa16BC6XzecDfp5O0iejltGGn9Yk0~S7xqY2cWYi~fRYNUJZu6CokgMfMhdkeGLT~g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 295,
"y1": 213,
"x2": 357,
"y2": 275
},
"pose": {
"x": 0.0002864814596250653,
"y": -0.0001012721550068818,
"z": 1154.7427978515625,
"roll": 2.8081702474134027,
"pitch": 0.07934955273369369,
"yaw": 0.5658656241787129
}
},
{
"name": "6",
"bbox_2d": {
"x1": 344,
"y1": 167,
"x2": 383,
"y2": 214
},
"pose": {
"x": 85.9594497680664,
"y": -109.73648071289062,
"z": 1158.3135986328125,
"roll": -2.903669766818687,
"pitch": -0.24859629458909854,
"yaw": -2.0080953967061523
}
},
{
"name": "0",
"bbox_2d": {
"x1": 533,
"y1": 359,
"x2": 565,
"y2": 398
},
"pose": {
"x": 438.41204833984375,
"y": 266.7403259277344,
"z": 1116.865966796875,
"roll": -2.905554704358968,
"pitch": -0.2503821755216658,
"yaw": -2.00046311738477
}
},
{
"name": "1",
"bbox_2d": {
"x1": 381,
"y1": 105,
"x2": 441,
"y2": 178
},
"pose": {
"x": 181.7363739013672,
"y": -209.5346221923828,
"z": 1192.14697265625,
"roll": 2.8173108082198004,
"pitch": 0.11187161363020949,
"yaw": 0.6615307015755405
}
},
{
"name": "5",
"bbox_2d": {
"x1": 291,
"y1": 109,
"x2": 362,
"y2": 175
},
"pose": {
"x": 3.4801971912384033,
"y": -216.06277465820312,
"z": 1239.1810302734375,
"roll": -3.0090665260176697,
"pitch": 0.31663802551670484,
"yaw": 2.3161926806349085
}
},
{
"name": "3",
"bbox_2d": {
"x1": 556,
"y1": 340,
"x2": 639,
"y2": 459
},
"pose": {
"x": 519.160888671875,
"y": 292.89276123046875,
"z": 1056.00537109375,
"roll": -3.067732134604022,
"pitch": 0.33463606674183843,
"yaw": 2.133280180051065
}
},
{
"name": "4",
"bbox_2d": {
"x1": 515,
"y1": 407,
"x2": 567,
"y2": 454
},
"pose": {
"x": 422.6588439941406,
"y": 357.1789855957031,
"z": 1087.831787109375,
"roll": -2.8249057799764934,
"pitch": -0.13240730234135484,
"yaw": -2.41775092995872
}
},
{
"name": "2",
"bbox_2d": {
"x1": 226,
"y1": 91,
"x2": 282,
"y2": 153
},
"pose": {
"x": -148.04898071289062,
"y": -264.1817626953125,
"z": 1211.6956787109375,
"roll": 2.9905592901603937,
"pitch": -0.30846287134906186,
"yaw": -0.7652263629809567
}
}
]
} | image |
|
0 | 0 | 6 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/6/observation/image-35a605b7.jpg?Expires=1742305470&Signature=DC4Mef~NJpZSRV2ARmuQPibboGc4AEZJMqfk0zfJSQ3lcMwzdTLjuCCP8XTLAxfKRdtIBUCDSdBvUaYJ6wFll-5FKpdnaoaFqfKc6LH0nI7GGJbp9wZ2RwwgzRkYYifExDF38ILzKUn0qFeuXz662VcPMcCTrwa~OooKxEex7d3voTAZPxMaPXHgO5XrEGwF-7TVmR2IlFNdjK~NFislk5H7kYMk6ofg2ipF3xtMIArNPEXHH1rmcz4ZEG9A-ZNcL74zUkrxGm4HP8HIYA6qPRvY3mgD2li7fOfCOZBcwjzXJEbLI6yPmTYJLQcCsQOT8EA4Mpxj9raPnYFDgSzNZg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/6/observation/image-367d05c9.jpg?Expires=1742305470&Signature=KipMwmH61FIJzhbXMlllokGlgDmIS0vvodIg-Sf7kOgZQX6z3zFWmnddiyA3TbqbXBPuQlOi0MMi1Tp3a2pF1Mo2O8mlFgfWhc46pGusUMVRCyis6Nq1yHU6KBVzQUixboEdan0c1YAiVXStyrDk2ZPbsB6M-pN56~ylWLxY~mEjP8TilIPjTMYRnczJW~~IXVZZBf2YHccDQr-4nBioDFucG1nE5hmOhj7EIpUyecgyNo6FlnBm6l2gqKWmankPM2z1fDBYhAqnawaJujpIOwxAWDw0PG6h44JJ~ZGqXBVhiS4p-PgyoE2X3LfqiW5TE3K00Hzsv7rUz~NpD-DlDA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 273,
"y1": 230,
"x2": 306,
"y2": 280
},
"pose": {
"x": -79.04341888427734,
"y": 27.501062393188477,
"z": 1404.0665283203125,
"roll": 2.3583026256428097,
"pitch": 0.5412642389240371,
"yaw": -0.08799087095209616
}
},
{
"name": "6",
"bbox_2d": {
"x1": 290,
"y1": 177,
"x2": 322,
"y2": 227
},
"pose": {
"x": -45.2973747253418,
"y": -98.8484878540039,
"z": 1452.448486328125,
"roll": -2.7935428812679524,
"pitch": -0.8684047376699594,
"yaw": -2.579973991472966
}
},
{
"name": "0",
"bbox_2d": {
"x1": 493,
"y1": 215,
"x2": 528,
"y2": 253
},
"pose": {
"x": 363.0671081542969,
"y": -19.17102813720703,
"z": 1144.93359375,
"roll": -2.802028792762932,
"pitch": -0.8709695436263168,
"yaw": -2.5688687115351008
}
},
{
"name": "1",
"bbox_2d": {
"x1": 307,
"y1": 130,
"x2": 361,
"y2": 195
},
"pose": {
"x": 13.173392295837402,
"y": -210.91357421875,
"z": 1518.0244140625,
"roll": 2.4057290204055057,
"pitch": 0.610605636719248,
"yaw": -0.0010003920531472502
}
},
{
"name": "5",
"bbox_2d": {
"x1": 258,
"y1": 183,
"x2": 306,
"y2": 228
},
"pose": {
"x": -116.66584014892578,
"y": -102.90453338623047,
"z": 1592.2259521484375,
"roll": -2.3645989094943918,
"pitch": 0.5515070404638537,
"yaw": 2.086551841661841
}
},
{
"name": "3",
"bbox_2d": {
"x1": 519,
"y1": 142,
"x2": 576,
"y2": 260
},
"pose": {
"x": 413.0869445800781,
"y": -66.40480041503906,
"z": 1066.3502197265625,
"roll": -2.455426636807053,
"pitch": 0.6681662025276857,
"yaw": 1.9284536978765408
}
},
{
"name": "4",
"bbox_2d": {
"x1": 496,
"y1": 247,
"x2": 553,
"y2": 293
},
"pose": {
"x": 369.681884765625,
"y": 45.47657775878906,
"z": 1073.8897705078125,
"roll": -2.4416848719627815,
"pitch": -0.6534869986776384,
"yaw": -3.081759396814746
}
},
{
"name": "2",
"bbox_2d": {
"x1": 206,
"y1": 199,
"x2": 257,
"y2": 239
},
"pose": {
"x": -271.2779541015625,
"y": -69.82030487060547,
"z": 1624.3587646484375,
"roll": 2.34065925308735,
"pitch": -0.51045474104314,
"yaw": -1.0077848172730448
}
}
]
} | image |
|
0 | 0 | 7 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/7/observation/image-35a605b7.jpg?Expires=1742305470&Signature=0gOQiAnHQc1-4Qb15qq6y1ICB6ba426R98b5p7--lnqlp3TY7vgohN~tc4IFIkzfQKtLiROBdYPEA8Jbrbj~Jq2BtP2xI5Xl17APTwnGQk8dpOsdTsm3C7oMjerUKGac3CUEgHa52p9MNNrTPLBR8iSpCMjnCgtIeRtvA2zKaObo6Oum~HAq5nPjrvcUqWfkiUsuQ6Cx1-d0zHYZQaSHnFqwEBfn~oDQeIMZfhuqcg-NBQSz5UpshRZ97ceCR3UyMcR-7sWSEuknq9OK1TM0OXOP1uyg4pasc1tHtFfk365ylgxh2-NlhXZOvYEnZMafCSUzq3v0pjttcVUWRF3cMw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/7/observation/image-367d05c9.jpg?Expires=1742305470&Signature=wVGaMe0qfz8gRbHk~EPZ1Ex1co9L5qKzerY5LCf3iOJoF2fLRyPybG7a77u-lfcd51m8ZHRrAbAV2I-n7JIyaAgYaEJXXQ4Miv6fA3FJVQm5n93rbcOkFCSNdsyhMKlRBKWfIjB5c5~UM~ysew8LApocW7wTgnud96iNPCMArLE-nfqN~WuLCsS68N3Bq5Fw0EN8WJRYfNEiPyxF17zzsagSmSAGxsBsa5xgIUsYIXOlyJ-4fYqgXO~l8i37QyW7H2cBul-VTaTpD~Y6v7B73Gds9Padg-qXNRS-IVLfKT9ZBf9nCCy19qbdruKVoNrUQcGrOg1fJAlKEBEn4nzThw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 368,
"y1": 231,
"x2": 417,
"y2": 282
},
"pose": {
"x": 153.63333129882812,
"y": 23.10964012145996,
"z": 1298.452880859375,
"roll": -2.5355558949132226,
"pitch": -0.21927192718007474,
"yaw": 2.8553989045008557
}
},
{
"name": "6",
"bbox_2d": {
"x1": 381,
"y1": 276,
"x2": 413,
"y2": 328
},
"pose": {
"x": 142.4651641845703,
"y": 115.653076171875,
"z": 1194.74755859375,
"roll": 2.7366833144188414,
"pitch": 0.5098673952172235,
"yaw": 0.2598624333151898
}
},
{
"name": "0",
"bbox_2d": {
"x1": 179,
"y1": 300,
"x2": 209,
"y2": 331
},
"pose": {
"x": -327.09283447265625,
"y": 173.11058044433594,
"z": 1404.245849609375,
"roll": 2.7406107750171658,
"pitch": 0.512851204840824,
"yaw": 0.2678886249566831
}
},
{
"name": "1",
"bbox_2d": {
"x1": 362,
"y1": 318,
"x2": 427,
"y2": 410
},
"pose": {
"x": 131.80882263183594,
"y": 232.4159393310547,
"z": 1113.9364013671875,
"roll": -2.5566242002077324,
"pitch": -0.2757499690713425,
"yaw": 2.9413106707297554
}
},
{
"name": "5",
"bbox_2d": {
"x1": 440,
"y1": 285,
"x2": 495,
"y2": 355
},
"pose": {
"x": 291.3564453125,
"y": 159.23855590820312,
"z": 1170.6785888671875,
"roll": 2.788599597362869,
"pitch": -0.5453490155959725,
"yaw": -1.543537842492736
}
},
{
"name": "3",
"bbox_2d": {
"x1": 116,
"y1": 255,
"x2": 182,
"y2": 353
},
"pose": {
"x": -427.37060546875,
"y": 170.1040496826172,
"z": 1375.199951171875,
"roll": 2.8958818385093616,
"pitch": -0.5969152174456106,
"yaw": -1.741469948805713
}
},
{
"name": "4",
"bbox_2d": {
"x1": 165,
"y1": 274,
"x2": 204,
"y2": 303
},
"pose": {
"x": -371.1214294433594,
"y": 111.8942642211914,
"z": 1464.115234375,
"roll": 2.5731411818431615,
"pitch": 0.3112934758976548,
"yaw": -0.14321770506307022
}
},
{
"name": "2",
"bbox_2d": {
"x1": 503,
"y1": 254,
"x2": 566,
"y2": 300
},
"pose": {
"x": 418.968017578125,
"y": 63.38507080078125,
"z": 1147.0277099609375,
"roll": -2.756624205906638,
"pitch": 0.5244803386015436,
"yaw": 1.6607603410034413
}
}
]
} | image |
|
0 | 0 | 8 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/8/observation/image-35a605b7.jpg?Expires=1742305470&Signature=m4eNgdemdlu4RWhDeb9abezvjPiLVQYlPayZoo7q8jycXYfJEOxgMAlpZnvrCU7MAItFMdWRdcZcXFf-hqSSnxHadsZ~zqN5uWGlD5ZrhVDB7mXLxUrJhOSSs7Ej4dtNUP-bBUy0E0wwaPrbrznQAxTomzzO7ByvNViVGrfz76EDGEPqgO1eziNnCLtRIoyxEdoP528VaEd6r~XrK4shPe1eXnLYbq-qzaGz2ra~dsVIMxCJ~5d29tXaFA7g7lXll5ZkH8EvEMjlst5phjM9kdXijeVzkmyCq7OIXi7nULE06Aldrx-w0V6s04rHeij8wCM31SLVOnvWljdEw0nQ5g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/8/observation/image-367d05c9.jpg?Expires=1742305470&Signature=Db0rdMH1KrUd6pOXn~wp5QyKzisDfzRxwDG5P2HUUX~yadmGnSweA8LzJGM4lxqnXjCSiCckE10X8JbpK-Yg1yp5F3CwgA8w33UP0E8HTvf4oqyDZLQkAyJo9oJ82aVYl~KurXjosBQ8kj9wqTt4BsHQksoxAUp9X~tVZnJsJPgK8R7~8o1fwjTcrmptsWh9vEiZdQzULg3hKAO-DTwUekfyeysag9-hL5sUvFu6JqsuJoMf0JP3agBRa~MShGM5FnjwsCAihsw0kUXk24qezK50EA~iWS0xJqZ897waeoWWtDDyoBU8DWxfOZCfMmPV3POU8jdhsS25LuL92uBPEQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "0",
"bbox_2d": {
"x1": 212,
"y1": 137,
"x2": 280,
"y2": 216
},
"pose": {
"x": -83.80084991455078,
"y": -75.95362854003906,
"z": 625.8056640625,
"roll": -2.8002897492411827,
"pitch": 0.5221458012951337,
"yaw": 2.171817416675246
}
},
{
"name": "3",
"bbox_2d": {
"x1": 119,
"y1": 0,
"x2": 344,
"y2": 167
},
"pose": {
"x": -93.60346984863281,
"y": -179.90806579589844,
"z": 628.19921875,
"roll": 2.5286515555571403,
"pitch": -0.054251316913254764,
"yaw": -0.09479288160922604
}
},
{
"name": "4",
"bbox_2d": {
"x1": 335,
"y1": 116,
"x2": 359,
"y2": 167
},
"pose": {
"x": 1.6558657884597778,
"y": -110.896728515625,
"z": 653.1266479492188,
"roll": -3.070559040462668,
"pitch": 0.6114418899407403,
"yaw": 1.6762719678237987
}
}
]
} | image |
|
0 | 0 | 9 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/9/observation/image-35a605b7.jpg?Expires=1742305470&Signature=s5t6bzuc1l9cyH5~LtvRRt1TAFzfnfdb4uhwV2Q2CXhQ8RQ63EPs-zfLR6M3bSrs6YgfjccDulh~ZIIJVf-Wph8LV8keiCjvrszL670372dUyvz33nVQkh6HmsFRZZVX1NSWyYmuDTog5VqIrkx1JxVTNyRT1pwkp-nOJ7A0KfStvKWw7Zihff62GRu3jTe6tMR6PMhXgEjuqUgUbtHxo1AvK~IdL-K8qPra1S6C~BO8WBb6tlO3-A0rmUP7O8He7e35IY7daHHfxuWIZ20eHGz95T9TSe6~W8qLatz4fsw6WOkIjBzF4SPF6AXKM6W4DsVhBrqM3DM7b6JLxWbsRQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/9/observation/image-367d05c9.jpg?Expires=1742305470&Signature=s0OKtDwjERN5SzWKL5HXjZwtvfgyqNFb7FC6idH6bieBhefatmsXvztlsIH9L6JNfPT2hKxXWGrVHudSZ22O2X6pgd89-anIvZbO5q4fT0G9POP0fy4JUAxVOfCBDTMPhtmIFJCqkqrS32GgKjplmoXcO1-bP-NJUVSEyz-olnod1WyeCN-Jjb~YhPSPtnAOYxfS3NZHqXCxhpURk-CvaKQ6r33KeNfBfaQqWeZ1niZQ5E4~-uO3YfRqOBiTOJLpalY8GznbKnvJB~69cng5CDXo5sP2dXkdF1yyPaPq3omse~87wNKvepVotoAML1C59y9MkJuuXo8rYSLXNhsBGw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 214,
"y1": 286,
"x2": 290,
"y2": 387
},
"pose": {
"x": -101.73108673095703,
"y": 124.78427124023438,
"z": 764.756591796875,
"roll": 2.564758099886182,
"pitch": 0.05870502341759604,
"yaw": -0.1765933473760272
}
},
{
"name": "6",
"bbox_2d": {
"x1": 225,
"y1": 197,
"x2": 272,
"y2": 285
},
"pose": {
"x": -109.82572174072266,
"y": -9.389025688171387,
"z": 801.8490600585938,
"roll": -2.674671228943994,
"pitch": -0.3567039361232908,
"yaw": -2.8023080661800073
}
},
{
"name": "0",
"bbox_2d": {
"x1": 621,
"y1": 238,
"x2": 639,
"y2": 295
},
"pose": {
"x": 402.6074523925781,
"y": 25.746177673339844,
"z": 739.7738037109375,
"roll": -2.6772182991336426,
"pitch": -0.36012006542565433,
"yaw": -2.795047555817629
}
},
{
"name": "1",
"bbox_2d": {
"x1": 217,
"y1": 98,
"x2": 300,
"y2": 210
},
"pose": {
"x": -103.37504577636719,
"y": -135.42678833007812,
"z": 867.8069458007812,
"roll": 2.5720532518514814,
"pitch": 0.11330763059289428,
"yaw": -0.09174801853574331
}
},
{
"name": "5",
"bbox_2d": {
"x1": 129,
"y1": 190,
"x2": 206,
"y2": 278
},
"pose": {
"x": -240.36363220214844,
"y": -13.703219413757324,
"z": 888.9630126953125,
"roll": -2.979637243346998,
"pitch": 0.5588897507861662,
"yaw": 1.6031748892375388
}
},
{
"name": "2",
"bbox_2d": {
"x1": 11,
"y1": 242,
"x2": 122,
"y2": 307
},
"pose": {
"x": -386.3386535644531,
"y": 42.70433044433594,
"z": 849.7015380859375,
"roll": 2.944443193892362,
"pitch": -0.5485564916044241,
"yaw": -1.4715089152154472
}
}
]
} | image |
|
0 | 0 | 10 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/10/observation/image-35a605b7.jpg?Expires=1742305470&Signature=dcVFU0xslPUOL8AakQBrnThzUHijtYDiMSfbOrbgxZAHVi44vgO-iEn2bM0yb1xYWjXCzF84kWlDcfPFJ6kEKutKeUANkJ8tTkvRSQA6i6W7rl~kUvwI~Nrt5g6n0MGVKQVUcQrUYCcgdTYSSpMlvuka5Tkp87nW6PmXbZY--L8SWFDxVGJNgSeq3nWurTlbaVPhzXqeL6lf70YSdOJmDE6ZMpPIiRurj88yrg0KbR9ZpFKvqTkGKMh5DDR953V4fYyyOcJpb~guy3ac4uvutOvLQds-lI5aXqB21h4pCoK6K1ZbytNplrsXcDYT6cQJSuTwWYbFv6utsEILhWVUAA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/10/observation/image-367d05c9.jpg?Expires=1742305470&Signature=zdzGPwTBEfvY1mRSfUYdwExPYMYF0Jt1pYWcW~nfdLDMkbbWtTmAcqlcMHMKDAKBTGRSjFzSiX69o3wZ5HfsKX9e6X1X3YgYipz99FQ8w6qCNZzRIlJDX1LeNI3K1RMXc0TnB9UmSdbwRCOLcT-VlikGfCsteGgmUzyOXkRVWto40ISKT9M7DQ9T1eA94V0-PMFHmvqamuP3Ht33t93UX1AvAh6ifC823QwYRAfkafXUSyo~W5j3LMHhg5f30ug58xfr44EU5aTEa6n7wVcgRlE~-w83CxtlLAwLG-z1GLXt-ZGCZOIA6bbgW5cb8nzX1XkfuDYBMRfjS25sEoP3-Q__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 268,
"y1": 282,
"x2": 316,
"y2": 334
},
"pose": {
"x": -77.18834686279297,
"y": 151.55380249023438,
"z": 1298.1412353515625,
"roll": 3.0203179871030876,
"pitch": 0.014276875871296578,
"yaw": -0.30171510711382193
}
},
{
"name": "6",
"bbox_2d": {
"x1": 268,
"y1": 235,
"x2": 291,
"y2": 268
},
"pose": {
"x": -105.31969451904297,
"y": 17.260438919067383,
"z": 1273.2872314453125,
"roll": -3.048132676256238,
"pitch": -0.07869957940454958,
"yaw": -2.861985171935085
}
},
{
"name": "0",
"bbox_2d": {
"x1": 488,
"y1": 220,
"x2": 521,
"y2": 253
},
"pose": {
"x": 410.9510498046875,
"y": -11.131999969482422,
"z": 1291.5615234375,
"roll": -3.0487334335078233,
"pitch": -0.07940906283266146,
"yaw": -2.8543858029302864
}
},
{
"name": "1",
"bbox_2d": {
"x1": 244,
"y1": 148,
"x2": 295,
"y2": 226
},
"pose": {
"x": -123.40463256835938,
"y": -123.85021209716797,
"z": 1279.4749755859375,
"roll": 3.0223512754631763,
"pitch": 0.02635838124288461,
"yaw": -0.20179772441115834
}
},
{
"name": "5",
"bbox_2d": {
"x1": 194,
"y1": 209,
"x2": 242,
"y2": 274
},
"pose": {
"x": -248.7889404296875,
"y": -0.2696183919906616,
"z": 1334.5809326171875,
"roll": -3.1097627173452027,
"pitch": 0.11790621093236103,
"yaw": 1.4168096324331094
}
},
{
"name": "3",
"bbox_2d": {
"x1": 517,
"y1": 164,
"x2": 593,
"y2": 268
},
"pose": {
"x": 490.2155456542969,
"y": -45.58106231689453,
"z": 1232.92041015625,
"roll": -3.130774617056886,
"pitch": 0.12162835989801704,
"yaw": 1.2413850716676877
}
},
{
"name": "4",
"bbox_2d": {
"x1": 509,
"y1": 254,
"x2": 557,
"y2": 287
},
"pose": {
"x": 472.8019714355469,
"y": 62.194297790527344,
"z": 1283.3140869140625,
"roll": -3.024306126349381,
"pitch": -0.03404797024387097,
"yaw": 3.0045355159485876
}
},
{
"name": "2",
"bbox_2d": {
"x1": 128,
"y1": 268,
"x2": 191,
"y2": 296
},
"pose": {
"x": -379.130615234375,
"y": 90.61511993408203,
"z": 1306.5989990234375,
"roll": 3.1029744905729792,
"pitch": -0.11586877979575798,
"yaw": -1.6665836611200773
}
}
]
} | image |
|
0 | 0 | 11 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/11/observation/image-35a605b7.jpg?Expires=1742305470&Signature=fyxAGU089Rhy5IW08hfU5z1-okO36dZtq~9Hzpf9bdEfjU99S1IHW5iT~P5y6LtX9NE0GpLRPvIFpxHOEwJzm~ITulTZn9-kFxErHG-XA9A1X0EeKTYQDDp9bA4ZqqrBxi6~BoNS6G6lcWqOYeQutjTwklsGaaBu96MPTCqJ9I4LWpxd-yWOfw-NCwWVn48ej6~xamAKW6gAvAGb7GTZyWi8cWgignkLS79E~-ecN9RgcBrQZuSnMesC-S0uw2V9QD1Q3WSd~2uBJME3zNhrWp4RL72LO44xxY3IQvNNGrtxlhiGeXLa5UvedbkIkJStmU0dy91-y6SQ1JjooAD3hA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/11/observation/image-367d05c9.jpg?Expires=1742305470&Signature=Ka89IVmRkGUrk9NztdSF-Dc-7AbOpUMOLbcIhFEmC~SzQYdgeHOC-O5o2GQtxaqejzf69-ibePYWwZJjhM4i~VQDtt3bYs1Wu0DBYGJAnpl2igsTCNtNNOvBRbhOUDsR7s5b8fzULXXZM0rbeLLP9H31uBu-4etedPeEcWZB9wH6f~blc3DYIlJ4tI~hYjZS~hUjFRiWQAhc8EJrLubk6if4wpjYpdH1St8O0PJ~8-pCuSFgj1HRlOUdPqaLY8dvM8sl2XrjlIN-d9jMgaavqjfwlK66MId9g33g0tvmbKtECZfCjmdWnSHoIxpwxqHsHBZf~gUoEJSseYSRzR6uhg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 274,
"y1": 271,
"x2": 326,
"y2": 330
},
"pose": {
"x": -49.63264083862305,
"y": 122.55242156982422,
"z": 1198.0909423828125,
"roll": -3.137372651826395,
"pitch": -1.0077313988539522,
"yaw": -1.4574075935700508
}
},
{
"name": "6",
"bbox_2d": {
"x1": 224,
"y1": 238,
"x2": 256,
"y2": 314
},
"pose": {
"x": -176.42115783691406,
"y": 65.538330078125,
"z": 1187.234130859375,
"roll": -2.4255154243971684,
"pitch": 0.7847531344252988,
"yaw": 2.5778959670222807
}
},
{
"name": "0",
"bbox_2d": {
"x1": 300,
"y1": 174,
"x2": 324,
"y2": 204
},
"pose": {
"x": -28.741464614868164,
"y": -151.9090118408203,
"z": 1632.8603515625,
"roll": -2.419825621637635,
"pitch": 0.7797422565973524,
"yaw": 2.5859679969704374
}
},
{
"name": "1",
"bbox_2d": {
"x1": 136,
"y1": 212,
"x2": 217,
"y2": 303
},
"pose": {
"x": -312.80902099609375,
"y": 27.40135955810547,
"z": 1202.1158447265625,
"roll": 2.987871034069613,
"pitch": -1.0001869226978788,
"yaw": -1.2703434301890846
}
},
{
"name": "5",
"bbox_2d": {
"x1": 149,
"y1": 301,
"x2": 234,
"y2": 359
},
"pose": {
"x": -255.2740936279297,
"y": 171.65501403808594,
"z": 1102.5635986328125,
"roll": 2.138452210139661,
"pitch": 0.12023249672810667,
"yaw": 0.19471437655985444
}
},
{
"name": "3",
"bbox_2d": {
"x1": 280,
"y1": 125,
"x2": 360,
"y2": 191
},
"pose": {
"x": -20.007266998291016,
"y": -246.98886108398438,
"z": 1675.19140625,
"roll": 2.1340849617502897,
"pitch": -0.026961643707360556,
"yaw": 0.10135567316300297
}
},
{
"name": "2",
"bbox_2d": {
"x1": 173,
"y1": 350,
"x2": 228,
"y2": 422
},
"pose": {
"x": -210.9990997314453,
"y": 237.51048278808594,
"z": 962.083251953125,
"roll": -2.142998314495742,
"pitch": -0.16893158134934613,
"yaw": -2.915344493991571
}
}
]
} | image |
|
0 | 0 | 12 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/12/observation/image-35a605b7.jpg?Expires=1742305470&Signature=qVur-N5Lx1Vu4B8EtmG7cTGJOoRNv4luUVvMa9hs0zXKeKXCEaK8sPKQ3y2xHOqMiD56D35gu3Hrh05-j9kZuDfzushx4xjPmKWJIWPpgJJUI2lGwchDbOhP1ZBY0KzDbWEYtoSIw2-hlPcIiNBKEC1EkMXfrDLK~-KbVdsLmO4cGGaSUtOmtRvqqYV2mYjyovbd2mhmtVLWPZJ0EwHykEyR-VEGz9-D55eRgVT8ZsLwraE3N1hpwPI2L8hHJVFmNlssp-sw60mxFp0NPBjk5qdhUXNZA17ikcGhkTAdjqIOpaL9aTLkQPyER3R4zzk12Ukbr8izMZG-E-VHgq2OiQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/12/observation/image-367d05c9.jpg?Expires=1742305470&Signature=kr4-m8FuXNfjeUnX5pX1hzT4sZR1lJn32GPj78Pmh2COZ0q3tun2-XLxAUBTsvEzOyFGrPdbcyrDiBHFke2v~LwkDEbgmxK6Hlxm6TWa1k3bZB-1UNwEnYti3X0IEEOXWrYdpypnYhVz27mFg4l2grh4NV55mnQpvKt3q75oBPFpckBIgIKVMur4IY6N8g4Yy9kZ9gjtdbICdW-qheX2AYFJr3UCKz9hAlF9tBKMk8EyaZvCRvjcgfT3kpzin84UtCdL~jpCRhxW251zo0R-ZZVm5Re4WpnI~2GtvhbMX4QyEtpRnqRKJgepL4aY2NC8KpnrZ79c6AuifawU0YoXsA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 337,
"y1": 288,
"x2": 430,
"y2": 393
},
"pose": {
"x": 84.35421752929688,
"y": 128.87991333007812,
"z": 755.4022827148438,
"roll": -2.692841829415608,
"pitch": -0.15926137610624297,
"yaw": -2.54758689155701
}
},
{
"name": "6",
"bbox_2d": {
"x1": 291,
"y1": 391,
"x2": 354,
"y2": 442
},
"pose": {
"x": 4.065786838531494,
"y": 197.35255432128906,
"z": 664.2481689453125,
"roll": 2.847055677352415,
"pitch": 0.37741593403961465,
"yaw": 1.1579168970510307
}
},
{
"name": "0",
"bbox_2d": {
"x1": 66,
"y1": 114,
"x2": 119,
"y2": 178
},
"pose": {
"x": -342.31842041015625,
"y": -148.33914184570312,
"z": 832.1493530273438,
"roll": 2.84995281693182,
"pitch": 0.3796142074244302,
"yaw": 1.1657564344864644
}
},
{
"name": "1",
"bbox_2d": {
"x1": 196,
"y1": 435,
"x2": 306,
"y2": 479
},
"pose": {
"x": -93.24809265136719,
"y": 278.2268371582031,
"z": 598.926513671875,
"roll": -2.709488704943789,
"pitch": -0.20219009432222812,
"yaw": -2.4550627757760886
}
},
{
"name": "5",
"bbox_2d": {
"x1": 372,
"y1": 463,
"x2": 415,
"y2": 479
},
"pose": {
"x": 69.03907012939453,
"y": 340.234619140625,
"z": 660.9586791992188,
"roll": 2.9004114947149033,
"pitch": -0.4125467859959011,
"yaw": -0.7446863221234925
}
},
{
"name": "3",
"bbox_2d": {
"x1": 0,
"y1": 0,
"x2": 81,
"y2": 158
},
"pose": {
"x": -407.3733825683594,
"y": -220.1724090576172,
"z": 793.2112426757812,
"roll": 2.9789154271013842,
"pitch": -0.4475972713738557,
"yaw": -0.9324880258948318
}
},
{
"name": "4",
"bbox_2d": {
"x1": 89,
"y1": 68,
"x2": 147,
"y2": 130
},
"pose": {
"x": -323.5086975097656,
"y": -230.45864868164062,
"z": 878.7634887695312,
"roll": 2.7224934012812394,
"pitch": 0.22910471017527279,
"yaw": 0.7472864380274163
}
}
]
} | image |
|
0 | 0 | 13 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/13/observation/image-35a605b7.jpg?Expires=1742305470&Signature=tgfa4JzpzQf1CEcLK-CJ~cHPogkMEvjHHZqjgMvRtL1e6OLSMC0PcU7RdbZ-YPX4bbPVMyU54F1rAa7F7igw85p55tyfcV~FxKO3CbqYrw9a6CBZNtAOQ8mtgjKrU7wyGelZadOIkPJjzmH7Flg01epT~n4DBnX1kvFvlpPaJ3VdagSbTWh0WNDfk23eR~WtEqMRWuVFbtD4NTJ-ZAq1FLBNwB~WAZ6gLV~71G8TAhDgHbh2~cHp~GaL8ZyZPEe-UTnxcU5EFZ7RAU0qdRjqHCGQyUT0doJZyzQ-Z6VnR5ucN2DaFW6E7Gt3ixIKzmAiupuunkuK6g7VY8JCvxsAcQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/13/observation/image-367d05c9.jpg?Expires=1742305470&Signature=SZiUQNSWtBZ08X1jvF2xckV04ccZqSAdqneJmBEFiiHEe66f5qZtmj5dHxYnk~TrZxQlE7iZP~0nz6XinKlgk7b-ni~q8c6FbjosXNrY5sXi6GDDpL5gRj5kspq--kVSNv~SLPpcP3-WB9tjj557LR0HmbmwlB842LwiPAbZg47r2EOVRwvHjpUolcWUhqND-0aTSlGBjSOgJPoHb25ZFnQcINvcH9z~KuqC5zzhgvaeYDsOce1EqEAL~9DAcRAsf6n1fPyikgXycGbF55-BizPthFBCz~O6EMjn2FJ74KQDQWkzivlVKspgymvlxMSGge6jhX5vohcRsPYNObso1g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 172,
"y1": 206,
"x2": 262,
"y2": 315
},
"pose": {
"x": -136.07870483398438,
"y": 23.78919792175293,
"z": 692.8240356445312,
"roll": 2.8789200781926505,
"pitch": -0.000782757047547599,
"yaw": -0.2984305404372229
}
},
{
"name": "6",
"bbox_2d": {
"x1": 159,
"y1": 111,
"x2": 218,
"y2": 198
},
"pose": {
"x": -164.0482635498047,
"y": -112.7204360961914,
"z": 687.6644287109375,
"roll": -2.9205184300714206,
"pitch": -0.14303223421533265,
"yaw": -2.8718902667490096
}
},
{
"name": "0",
"bbox_2d": {
"x1": 574,
"y1": 102,
"x2": 639,
"y2": 142
},
"pose": {
"x": 352.6922302246094,
"y": -137.1029510498047,
"z": 695.433349609375,
"roll": -2.9215934279666307,
"pitch": -0.14469726357651808,
"yaw": -2.8643885441846533
}
},
{
"name": "1",
"bbox_2d": {
"x1": 123,
"y1": 0,
"x2": 235,
"y2": 106
},
"pose": {
"x": -181.09402465820312,
"y": -251.6397247314453,
"z": 713.90283203125,
"roll": 2.880112181354348,
"pitch": 0.025307937490862964,
"yaw": -0.2012378186962536
}
},
{
"name": "5",
"bbox_2d": {
"x1": 48,
"y1": 93,
"x2": 133,
"y2": 205
},
"pose": {
"x": -305.6972351074219,
"y": -121.88461303710938,
"z": 754.7408447265625,
"roll": -3.103565193167617,
"pitch": 0.2599692997566835,
"yaw": 1.4222169796665731
}
},
{
"name": "3",
"bbox_2d": {
"x1": 625,
"y1": 80,
"x2": 639,
"y2": 109
},
"pose": {
"x": 430.5513610839844,
"y": -179.19149780273438,
"z": 639.9819946289062,
"roll": 3.1329261315788433,
"pitch": 0.26253342877032326,
"yaw": 1.2418965578856085
}
},
{
"name": "4",
"bbox_2d": {
"x1": 618,
"y1": 171,
"x2": 639,
"y2": 221
},
"pose": {
"x": 413.8468933105469,
"y": -65.4942626953125,
"z": 675.3682861328125,
"roll": -2.8822365143715234,
"pitch": -0.04209007668317629,
"yaw": 3.003359636320969
}
},
{
"name": "2",
"bbox_2d": {
"x1": 0,
"y1": 198,
"x2": 48,
"y2": 245
},
"pose": {
"x": -437.3025207519531,
"y": -36.07726287841797,
"z": 718.0106201171875,
"roll": 3.0882752141523597,
"pitch": -0.25732809262314016,
"yaw": -1.6596097921309914
}
}
]
} | image |
|
0 | 0 | 14 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/14/observation/image-35a605b7.jpg?Expires=1742305470&Signature=GYK0jDkXDpUG6TmqpwZGCPvTIdNv71X0J2Sgrr~cLxMp~EINxAN~Vb6bkfm33M5-zeMeWmBteOeYmJ0RCUv16UFjR5O03i9K3KNypCA3eDoerlfFhGXWt5IIvHQ67Ctdf0Ph0zFW0OGrRB4n1F2bhuVREsQX0Rr~O2-1INyM9a4TE4vSah8d5xm-MlY4-DqsLRU-qf~BmbutOOCi1~RYVN2GUybMnWQpdo~fn8637e7Mav6ssFKYq8jb4mxPaEKvf-TtUFdlnRGtq9OtYtQ7-ScJZN~76zWGrmZ-Xp8jROny6AvWZw1lwHhAP9TjSGUMR~zwYiAv-ElfX2UZZJwuZg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/14/observation/image-367d05c9.jpg?Expires=1742305470&Signature=Vvb2OMCZ~xxXDgjVeq9hatOUfcyDKB6I9XjLe4dIv1DNXj-FH2J~m1Dfx5fcD~JqtKpCcp2pHDsLy-YsAj1H6iUX1vmrQku1Ke~WgtKbdNlf1i~GblIx8D0jOp0GGvlpIQjJ0eu9jJRKZ4wIKyPD-36lC19RSirvVE7ev19rzVr43x87rrCrRWrg6qO3lxqGd~eoDLc1hbGGaQiiggx-GNwzydotDJokEXgR7R7T2pDLP5WX848rsBUTs2G18PDn9dGT3Cz80kH92pDxlPdhU38kffURlwYnY8wWM363bwdWrRmSr~L9rjQNcagY4OdnfEAjGud0Z028xaQEZteH6A__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 248,
"y1": 183,
"x2": 307,
"y2": 240
},
"pose": {
"x": -103.41181182861328,
"y": -72.31134796142578,
"z": 1220.325927734375,
"roll": 2.6646663969339905,
"pitch": 0.13191613806012709,
"yaw": 0.5965033370446207
}
},
{
"name": "6",
"bbox_2d": {
"x1": 298,
"y1": 135,
"x2": 333,
"y2": 189
},
"pose": {
"x": -13.012659072875977,
"y": -176.07643127441406,
"z": 1242.7890625,
"roll": -2.806104309821702,
"pitch": -0.3689981833989596,
"yaw": -1.9920228658744978
}
},
{
"name": "0",
"bbox_2d": {
"x1": 464,
"y1": 328,
"x2": 499,
"y2": 365
},
"pose": {
"x": 324.24993896484375,
"y": 206.74867248535156,
"z": 1156.9151611328125,
"roll": -2.8088940397651765,
"pitch": -0.37149329438667406,
"yaw": -1.9843121924863325
}
},
{
"name": "1",
"bbox_2d": {
"x1": 332,
"y1": 87,
"x2": 389,
"y2": 163
},
"pose": {
"x": 85.61920166015625,
"y": -265.1109924316406,
"z": 1293.9962158203125,
"roll": 2.6786706951996493,
"pitch": 0.1775125466095785,
"yaw": 0.6872973334194377
}
},
{
"name": "5",
"bbox_2d": {
"x1": 251,
"y1": 95,
"x2": 318,
"y2": 155
},
"pose": {
"x": -93.8393783569336,
"y": -273.2294921875,
"z": 1335.9339599609375,
"roll": -2.922717573204201,
"pitch": 0.4459154997745474,
"yaw": 2.394207386472576
}
},
{
"name": "3",
"bbox_2d": {
"x1": 493,
"y1": 302,
"x2": 581,
"y2": 403
},
"pose": {
"x": 406.03924560546875,
"y": 227.54058837890625,
"z": 1095.380126953125,
"roll": -3.0081969818753325,
"pitch": 0.4765440470089372,
"yaw": 2.2026342863481925
}
},
{
"name": "4",
"bbox_2d": {
"x1": 452,
"y1": 371,
"x2": 501,
"y2": 417
},
"pose": {
"x": 305.73199462890625,
"y": 291.08660888671875,
"z": 1114.318359375,
"roll": -2.6900337249978663,
"pitch": -0.20628633524187576,
"yaw": -2.3947278857662737
}
},
{
"name": "2",
"bbox_2d": {
"x1": 194,
"y1": 72,
"x2": 243,
"y2": 132
},
"pose": {
"x": -242.01596069335938,
"y": -332.0874328613281,
"z": 1311.207275390625,
"roll": 2.8962616588216235,
"pitch": -0.4326072514450513,
"yaw": -0.6851932587464149
}
}
]
} | image |
|
0 | 0 | 15 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/15/observation/image-35a605b7.jpg?Expires=1742305470&Signature=ZNRtRJE2fV1oqqaxzM-CKa~xvR~eqjTGxqUvaJWzmvs6dNdIAyFg2oRS2Xqe~SlU0lxKj1~tcka3s6w4Yw2mQVziFJ1ASxftLHj8nyzgu29B3rEMTsASq7VuQgLipFT8qodKNkV9qRbDKfn1Le317Lkpt-SHt~P-1GH7Fk3yk5axsmOpUIk9svaUb3vZBKdykelqh4wVnFqB4vDtEC9F5slhkr5XqaqMtuWzLGWElxWMGB9kBMZtn4yPsV-iEitZgBpAuMmTuXOpDuNZBDx8ZCD4Wzgas1ho8IqbnQjBg6qFmHkYBRV6M44ZVCZwrnoBiK9B13fKxx5tM-w2mqNSyQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/15/observation/image-367d05c9.jpg?Expires=1742305470&Signature=Gv2JA9IR9mG4GA83VUiYl3aQwyBTQALU3UhNldgodugvM~a0NMGq1ggeAVT2zWGnIsnMlL3PUNA1KizR~6xzuBZc2TTkNzrS5EkqhyXCnbmKUCFOQrm1U4AFVRKON5-cebU~yMx4m6n826j9dotmCsyJoMVRseEQVDx0-90RnHp7IMhLEAtLAUzioLyTgY7IpZhmK9wIaRgW4DlAlx2ngY6y7b37mqrWTjV-rl3Sg7-1htac6NYZFZylUDgzDJ2yjmwYlyhd1OfiwChIh3qfCfO0PxwQ3sKDwIVfGfnoYoVMjLRcqCjEjDofb3VRPHY6bvBFehst1QXqdrpdpNbFZA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 259,
"y1": 246,
"x2": 267,
"y2": 251
},
"pose": {
"x": -126.61124420166016,
"y": 42.030277252197266,
"z": 1049.068603515625,
"roll": 1.635916415697065,
"pitch": 0.31380259644131725,
"yaw": 0.1618193760144936
}
},
{
"name": "6",
"bbox_2d": {
"x1": 281,
"y1": 201,
"x2": 305,
"y2": 242
},
"pose": {
"x": -66.55249786376953,
"y": 1.6290173530578613,
"z": 1168.2509765625,
"roll": -1.6700548383924045,
"pitch": -0.8961581479970658,
"yaw": -2.922286708766457
}
},
{
"name": "0",
"bbox_2d": {
"x1": 532,
"y1": 290,
"x2": 569,
"y2": 346
},
"pose": {
"x": 359.6537780761719,
"y": 120.24241638183594,
"z": 900.0073852539062,
"roll": -1.6710096299682602,
"pitch": -0.9037292755436709,
"yaw": -2.921067821610644
}
},
{
"name": "1",
"bbox_2d": {
"x1": 303,
"y1": 207,
"x2": 315,
"y2": 235
},
"pose": {
"x": 1.9774171113967896,
"y": -6.98143196105957,
"z": 1292.7783203125,
"roll": 1.6384621991572565,
"pitch": 0.41420539877170753,
"yaw": 0.16896033885535594
}
},
{
"name": "5",
"bbox_2d": {
"x1": 221,
"y1": 238,
"x2": 267,
"y2": 248
},
"pose": {
"x": -177.57278442382812,
"y": 31.506959915161133,
"z": 1275.1593017578125,
"roll": -1.7097523098489718,
"pitch": 1.1075266468424954,
"yaw": -3.1243692536278713
}
},
{
"name": "3",
"bbox_2d": {
"x1": 593,
"y1": 224,
"x2": 639,
"y2": 367
},
"pose": {
"x": 450.0113830566406,
"y": 76.07877349853516,
"z": 871.8394775390625,
"roll": -1.7877457775258718,
"pitch": 1.2791231885420677,
"yaw": 3.075231616094131
}
},
{
"name": "4",
"bbox_2d": {
"x1": 543,
"y1": 303,
"x2": 624,
"y2": 372
},
"pose": {
"x": 366.4296569824219,
"y": 130.2652587890625,
"z": 804.4879760742188,
"roll": -1.6406064916494192,
"pitch": -0.4792172989414029,
"yaw": -2.967670350238857
}
},
{
"name": "2",
"bbox_2d": {
"x1": 153,
"y1": 209,
"x2": 197,
"y2": 237
},
"pose": {
"x": -332.1138916015625,
"y": -14.7110013961792,
"z": 1271.5618896484375,
"roll": 1.6955577026959545,
"pitch": -1.050189017501915,
"yaw": 0.03332113959527584
}
}
]
} | image |
|
0 | 0 | 16 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/16/observation/image-35a605b7.jpg?Expires=1742305470&Signature=qFaamsOVDmpXNlEKXM9iT32xe9k51kYdFUALA0yYT0L687pNAfzRnOGgqxuo9fMqbPyXaG2RfHeeIACXa3eQ9iSWjhKECsAyPwIMwRwi5ZXhD6FrAfWiPDN24BZx6z8QH4ADxeoMhpF3jlqR82A3YkcbePct-4o7hL3XUWbUNPL8ykrBxH5~sbY-GQr7mLCrt7QJLEYEvQmdZ8TfsuvKa6f~tfjzu-elZFfKzeU7~oYLtq8NC39pGQDhYxveKid6lBWYHUcbUHfQt~cYvIy~0VkB6Wur2cgpNVI8mQB64bsLf55w3FyPYSsw1CRYHPnTk-qEnd7qet75-BJV2v1z1Q__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/16/observation/image-367d05c9.jpg?Expires=1742305470&Signature=h6U7wom9RP58Xep1GFWJ-5ixm~cgxJy6qzaXLwLViPDdps5bFXyCjPNfOjMC7mNs-ipHgFEx1JeLYvfvoOFGbIyCtIDcv3TBc07W30c8UUzFkCkjgPMiPpbIS6EapReKU-85CoErOLQ~qVhmR5uvj8AetintXwLNpl1D03PX60NKF5vyaxjZNB1DTjH6GhgacptOz0b7xmLS5Av4UqMUU9A4GXrqFF6LQZjaK16vYBXpYav~1My-0umqz2OM3Kemk-RP2AVaFNgBbKrw5m-fzFazJPAri55nGVZmCpGZ8BoJk~D257cOMILUTGETWK1gLXn86mxr55kNG6TYLaNe~w__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 330,
"y1": 242,
"x2": 357,
"y2": 256
},
"pose": {
"x": 30.31728744506836,
"y": 35.42258071899414,
"z": 1553.3326416015625,
"roll": -3.0600862451702415,
"pitch": 1.3074732800126034,
"yaw": 1.9065307269973508
}
},
{
"name": "6",
"bbox_2d": {
"x1": 373,
"y1": 224,
"x2": 400,
"y2": 260
},
"pose": {
"x": 167.23223876953125,
"y": 34.055789947509766,
"z": 1526.9466552734375,
"roll": 2.0114310716381585,
"pitch": -0.9169446498605011,
"yaw": -0.10682217345745039
}
},
{
"name": "0",
"bbox_2d": {
"x1": 303,
"y1": 311,
"x2": 323,
"y2": 356
},
"pose": {
"x": -3.7266757488250732,
"y": 164.02305603027344,
"z": 1056.248291015625,
"roll": 2.0072448881025577,
"pitch": -0.910055685123701,
"yaw": -0.10153427450201194
}
},
{
"name": "1",
"bbox_2d": {
"x1": 407,
"y1": 233,
"x2": 473,
"y2": 309
},
"pose": {
"x": 302.8844909667969,
"y": 65.85939025878906,
"z": 1497.5430908203125,
"roll": -2.7144688807242563,
"pitch": 1.2817550118269558,
"yaw": 2.2654467361726223
}
},
{
"name": "5",
"bbox_2d": {
"x1": 399,
"y1": 249,
"x2": 425,
"y2": 276
},
"pose": {
"x": 230.10435485839844,
"y": 66.70573425292969,
"z": 1667.04931640625,
"roll": -1.836753729249227,
"pitch": -0.1611614522755274,
"yaw": -2.8465771390846712
}
},
{
"name": "3",
"bbox_2d": {
"x1": 273,
"y1": 248,
"x2": 402,
"y2": 390
},
"pose": {
"x": 5.0407514572143555,
"y": 131.5699462890625,
"z": 957.3631591796875,
"roll": -1.8332310592038707,
"pitch": 0.007027240968136187,
"yaw": -2.892149413507784
}
},
{
"name": "4",
"bbox_2d": {
"x1": 248,
"y1": 304,
"x2": 290,
"y2": 359
},
"pose": {
"x": -93.40679931640625,
"y": 153.5126190185547,
"z": 1022.8221435546875,
"roll": 2.534378490596235,
"pitch": -1.2493961098201025,
"yaw": -0.6874032764725839
}
},
{
"name": "2",
"bbox_2d": {
"x1": 371,
"y1": 223,
"x2": 399,
"y2": 257
},
"pose": {
"x": 199.20445251464844,
"y": -6.013859272003174,
"z": 1807.7227783203125,
"roll": 1.8396777703531555,
"pitch": 0.21694503310990326,
"yaw": 0.3105741921354667
}
}
]
} | image |
|
0 | 0 | 17 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/17/observation/image-35a605b7.jpg?Expires=1742305470&Signature=rpJVkGxVjEuh7LvpfS4PE3eRy4FyRTMiTJGWA7i~hj9M-XIzu0OzQSWpaRewpzqNZ~4~xiKZKwsT3ZN5R71w8OYyyKxYPYHHAzKGcGSTxg65EKajBbBEpf0LP56ajbv8nv63XD7E2VbRB7w-pECR-UYDWbc~P7SYQ5LMKSdFw9oTOvfu6ejPE7pERI3wOS6MzptglfE18DiydrMuThTLx3ra5gJNEwZ1nDgDdtHxzjkHEKdiPdRDKBf3bXTTaR7I9ZxhLgt2sBv0qN1GwZ0e6bhXXmxuwNCqeD8YLZZ1EqEbpO7sYmEl-jt9X6it9jIETPHCCor23qcE0esWNUiofw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/17/observation/image-367d05c9.jpg?Expires=1742305470&Signature=iuM0iUPY6FIlzzckbbqp2~dnPxfkcv3FXa7Cjp03o2aqlfzJmD2zTHFc~k-MubAywbEc097q4yEuiS-b0fKLYGDPmbE4CrkTl9mGjduVGuFnpYwqQTn~vc-E9UeKUMmv2p47XsCDQrdwCy64tmNQXBjna-QA7aI9F803TaWMlck7gBy4A9F0sZCvf6zyOxjPc5neNkcsHGGzUJiZVyoFcOS39S4mhH6mwQzf6lMghwnKSYWYCLYg0MhZgzpjW-kxuziDCq3MRzcWCGOaL53jzW9m3A0GucYGfdr278MnkX~VGxdmATAa7VGo0ic6ZsDPVr-dvCgFPRnHSzLg-gKiqQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 190,
"y1": 205,
"x2": 264,
"y2": 280
},
"pose": {
"x": -154.22813415527344,
"y": -5.516830921173096,
"z": 867.4519653320312,
"roll": 2.174996096503953,
"pitch": -0.5649381037070824,
"yaw": 0.2508290821029247
}
},
{
"name": "6",
"bbox_2d": {
"x1": 193,
"y1": 126,
"x2": 251,
"y2": 210
},
"pose": {
"x": -160.7017822265625,
"y": -119.77713012695312,
"z": 947.1168212890625,
"roll": -2.072358391936836,
"pitch": 0.06330891646276549,
"yaw": -2.5714375835471426
}
},
{
"name": "0",
"bbox_2d": {
"x1": 443,
"y1": 276,
"x2": 474,
"y2": 313
},
"pose": {
"x": 264.00836181640625,
"y": 95.1940689086914,
"z": 1149.8092041015625,
"roll": -2.0721388061823216,
"pitch": 0.05663660411722116,
"yaw": -2.567773447069338
}
},
{
"name": "1",
"bbox_2d": {
"x1": 185,
"y1": 74,
"x2": 266,
"y2": 176
},
"pose": {
"x": -175.35183715820312,
"y": -214.44537353515625,
"z": 1052.4775390625,
"roll": 2.1427775940910148,
"pitch": -0.4811861884485803,
"yaw": 0.3152524375575485
}
},
{
"name": "5",
"bbox_2d": {
"x1": 98,
"y1": 111,
"x2": 169,
"y2": 190
},
"pose": {
"x": -313.96014404296875,
"y": -153.8280029296875,
"z": 946.9154052734375,
"roll": 2.411693403929658,
"pitch": 0.8712613152892255,
"yaw": 1.3123141525744904
}
},
{
"name": "3",
"bbox_2d": {
"x1": 463,
"y1": 219,
"x2": 568,
"y2": 319
},
"pose": {
"x": 363.3149108886719,
"y": 69.90298461914062,
"z": 1169.981689453125,
"roll": 2.28328932789406,
"pitch": 0.7466021352114731,
"yaw": 1.1354136320042754
}
},
{
"name": "4",
"bbox_2d": {
"x1": 456,
"y1": 307,
"x2": 507,
"y2": 353
},
"pose": {
"x": 318.4217224121094,
"y": 163.7207794189453,
"z": 1109.64013671875,
"roll": -2.125801074344675,
"pitch": 0.4260877496114614,
"yaw": -2.787620185917553
}
},
{
"name": "2",
"bbox_2d": {
"x1": 0,
"y1": 81,
"x2": 84,
"y2": 177
},
"pose": {
"x": -410.8452453613281,
"y": -169.02366638183594,
"z": 818.7969360351562,
"roll": -2.4662040905498612,
"pitch": -0.90865830270104,
"yaw": -1.7591515001767293
}
}
]
} | image |
|
0 | 0 | 18 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/18/observation/image-35a605b7.jpg?Expires=1742305470&Signature=HK8flYFdPSqtgnII6nW7Mi688GAneBwsnJJp0M0FzvtHqs42Mnd~UQVy6R3ZBi7TE3cyAAzUEL6IbRLBr7iKyefH6at1sWTYMgSnv~Ng6okHEVx09hRBaYH5YrCzn15nt0YUUcS~sfA9nz9BRF4suVZTsGkCtvEBnAmrIp-Gc8Ulpc3N9EzOeGgvaUasjSnTxs4dRPjYOd4M8hgGLqoprphynr7ZyvvZK-zM3Yqst-uPN8r-zns5UwLpzSHNdMtn7o~njktShPKfAARtSGy-El~RoqTPZmzIsan6QU~64AA32eAZUBbmJauUeHMkDx~IH3HiUZVF0QXQR2CppB7eLw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/18/observation/image-367d05c9.jpg?Expires=1742305470&Signature=eUG9q8ZAW0UcJq5fEHqHCDQirDEVpUEY82I~ed-jMvCeEqd7Rc8ofALgM0Kf6yR7aEArIx-YqdIfGx6dslRAbkasTeukQ6hb5bTfycW0FI98mUGs55ua8vWlbcpqP0deDA-ffY9guJMOK2-oI2Nur1RtaTuuLIlruDwE6vyONLhrwkcAhXujtldiJtF-N6MABKcDZ3DHBP8AVeA5rTknpLrHzFHl5K~lwZcIUOakt0EdNiI6O6I~vSI7klcmLI8enJbzcxwQiB4LzLAZlBh4otKslgZw6QcOwl81wOnmk0zfdIrvAROB3TTC-A7qwbiLaWGyKQptADmEZsyAOWVfog__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 241,
"y1": 243,
"x2": 293,
"y2": 298
},
"pose": {
"x": -136.60865783691406,
"y": 73.47232818603516,
"z": 1341.8856201171875,
"roll": 2.7844141410460113,
"pitch": -0.42851206653105667,
"yaw": -0.5610239554374421
}
},
{
"name": "6",
"bbox_2d": {
"x1": 232,
"y1": 200,
"x2": 247,
"y2": 251
},
"pose": {
"x": -202.8088836669922,
"y": -48.583953857421875,
"z": 1354.6763916015625,
"roll": -2.615854926127887,
"pitch": 0.1720860476950088,
"yaw": 3.1326038692534914
}
},
{
"name": "0",
"bbox_2d": {
"x1": 400,
"y1": 163,
"x2": 419,
"y2": 181
},
"pose": {
"x": 253.28514099121094,
"y": -183.12416076660156,
"z": 1558.52099609375,
"roll": -2.614724525211162,
"pitch": 0.16826382185084998,
"yaw": 3.1392792015598117
}
},
{
"name": "1",
"bbox_2d": {
"x1": 193,
"y1": 142,
"x2": 235,
"y2": 209
},
"pose": {
"x": -269.31005859375,
"y": -165.88421630859375,
"z": 1400.4561767578125,
"roll": 2.7437280727506885,
"pitch": -0.39138552570036805,
"yaw": -0.45903382494123274
}
},
{
"name": "5",
"bbox_2d": {
"x1": 149,
"y1": 209,
"x2": 206,
"y2": 270
},
"pose": {
"x": -353.49310302734375,
"y": -5.6771392822265625,
"z": 1364.7216796875,
"roll": 2.7367079286389564,
"pitch": 0.3840902778953378,
"yaw": 0.9964610039726851
}
},
{
"name": "3",
"bbox_2d": {
"x1": 416,
"y1": 104,
"x2": 490,
"y2": 183
},
"pose": {
"x": 326.995849609375,
"y": -256.01312255859375,
"z": 1545.7811279296875,
"roll": 2.679313773917494,
"pitch": 0.31071993726710073,
"yaw": 0.8283464839188962
}
},
{
"name": "4",
"bbox_2d": {
"x1": 429,
"y1": 179,
"x2": 463,
"y2": 211
},
"pose": {
"x": 336.750244140625,
"y": -136.1962127685547,
"z": 1548.439697265625,
"roll": -2.7199565736599545,
"pitch": 0.36541505279639125,
"yaw": 2.746880742086345
}
},
{
"name": "2",
"bbox_2d": {
"x1": 100,
"y1": 268,
"x2": 160,
"y2": 308
},
"pose": {
"x": -434.452880859375,
"y": 92.05014038085938,
"z": 1265.088134765625,
"roll": -2.758994117601048,
"pitch": -0.40628594754445824,
"yaw": -2.0872594256612613
}
}
]
} | image |
|
0 | 0 | 19 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/19/observation/image-35a605b7.jpg?Expires=1742305470&Signature=HbxvqiKIiuG4OQMh-QrLS0vqwcdXd8n7Qngkoj3d0-paiMrP4oCpVymekZ7gFo9NerADcYsFaGYFOGOb9jmpg-~lO2fePeBY3CiW-JRV6aoTGfzXP-K4vRZ8tEBsn2kV2curq~~RjN4XmRQdsxV332k2cCFciKVYQbagcXyTzOUctVZFMNKnSUa1CbAlW6ccCoRAPg1ESwmlLiOw3R-Vv21sfunfNlbLC9rlkZD~cpDSCoM8UvWB6D-L73~JU4HOe1oGQ1rMEsv4nYUf7s1rYd~qyBRBGdGzaAOiptieqJtD7e4~22iMy9kR2tZs6HJySmpQ96PSiSQt-qgpr5TcVw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/19/observation/image-367d05c9.jpg?Expires=1742305470&Signature=oagCzQowsoOUQorNE9odfnuNdaosnBa4D49qnz4ddFBpKijjY-s2sNmP6Pfgg-GtsMY3GE8ubmPJrfOK~DrqKDIS5RIjHywRIZK9GdV1ZkSFohmsNRX31BE0Uh3g2WCO2A5d4iyR9F0rJijgXRfHMLkQ8X89Vu-ZpqgFU-uY28bmmmAbJ-V1R7WY7ODovKDqmTkb--awB82kMMb-nwVYSjiNEAef0w56bwWkc7LCl75GGcpZJd2craaJ2c3-ycUC~9VF7NshL-nUDUHRP4cfRRxQ~JOEENW0wLMLrPPM5~evR3wtenUvgzphRrE95HLLALkF3g~XI4jqu8nJ5QhxqQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 301,
"y1": 286,
"x2": 361,
"y2": 350
},
"pose": {
"x": 7.821543216705322,
"y": 162.27781677246094,
"z": 1201.7032470703125,
"roll": 2.705669381938855,
"pitch": -0.03253470127501451,
"yaw": -0.8522706415530237
}
},
{
"name": "6",
"bbox_2d": {
"x1": 267,
"y1": 255,
"x2": 306,
"y2": 295
},
"pose": {
"x": -87.28325653076172,
"y": 62.134891510009766,
"z": 1220.946044921875,
"roll": -2.7538886458080425,
"pitch": -0.20707949096102868,
"yaw": 2.825460037094328
}
},
{
"name": "0",
"bbox_2d": {
"x1": 466,
"y1": 120,
"x2": 501,
"y2": 149
},
"pose": {
"x": 339.0423583984375,
"y": -230.98634338378906,
"z": 1222.34619140625,
"roll": -2.7553797636827655,
"pitch": -0.20995079055507537,
"yaw": 2.8326624241567613
}
},
{
"name": "1",
"bbox_2d": {
"x1": 216,
"y1": 195,
"x2": 282,
"y2": 255
},
"pose": {
"x": -170.94784545898438,
"y": -41.510536193847656,
"z": 1271.299072265625,
"roll": 2.704642422127595,
"pitch": 0.010029620588110473,
"yaw": -0.7610798169310367
}
},
{
"name": "5",
"bbox_2d": {
"x1": 204,
"y1": 268,
"x2": 265,
"y2": 338
},
"pose": {
"x": -204.81362915039062,
"y": 138.702880859375,
"z": 1291.45556640625,
"roll": -3.1098328940327136,
"pitch": 0.43597784565043424,
"yaw": 0.8633381728184568
}
},
{
"name": "3",
"bbox_2d": {
"x1": 457,
"y1": 41,
"x2": 561,
"y2": 131
},
"pose": {
"x": 377.1646728515625,
"y": -315.06170654296875,
"z": 1173.4957275390625,
"roll": 3.0921346904625255,
"pitch": 0.43442986768251207,
"yaw": 0.6711802472223894
}
},
{
"name": "4",
"bbox_2d": {
"x1": 507,
"y1": 127,
"x2": 552,
"y2": 169
},
"pose": {
"x": 425.8560791015625,
"y": -206.20175170898438,
"z": 1188.8887939453125,
"roll": -2.706048995761432,
"pitch": -0.03757315436666072,
"yaw": 2.4395908112342712
}
},
{
"name": "2",
"bbox_2d": {
"x1": 172,
"y1": 346,
"x2": 234,
"y2": 394
},
"pose": {
"x": -275.8877868652344,
"y": 275.2157897949219,
"z": 1243.0340576171875,
"roll": 3.082998534039187,
"pitch": -0.4333640670831025,
"yaw": -2.2145500511263423
}
}
]
} | image |
|
0 | 0 | 20 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/20/observation/image-35a605b7.jpg?Expires=1742305470&Signature=yUci2375LC6gyLDdT9~z0KgzjuisO4n54T4~IrHPCH8inppvOf1vRuSAeMUr3gz4YKmw-93sspdmG2QVW8PCRge04ZHoGSkRoI-MTPJtgR5iSyt2-070kfNkhR~fb7IiHPBpemiC-W4b10knHY-jRacNnnf~ItdKHDX0onaOo3Yyy50VXD5zSNRrACY7gOaHp8wPTU7IpsDIer7GVRl3j5s7HptFNLyEXjHn38duKjUjBmjOllkVxbnoI2MSOEofRO05HlntZONgFXbTRp5mko9XvJ1SuRzJyKB-ruxy4jfniFq8FlBBtmtistehEVbX4W73z3VPiThQQVczbAR-Lw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/20/observation/image-367d05c9.jpg?Expires=1742305470&Signature=QYwBx6xW5Yd8VtbCynCFD4KauQZ4q1tpLzbIM0lP3TGxQyCw0O-FyKfC08et0syT4Jm~Acv~6SetcNM9SbUVYtaBjOzHtmJ4Ai~wqJHGVjrSJpbTp0C0rhSaC~kaFSKSbRfcW8KlPEhNL5JL0zmfCa52HE1RJTMle9veM~lGT62ZwOOQHL~wiVYA9Dnb4peeSu2uq0rcg5wVOt0GpV~HUKy742ESsGQ3sDhxeozj0Vk5SjIV8oAriXhvf-yVg7yTPom2hbdNTu8-Tk7T6I8asSnIfKzeJchyfjGpii6qDZfDIY4iCZO37uOOyewuD5tpXwLilo-JfJL-40-CoMVP8A__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 376,
"y1": 229,
"x2": 395,
"y2": 263
},
"pose": {
"x": 103.29701232910156,
"y": 42.3942756652832,
"z": 981.1859130859375,
"roll": -1.8994520908728405,
"pitch": 0.1017991713075197,
"yaw": -2.4350555185108385
}
},
{
"name": "6",
"bbox_2d": {
"x1": 381,
"y1": 231,
"x2": 436,
"y2": 271
},
"pose": {
"x": 101.29412841796875,
"y": 45.92559051513672,
"z": 841.8038940429688,
"roll": 1.9353256899453046,
"pitch": 0.4494699430584636,
"yaw": 0.9054782795576295
}
},
{
"name": "0",
"bbox_2d": {
"x1": 116,
"y1": 37,
"x2": 167,
"y2": 95
},
"pose": {
"x": -287.0884094238281,
"y": -287.0420837402344,
"z": 919.0497436523438,
"roll": 1.9366484121719718,
"pitch": 0.4565770864078534,
"yaw": 0.9085003975942393
}
},
{
"name": "1",
"bbox_2d": {
"x1": 301,
"y1": 231,
"x2": 450,
"y2": 378
},
"pose": {
"x": 70.31124877929688,
"y": 65.82162475585938,
"z": 704.2474975585938,
"roll": -1.8976943334493774,
"pitch": 0.006523694831119532,
"yaw": -2.4026251586176097
}
},
{
"name": "5",
"bbox_2d": {
"x1": 397,
"y1": 329,
"x2": 475,
"y2": 424
},
"pose": {
"x": 159.52938842773438,
"y": 188.1318817138672,
"z": 809.6532592773438,
"roll": 3.0315518480044505,
"pitch": -1.2418417349926612,
"yaw": -0.7133960872617603
}
},
{
"name": "3",
"bbox_2d": {
"x1": 56,
"y1": 0,
"x2": 130,
"y2": 63
},
"pose": {
"x": -315.8866271972656,
"y": -382.95306396484375,
"z": 889.383544921875,
"roll": -2.759340472555908,
"pitch": -1.2174094770864616,
"yaw": -1.2344525365279206
}
},
{
"name": "4",
"bbox_2d": {
"x1": 116,
"y1": 26,
"x2": 176,
"y2": 86
},
"pose": {
"x": -305.22113037109375,
"y": -336.3717346191406,
"z": 999.7225952148438,
"roll": 1.89820431125912,
"pitch": 0.055187939132359407,
"yaw": 0.7599113735676978
}
},
{
"name": "2",
"bbox_2d": {
"x1": 466,
"y1": 373,
"x2": 564,
"y2": 454
},
"pose": {
"x": 296.2389831542969,
"y": 253.0320281982422,
"z": 865.6033935546875,
"roll": -2.867959375786495,
"pitch": 1.2307740208949147,
"yaw": 2.6013388639440285
}
}
]
} | image |
|
0 | 0 | 21 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/21/observation/image-35a605b7.jpg?Expires=1742305470&Signature=t7jkwdskBt-SZ6oVePhsQcDLUMj3gbIZnm8HOQATGtnk983YSYU2E010BSO24B0gC81fI734dwijjgs1hhgz65QK2NCbRVoq5PwB8s4I32oycu2eawLeOLHpVNYdYgSJ3znB-fC8ZXsj7meXRhZP364DFue-saKoSHB~8iBvHfegZHRpISAnuhFbE-236kPxE2goGpqJ1nDrrQaG4DgdyecNPkU3BFq2j3NxY9wFB8woCvzN46CXutzDcNni~WibpQZi3uMaoXDpT65KUwRnoQGJvxNDDqh0CDENIelzr~uGC4cZF89GLKHbgqZg1x5vrGrz0V3k7tQhye0PfyRqjQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/21/observation/image-367d05c9.jpg?Expires=1742305470&Signature=xevjH1i2jzGJ2oEvVtGu4CNSgpni2OXRZGW0gen6eISrCoxvcBX85PwfNGVa84ssI~FgKv31TSZqDpy9InDw6Ncw5qdxK7WnyXXh2kD0pkd-Vw0koy8acrF~KMpkBJPPmlJLXx33iRk-1whTfBpVZz3nesu-Qdh2zcDIoqLrfPLchRjbXW3cT-bRutNreukatc8R7jD8GMFJoQHwBcHdjZL5oZWKfQAaO82xWR0cbZccOSOHAyvl2MPqRhAiql9atw1FthX4n919h4~a4G4dLl4dVvEJy7OBfVetx1UTU50Ov~7aCvMmxyzDgJqJwjVsoH-012fcMgPcqO2j2gW2Og__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 356,
"y1": 225,
"x2": 403,
"y2": 268
},
"pose": {
"x": 140.33169555664062,
"y": -0.08554476499557495,
"z": 1468.4227294921875,
"roll": -2.423499635614185,
"pitch": 0.3167942205428904,
"yaw": 2.6285929073968743
}
},
{
"name": "6",
"bbox_2d": {
"x1": 400,
"y1": 237,
"x2": 416,
"y2": 297
},
"pose": {
"x": 197.0663299560547,
"y": 51.59682083129883,
"z": 1352.00146484375,
"roll": 2.3719841235497805,
"pitch": 0.08502478197228572,
"yaw": -0.08307341090361471
}
},
{
"name": "0",
"bbox_2d": {
"x1": 188,
"y1": 334,
"x2": 221,
"y2": 370
},
"pose": {
"x": -280.02337646484375,
"y": 245.23855590820312,
"z": 1301.3665771484375,
"roll": 2.3724646677587744,
"pitch": 0.09031811612464247,
"yaw": -0.07758643715754178
}
},
{
"name": "1",
"bbox_2d": {
"x1": 415,
"y1": 270,
"x2": 465,
"y2": 348
},
"pose": {
"x": 252.1573028564453,
"y": 133.56033325195312,
"z": 1249.4122314453125,
"roll": -2.401635011852039,
"pitch": 0.2497280655413226,
"yaw": 2.706740855343525
}
},
{
"name": "5",
"bbox_2d": {
"x1": 437,
"y1": 240,
"x2": 500,
"y2": 297
},
"pose": {
"x": 349.26690673828125,
"y": 62.11946487426758,
"z": 1389.04052734375,
"roll": -2.8459742531475225,
"pitch": -0.7256970870838028,
"yaw": -2.171511419872289
}
},
{
"name": "3",
"bbox_2d": {
"x1": 121,
"y1": 296,
"x2": 194,
"y2": 403
},
"pose": {
"x": -357.45806884765625,
"y": 246.98046875,
"z": 1231.3009033203125,
"roll": -2.7098940535880445,
"pitch": -0.6634516929689608,
"yaw": -2.3835447561563927
}
},
{
"name": "4",
"bbox_2d": {
"x1": 162,
"y1": 318,
"x2": 197,
"y2": 355
},
"pose": {
"x": -359.2236328125,
"y": 215.49929809570312,
"z": 1347.3359375,
"roll": 2.390540717142325,
"pitch": -0.20551540803086982,
"yaw": -0.38570655589055913
}
},
{
"name": "2",
"bbox_2d": {
"x1": 473,
"y1": 200,
"x2": 520,
"y2": 250
},
"pose": {
"x": 443.3196716308594,
"y": -53.44077682495117,
"z": 1450.9420166015625,
"roll": 2.8962170383086816,
"pitch": 0.7411610018034899,
"yaw": 1.0451138888457947
}
}
]
} | image |
|
0 | 0 | 22 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/22/observation/image-35a605b7.jpg?Expires=1742305470&Signature=q5TkPsvrtYc8482TMt3Xem6K1rPfh0JVJNMSyosDmVGSTyMnqj2RSmKHhubAnf3YImMvaPU1jgb8VQOz6~rrPQceAsMpLxGK~WarBctH8JQFFlMauHj0bRMHrGYYRvJ0hwNrg52WuOkhMpHbyvB~6JXLWhN8yz0RZcOqbOwLA6kNKUK~ng4uziHeZ8GHNx6kHF2MxHH12NEGDi3EE8Mj1Y-DGY0EeLzGwVG-V4M0WoRMGgPKQgQwZwvHOCIs~uKXCqP8fZ5vG07dggmy48nbN2xpFjWqwSerq14cSbDG08cDoCREHxph6SMhRZWsxpmb4WSVFS2ClZkeCXy~yJxrHg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/22/observation/image-367d05c9.jpg?Expires=1742305470&Signature=BVpYtKVK9cycdYz7I6VUYi7FU34aqMA7ulZZp8RqSbTBfECiVBF1Ca-VH-nG4rgpU7pbV986az4Jsc3izejVP29fTLqyXz-npsSElDrRAmlXrtn9Ao85JHjAEKz~jSqIl4~Dpqhq3DCg-XmGlF7oPqGgbbCXL2klso7ctaVtKJ8NTBFbzbehq7ytI3MW9Ncwxkwz9HdEUlep~VCzxyyUSM5n74SO-qLMhoYZu4HaR7eiEKnITm7geo307m42k0wX-gzGRH589GecddcD15UsIqtl5k-UElErvUg~urqcKWOJbxHdwreC89BWSRw9cuccPTv9Nw5O5XEQL-aFtGsXHg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 130,
"y1": 135,
"x2": 191,
"y2": 193
},
"pose": {
"x": -334.6440124511719,
"y": -157.94268798828125,
"z": 1145.366455078125,
"roll": 2.8479148182084453,
"pitch": 0.04856563460670554,
"yaw": 0.32551965642641184
}
},
{
"name": "6",
"bbox_2d": {
"x1": 171,
"y1": 73,
"x2": 207,
"y2": 132
},
"pose": {
"x": -277.6171875,
"y": -285.1803894042969,
"z": 1143.8489990234375,
"roll": -2.920968463368981,
"pitch": -0.20130512235596587,
"yaw": -2.2471227845777997
}
},
{
"name": "0",
"bbox_2d": {
"x1": 386,
"y1": 222,
"x2": 420,
"y2": 260
},
"pose": {
"x": 155.551025390625,
"y": -3.041780710220337,
"z": 1122.9051513671875,
"roll": -2.9224902649647224,
"pitch": -0.20296360907666425,
"yaw": -2.2395424133294317
}
},
{
"name": "1",
"bbox_2d": {
"x1": 192,
"y1": 2,
"x2": 252,
"y2": 86
},
"pose": {
"x": -209.1753692626953,
"y": -406.57958984375,
"z": 1173.0982666015625,
"roll": 2.85400089755924,
"pitch": 0.07742285274901496,
"yaw": 0.42211225946273123
}
},
{
"name": "5",
"bbox_2d": {
"x1": 109,
"y1": 32,
"x2": 179,
"y2": 102
},
"pose": {
"x": -384.537353515625,
"y": -372.24578857421875,
"z": 1218.9176025390625,
"roll": -3.047929999387252,
"pitch": 0.28284206107004467,
"yaw": 2.0618278933002983
}
},
{
"name": "3",
"bbox_2d": {
"x1": 421,
"y1": 178,
"x2": 488,
"y2": 292
},
"pose": {
"x": 241.2117462158203,
"y": 5.766388416290283,
"z": 1063.8033447265625,
"roll": -3.0996970884666246,
"pitch": 0.2946739274839895,
"yaw": 1.880497514100337
}
},
{
"name": "4",
"bbox_2d": {
"x1": 381,
"y1": 272,
"x2": 433,
"y2": 312
},
"pose": {
"x": 162.4545135498047,
"y": 89.8013687133789,
"z": 1098.3533935546875,
"roll": -2.859431501789368,
"pitch": -0.09574327717707837,
"yaw": -2.6567084648893142
}
},
{
"name": "2",
"bbox_2d": {
"x1": 27,
"y1": 32,
"x2": 102,
"y2": 94
},
"pose": {
"x": -542.711669921875,
"y": -381.132568359375,
"z": 1188.35791015625,
"roll": 3.0313862492754153,
"pitch": -0.27695432099771783,
"yaw": -1.019896992969303
}
}
]
} | image |
|
0 | 0 | 23 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/23/observation/image-35a605b7.jpg?Expires=1742305470&Signature=Q9yf22zh5MWNFrdUgK01gm0OxLADtGwMrRPCpH-ziEfXvNUR~J0XhEzNGT3V7T8t5TTduboS2AF~UWaqzQ2a3UJCiPP726UFbW22FFg6TFIJmZkwMgHbwDy-8cosm0i43djwwAI6-7lqSpsM37lczRmcq-pzBeCGHY~P259GRT1y6T06gQ5fPuCmapCq0AWJlkF8pchLlJY92EGmVZ~zzU9yu3syE~m0SsQq7Zd2D-Tj3TNjmCmwhT9qhnW7uRLX1h1MVWuoxZOsEeOuktLDcN-Q0aI2Jh556owLPpO-9CJsD2waVrjjm5RV7MkWxaNGa7QlwL61jpKycIoiBAOhIw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/23/observation/image-367d05c9.jpg?Expires=1742305470&Signature=txVxet2Ryt1h5dCmZpvmHl~8PfRFhS1KaG1GtIS~y5wN7Rv2xqEglT5eNRiK5E8dsmljdlfGYBZb9qExs4y2PjggcPdt5pKyKej~iEsHQhVa2kRUZYYMNfvVgokoeZ~N9DGUbbigIiNsGSownJhIFpTncgQIDd~aGw-prB-futZZ9AQdsEueXXvrc-g0663DYpspjcpaHEmtJxTtXEAvoBHzWTcv9YnzdOWDhHS5Loy5A0ADrQJ~wx1sshgVOiN1cPC1eCEzChe8Q4nlUyFl404rmparU4aWCI9DnZiEeocRxZ6pN3dCPeV5wrBmBdiVSb8LR~LqQPQgWtzmSQV0OA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 261,
"y1": 159,
"x2": 332,
"y2": 220
},
"pose": {
"x": -58.273685455322266,
"y": -87.72350311279297,
"z": 1009.4166870117188,
"roll": 3.084830720767158,
"pitch": 0.3991842089648383,
"yaw": 0.6809713480490958
}
},
{
"name": "6",
"bbox_2d": {
"x1": 323,
"y1": 100,
"x2": 368,
"y2": 162
},
"pose": {
"x": 26.034454345703125,
"y": -192.79476928710938,
"z": 973.4171142578125,
"roll": 2.9580744545007205,
"pitch": -0.3608270420856645,
"yaw": -1.8314342619920603
}
},
{
"name": "0",
"bbox_2d": {
"x1": 521,
"y1": 360,
"x2": 572,
"y2": 412
},
"pose": {
"x": 316.5469055175781,
"y": 202.71205139160156,
"z": 809.5501708984375,
"roll": 2.9552584323730384,
"pitch": -0.35942788904121653,
"yaw": -1.8234426971241706
}
},
{
"name": "1",
"bbox_2d": {
"x1": 357,
"y1": 21,
"x2": 447,
"y2": 120
},
"pose": {
"x": 131.15699768066406,
"y": -288.115966796875,
"z": 961.5562133789062,
"roll": 3.1275019152822137,
"pitch": 0.40275202048275455,
"yaw": 0.7902038670302665
}
},
{
"name": "5",
"bbox_2d": {
"x1": 278,
"y1": 40,
"x2": 360,
"y2": 119
},
"pose": {
"x": -12.46336555480957,
"y": -305.1732482910156,
"z": 1076.0653076171875,
"roll": -2.7386298193211336,
"pitch": -0.004430662873129968,
"yaw": 2.407330522521155
}
},
{
"name": "3",
"bbox_2d": {
"x1": 562,
"y1": 358,
"x2": 639,
"y2": 479
},
"pose": {
"x": 364.7038269042969,
"y": 234.5007781982422,
"z": 722.4942016601562,
"roll": -2.743392698970106,
"pitch": 0.06364831389010366,
"yaw": 2.246878070164453
}
},
{
"name": "4",
"bbox_2d": {
"x1": 498,
"y1": 418,
"x2": 564,
"y2": 479
},
"pose": {
"x": 286.8582763671875,
"y": 292.8279113769531,
"z": 793.1786499023438,
"roll": 3.127909441780756,
"pitch": -0.4027657242170827,
"yaw": -2.2805527106565497
}
},
{
"name": "2",
"bbox_2d": {
"x1": 212,
"y1": 28,
"x2": 278,
"y2": 96
},
"pose": {
"x": -160.14968872070312,
"y": -360.62664794921875,
"z": 1109.9119873046875,
"roll": 2.73946962530748,
"pitch": 0.027093999478469334,
"yaw": -0.6810416525812764
}
}
]
} | image |
|
0 | 0 | 24 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/24/observation/image-35a605b7.jpg?Expires=1742305470&Signature=QDVnSxgmBQArgCvORe38xdqPio0aXrX7Lm~nngDtyW~yNeqylg74StAC1QrcArqLBe9GxksKqaZHZXCZz7ObN4chzfeJXC4AplSedLVr5o~nNJXyoDAhYbbEn88n6gYoSvadjGZ1JSGqhubYqOsthX9YHbq6e5yzi9DUjtDxA82ZaPGVOqLSA5v7XBm60kuslCczhzF7kliIR3pT0XOYNBHCzSAexIYcjTD9yOjmk2QGMRiHXzq9HtyRRgtBqLyxup5O-x-C39v5mE2VcoXN5wOZdxpPEBq9ZX-bhhZjH2Tjo7aktpjXcgK29~0zfxntW8C6YeZ0TlK4xUbh6xee9g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/24/observation/image-367d05c9.jpg?Expires=1742305470&Signature=mGRvln6Tk80c1mCHyXDui4Be4y-ICF0yGZgPkPEdQTyYrJHWgH2edVwEWogvWR7sKV5~tpGe91EdrzK9meRI7PxyIPrGgy81pMT3~wWggruTJNYg1IvRVYsT5tf1CF1~GdamKjMp4HwuxzSKSTyM8FEELO2nhBGpMRtqC-z-VmbYcyUInGnKhuE~krs2YAlpknGbulyghChCXScWFn-hW0XgB4WorM-zDZ9WyE7jicHPMG5L7DJWxEraX7pGhvTeKlA61kYWUAlYfn7WRrNR8MHiSVX~TZtFvQna4a~F81ZxzZDwbBFhfOJPdrYsGgFhihVH4L2XEcOiUjzIxrk5YA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "7",
"bbox_2d": {
"x1": 246,
"y1": 255,
"x2": 300,
"y2": 315
},
"pose": {
"x": -120.38969421386719,
"y": 97.90392303466797,
"z": 1319.4371337890625,
"roll": 2.4554829224081307,
"pitch": -0.5355334438749187,
"yaw": -0.5954975394415399
}
},
{
"name": "6",
"bbox_2d": {
"x1": 231,
"y1": 213,
"x2": 251,
"y2": 276
},
"pose": {
"x": -205.05511474609375,
"y": -0.03861170634627342,
"z": 1371.2333984375,
"roll": -2.3059100336197123,
"pitch": 0.12554929214873184,
"yaw": 2.9906706369912803
}
},
{
"name": "0",
"bbox_2d": {
"x1": 413,
"y1": 179,
"x2": 423,
"y2": 201
},
"pose": {
"x": 238.65765380859375,
"y": -155.36419677734375,
"z": 1587.262451171875,
"roll": -2.30528207339413,
"pitch": 0.1199030936258746,
"yaw": 2.9958096493620623
}
},
{
"name": "1",
"bbox_2d": {
"x1": 190,
"y1": 174,
"x2": 232,
"y2": 247
},
"pose": {
"x": -285.9974670410156,
"y": -83.92329406738281,
"z": 1453.021240234375,
"roll": 2.41337375417432,
"pitch": -0.4701135223252625,
"yaw": -0.508205746155143
}
},
{
"name": "5",
"bbox_2d": {
"x1": 154,
"y1": 245,
"x2": 211,
"y2": 301
},
"pose": {
"x": -344.4087219238281,
"y": 72.21365356445312,
"z": 1374.0311279296875,
"roll": 2.571875770387911,
"pitch": 0.6596559357173372,
"yaw": 0.7251006244843905
}
},
{
"name": "3",
"bbox_2d": {
"x1": 396,
"y1": 119,
"x2": 471,
"y2": 194
},
"pose": {
"x": 297.13250732421875,
"y": -241.63058471679688,
"z": 1594.1268310546875,
"roll": 2.4726646831619314,
"pitch": 0.5582388535520657,
"yaw": 0.5521691472460837
}
},
{
"name": "4",
"bbox_2d": {
"x1": 427,
"y1": 180,
"x2": 460,
"y2": 214
},
"pose": {
"x": 327.5777587890625,
"y": -130.41152954101562,
"z": 1560.043701171875,
"roll": -2.3902248440664664,
"pitch": 0.42617097605867943,
"yaw": 2.6867894964534824
}
},
{
"name": "2",
"bbox_2d": {
"x1": 105,
"y1": 291,
"x2": 168,
"y2": 340
},
"pose": {
"x": -416.61260986328125,
"y": 150.66932678222656,
"z": 1252.9393310546875,
"roll": -2.611339106034193,
"pitch": -0.689898195533201,
"yaw": -2.3533421140400304
}
}
]
} | image |
|
0 | 0 | 25 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/25/observation/image-35a605b7.jpg?Expires=1742305470&Signature=wKSMqzB83es3gcK7fIUKtIido70GmxzZixdQ8onCsz8ab4RH~zYDuMLYc7x2YwwhxzyCPKs3B113r~Gp9heKmCoEDvRYwekB3kuw4o-BGZ5vImJNC~1snP7zDok2SiESCuMSjVA38zhCg~UBIvQ-MvZoTL0DG1aR-q-Hk6CBWLCR5RoRpJCeJAJXk3W8hYEoTb5Tv2OTYcSXiZ4Z~W1Fe7bWI3wZr0ELOkrj61ldmNeRajVpTiR~yLc5kSu-zgAoKywd9tALQooLzwKxBGip7hEQKPanX9-3z3qvs-4QMY5d4jPQ8lNmawh0dtH5cqp365~~NustqCfw2Dw1-y1xiQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/25/observation/image-367d05c9.jpg?Expires=1742305470&Signature=PWtQxi8Vbsr6yGr3As8XpM8Tkc1nLGAaEWJHwqeh-4OdrfAMJB8YNSCs9OxvgrwITSz0OMDW4Z7ra7-52lp3bCAvly9FodIEIjVnCwG89YGQCFUhhUbFhDeoy2EFqIIPpFE51B3Q6xPL3EdivOI8lGWeoDAyzdrURFEV4WLtvQ8nBhw4lJdARb7lw6enpv-N0UEEDgt7m-WMC5qFSLoucr~B9YPCrXcIjsBjUnStm6LnxYHLS7PSa1aSWMdQA94LVAxhGa5ZfD776oaQm9I6-u-rUPR4l4Ik0jMwzmEkbC4qpLLZ4nTpoOSCkE1izRWtbehnT-YazaHdJrARtISbbA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 483,
"y1": 118,
"x2": 578,
"y2": 192
},
"pose": {
"x": 248.6181182861328,
"y": -108.5948257446289,
"z": 672.3250732421875,
"roll": 3.1113082867099284,
"pitch": -0.17051226396478625,
"yaw": -0.8129118857103103
}
},
{
"name": "5",
"bbox_2d": {
"x1": 261,
"y1": 197,
"x2": 389,
"y2": 290
},
"pose": {
"x": 0.000009011254405777436,
"y": -0.00004639727558242157,
"z": 685.1484375,
"roll": -3.009015607321352,
"pitch": 0.11170993706226519,
"yaw": 3.0265417926553764
}
},
{
"name": "0",
"bbox_2d": {
"x1": 309,
"y1": 409,
"x2": 371,
"y2": 478
},
"pose": {
"x": 17.486909866333008,
"y": 228.23292541503906,
"z": 642.0284423828125,
"roll": 3.006165728076869,
"pitch": 0.1082315754787461,
"yaw": 1.2515191849454248
}
},
{
"name": "7",
"bbox_2d": {
"x1": 378,
"y1": 260,
"x2": 472,
"y2": 353
},
"pose": {
"x": 115.56148529052734,
"y": 76.90169525146484,
"z": 674.0612182617188,
"roll": 2.987611996838019,
"pitch": -0.07951455721147833,
"yaw": 0.10820117771618386
}
},
{
"name": "3",
"bbox_2d": {
"x1": 30,
"y1": 124,
"x2": 279,
"y2": 247
},
"pose": {
"x": -160.71958923339844,
"y": -51.01719284057617,
"z": 606.7388916015625,
"roll": -3.0422474557480053,
"pitch": 0.14205519240721137,
"yaw": 2.765430242771209
}
},
{
"name": "2",
"bbox_2d": {
"x1": 39,
"y1": 141,
"x2": 112,
"y2": 252
},
"pose": {
"x": -277.3616638183594,
"y": -50.31166076660156,
"z": 641.3946533203125,
"roll": -2.9826043756828478,
"pitch": 0.06888562488717397,
"yaw": -2.965865950459061
}
},
{
"name": "1",
"bbox_2d": {
"x1": 378,
"y1": 45,
"x2": 506,
"y2": 169
},
"pose": {
"x": 139.01815795898438,
"y": -151.2618408203125,
"z": 657.4195556640625,
"roll": 2.9760949515824713,
"pitch": 0.051156594077813373,
"yaw": 0.8783039080046565
}
}
]
} | image |
|
0 | 0 | 26 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/26/observation/image-35a605b7.jpg?Expires=1742305470&Signature=OXkLxJ2STVndIlTb~dzrpTTXT39NreouPovGnsL4LxMvhjI4gZFQ5WIaOBG3LdnkX0CiXmgOHvH--z8HyWzQva4WnF9Uha09b10Mt-mN05JLFWJeKyiFq9DX5edR8wB-bsGl9XnOux~RoQtmn2LwSvKl3Au6Qr2kCvYhfJXiCd7YTqPGsbDTrUGm0LIcgZmOvsNAn-s7Yd6xJUd~KaVf~ZZ1aAdNX0KtaYnMv0r3M0WCILi9i0SYpYdBXKagbWm1GHSMrUE~SW03BMIWV~iwizDQYuqLPu3EzUUMicusR~OmbYnWVoHBOF14vrvVsKSYGk9ydAvcAmknOegWcrIDKA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/26/observation/image-367d05c9.jpg?Expires=1742305470&Signature=g721dz~OwBIRgoIW7yXFu5zjh9b1JJ7dai22K9O66zGe8tc2alx1nA4VHD0ju48dqp5U2sFTfadx4xyVtHnpVz9xpFRc63b-2w1CUfTIApjgrcGcMH~v9R-qSQbRTwpER~t4NqONXL9QK1-Jr-PlL9zBbI0UxDYrR7ycUIWikMW56uXKRJcENhsrAup~cbVNRGrU4GlgyBlsp2LQcfk6AQInWNZEq06tsnDuphvL8bl8ltoPv97kxZf2x4SASd8hZf2Ldj3ffGRAoiAEr7Hk9t6H8B9mpi3ClHuiZ3a3jTxtwFArn372UX1JvcwHI1UKql53gXApNvgNoMUK5cbRGg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 455,
"y1": 273,
"x2": 492,
"y2": 333
},
"pose": {
"x": 354.5805358886719,
"y": 135.1041259765625,
"z": 1343.896240234375,
"roll": 2.3027676022116523,
"pitch": -0.1283122272225262,
"yaw": 0.18693478202636551
}
},
{
"name": "5",
"bbox_2d": {
"x1": 342,
"y1": 237,
"x2": 398,
"y2": 288
},
"pose": {
"x": 108.62000274658203,
"y": 54.64036178588867,
"z": 1426.34130859375,
"roll": -2.3665094006920713,
"pitch": -0.3821087285014419,
"yaw": -2.476474545806412
}
},
{
"name": "0",
"bbox_2d": {
"x1": 283,
"y1": 285,
"x2": 317,
"y2": 321
},
"pose": {
"x": -48.873287200927734,
"y": 131.9588165283203,
"z": 1273.1317138671875,
"roll": -2.788973217896091,
"pitch": 0.7865374141019951,
"yaw": 2.35158950379477
}
},
{
"name": "7",
"bbox_2d": {
"x1": 350,
"y1": 286,
"x2": 411,
"y2": 334
},
"pose": {
"x": 127.62117004394531,
"y": 143.3833465576172,
"z": 1320.724609375,
"roll": 2.448981185468535,
"pitch": 0.5329665916315077,
"yaw": 0.8508537586514984
}
},
{
"name": "4",
"bbox_2d": {
"x1": 428,
"y1": 175,
"x2": 445,
"y2": 208
},
"pose": {
"x": 332.97125244140625,
"y": -158.17556762695312,
"z": 1718.7254638671875,
"roll": -3.0517014788610815,
"pitch": -0.842592788069783,
"yaw": -1.3895762051337694
}
},
{
"name": "3",
"bbox_2d": {
"x1": 311,
"y1": 148,
"x2": 389,
"y2": 241
},
"pose": {
"x": 45.157615661621094,
"y": -111.75592803955078,
"z": 1479.880126953125,
"roll": -2.3124747778968975,
"pitch": -0.19408677411425118,
"yaw": -2.6652942828690276
}
},
{
"name": "2",
"bbox_2d": {
"x1": 295,
"y1": 167,
"x2": 331,
"y2": 209
},
"pose": {
"x": -34.039703369140625,
"y": -150.7139434814453,
"z": 1563.6474609375,
"roll": -2.481912794043109,
"pitch": -0.575644282812275,
"yaw": -2.228201899104697
}
},
{
"name": "1",
"bbox_2d": {
"x1": 418,
"y1": 228,
"x2": 486,
"y2": 301
},
"pose": {
"x": 315.18341064453125,
"y": 45.8229866027832,
"z": 1411.212646484375,
"roll": 3.0913967469390657,
"pitch": 0.8450702204791417,
"yaw": 1.805136613763878
}
}
]
} | image |
|
0 | 0 | 27 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/27/observation/image-35a605b7.jpg?Expires=1742305470&Signature=jL9tPdS~0XUV3eNzGQlZtTVpmTwTMu0JV-fLEFYkKHmHdshkA2QHNdwg~GfFILw8C18DeFsZDZ6Vpl2mK232OaWlbyJaM4O9BgnDmZiXgeDN29UuN~rJwdPV9YJtMj6QcSgDsVil-psSrCrdURWZEVPVEhV7Tu3AJ94Qc2XlIS3T~Y3I6OrknQYJcy1SZV7dvv4UXB~q52FU2VLr90Rl8xlEitbLzrcuO9m~49RT0MR1yCAk0J~DByac4m83pyiYy6MLN0lNV7vmDLgStbDDwxM~FUdZhVJh0sZoWGUAWB3lDwj3fIoGho6Ph~KwZdx6iat3LrQY2Ym3YPKJA1p-rQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/27/observation/image-367d05c9.jpg?Expires=1742305470&Signature=qciw~iKMvN8kvTv4PsTfSBSh8wG5wKhHLonFltEw5yKSnfypxUxQkPgT9O1G9kyKWFpllIfHDRpLKRoMXxGOnBrIbtx03tP6HkdUm9~7ks1Du2Q0h4zW3cI02bMTwCGnELYCUlauaEce7zfsGL48W8otEZUqQO~MrUncl2MJM6uZeBQC5AFwrFAjc~oKnRwcfPa6U2UcGbTQM-HME-j7xtjRKnA4ZGfI5C6KVogIPYcYlAUSvjAul60sL5eSQI-sI5q8OgWQhD0yowpM4F4XzWX~m3rX7BEfVq3gqxXbZt-Iq7amkppiEWOPAHXGDDuCQxUotxZ~oHF4GE1HMMFbfw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 213,
"y1": 446,
"x2": 301,
"y2": 479
},
"pose": {
"x": -47.21617889404297,
"y": 179.6605987548828,
"z": 428.6752624511719,
"roll": 2.8136739076238486,
"pitch": 0.5457393291469153,
"yaw": 1.3517348907562
}
},
{
"name": "5",
"bbox_2d": {
"x1": 256,
"y1": 178,
"x2": 385,
"y2": 308
},
"pose": {
"x": -0.000026439642169862054,
"y": -0.00008535452070645988,
"z": 626.8187866210938,
"roll": 2.9945897312184,
"pitch": -0.6128340311974448,
"yaw": -0.9577144800600198
}
},
{
"name": "0",
"bbox_2d": {
"x1": 134,
"y1": 94,
"x2": 191,
"y2": 167
},
"pose": {
"x": -190.43911743164062,
"y": -131.47154235839844,
"z": 653.3449096679688,
"roll": -2.5136429793762525,
"pitch": -0.009353798005706886,
"yaw": -2.767588284931111
}
},
{
"name": "7",
"bbox_2d": {
"x1": 133,
"y1": 211,
"x2": 261,
"y2": 336
},
"pose": {
"x": -125.5470962524414,
"y": 17.73345184326172,
"z": 569.2451782226562,
"roll": -2.847732739864282,
"pitch": 0.5634082880856437,
"yaw": 2.4474404496299216
}
},
{
"name": "4",
"bbox_2d": {
"x1": 633,
"y1": 380,
"x2": 639,
"y2": 413
},
"pose": {
"x": 393.597900390625,
"y": 160.79205322265625,
"z": 608.4075317382812,
"roll": 2.551326612045129,
"pitch": -0.22849819844430697,
"yaw": 0.03507680726328944
}
},
{
"name": "3",
"bbox_2d": {
"x1": 387,
"y1": 15,
"x2": 509,
"y2": 233
},
"pose": {
"x": 142.32858276367188,
"y": -115.97824096679688,
"z": 656.3690795898438,
"roll": -3.101420483384562,
"pitch": -0.6268973817965006,
"yaw": -1.2780834359483937
}
},
{
"name": "2",
"bbox_2d": {
"x1": 439,
"y1": 83,
"x2": 521,
"y2": 185
},
"pose": {
"x": 201.5034942626953,
"y": -156.17807006835938,
"z": 754.8027954101562,
"roll": 2.807701972285394,
"pitch": -0.5423484491950018,
"yaw": -0.6179542032905174
}
},
{
"name": "1",
"bbox_2d": {
"x1": 307,
"y1": 299,
"x2": 470,
"y2": 479
},
"pose": {
"x": 50.72935104370117,
"y": 130.71286010742188,
"z": 474.1239929199219,
"roll": -2.5448087548941563,
"pitch": 0.2087046469219316,
"yaw": -3.0764651290626728
}
}
]
} | image |
|
0 | 0 | 28 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/28/observation/image-35a605b7.jpg?Expires=1742305470&Signature=j-iTATLtcMu06w4V~wXtzQs8roS29ayj~m6nJQzJWg7CEfcy8PCAZCDAy7cKzTHQTMOzz6y6gj8y6b3aA60tH8~hl3dPIisrJDqnhzDFEYmjmSM6A17BmZGxiCbivepltgKvH-nBUyTaB~azEms3yAWINvLohu~32jPyUB7HURT0gysI4KB0vrkpeG6Ux~-9i6ATnxBKR8WO8zc0XxNBSGDS-djM3-4nGsejaqHaTg6LV1akuTOimBgc~cRyVfr0Pg7ca4-NDdO5lPbvgpeTeWlq2eWGwZTtIZk3sClPwRpgC53zNujn5Wo24sUnryH60DBrciQqawRqB-o1xZj9FA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/28/observation/image-367d05c9.jpg?Expires=1742305470&Signature=G0neBPdGX9c9~Gpr7mepwAX3dmVCN-5zvKMesi4LLlCQ6RqLPH5Yai4z2MuF7-1WRvGtIlJvIWLmwQtfieL1GzydKp6FcE7Rsa54NduTWpAyxg8H7Zelz5NtXJ9mzzqELy5AT6NEzFnNGT-q0C6NPIpZHrBVK~a7d-w4AgRrseRu-0NOv4tcb04YA64beVOlfItPHGFudZWEe2rapKQDBIm-3EE~7Cm~OujTcdScpDqdulkMncy5NyOXcrNiUIwd4hQZw1ejwwiloEPnvFY4~V-2sKSawqdCGNWhhR11wn8dPBixMhLSI1Jdwz9d7ioDFcn1gMwbzceun8h4cZN7~w__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 522,
"y1": 218,
"x2": 571,
"y2": 267
},
"pose": {
"x": 379.59210205078125,
"y": -9.101661682128906,
"z": 962.6928100585938,
"roll": 2.8882377578892693,
"pitch": -0.017497051769818937,
"yaw": -0.26843797889381577
}
},
{
"name": "5",
"bbox_2d": {
"x1": 346,
"y1": 188,
"x2": 434,
"y2": 261
},
"pose": {
"x": 118.92589569091797,
"y": -31.90961456298828,
"z": 1035.5015869140625,
"roll": -2.9338928212146484,
"pitch": -0.1471801953843225,
"yaw": -2.734600617815864
}
},
{
"name": "0",
"bbox_2d": {
"x1": 308,
"y1": 318,
"x2": 352,
"y2": 360
},
"pose": {
"x": 9.610855102539062,
"y": 165.92214965820312,
"z": 979.214599609375,
"roll": -3.0329118039303116,
"pitch": 0.22996858145855678,
"yaw": 1.8162641431056405
}
},
{
"name": "7",
"bbox_2d": {
"x1": 390,
"y1": 257,
"x2": 465,
"y2": 329
},
"pose": {
"x": 174.7789306640625,
"y": 87.65974426269531,
"z": 991.06201171875,
"roll": 2.97153710707536,
"pitch": 0.18951795411178812,
"yaw": 0.6306962512755102
}
},
{
"name": "4",
"bbox_2d": {
"x1": 421,
"y1": 0,
"x2": 460,
"y2": 52
},
"pose": {
"x": 231.98475646972656,
"y": -432.7332458496094,
"z": 1123.083251953125,
"roll": 3.1358412337175463,
"pitch": -0.253881559074169,
"yaw": -1.7488653813692365
}
},
{
"name": "3",
"bbox_2d": {
"x1": 249,
"y1": 104,
"x2": 388,
"y2": 188
},
"pose": {
"x": -6.2232136726379395,
"y": -165.8902587890625,
"z": 1004.3810424804688,
"roll": -2.9035193745745898,
"pitch": -0.08922211788978797,
"yaw": -2.990673668804671
}
},
{
"name": "2",
"bbox_2d": {
"x1": 247,
"y1": 98,
"x2": 293,
"y2": 156
},
"pose": {
"x": -97.29580688476562,
"y": -215.05587768554688,
"z": 1068.3765869140625,
"roll": -2.984832127769309,
"pitch": -0.20061295742727941,
"yaw": -2.4423306674568934
}
},
{
"name": "1",
"bbox_2d": {
"x1": 450,
"y1": 142,
"x2": 556,
"y2": 224
},
"pose": {
"x": 306.1356201171875,
"y": -100.71630859375,
"z": 978.9927368164062,
"roll": -3.1266647403220307,
"pitch": 0.2535150537298535,
"yaw": 1.4292838475177376
}
}
]
} | image |
|
0 | 0 | 29 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/29/observation/image-35a605b7.jpg?Expires=1742305470&Signature=IUW98Uh8U-t-ACb27FU2mSjXw~kj0IkVP2K-UH2JTjziG6plM5GU09cNEtNZn7zADf3MsmrW0yk17pQtmxDy5OA-AcggBbQSxQ7SjWPX8s1dtHHDRbrD1hOOzsgf2xTCaqkSj64HlzTKMnf8OUfuWPaS58NVODbx9OlLLZg40Vld9CCsVBPbjXqUppK3S-ZxU9M34Zh7-D6aQhE7NDvEk~WASCv3QqZbavUweIZCpuvsOk2IBrL1X5hbKAl6ZN2aiQ-cFsA1GJny8XXBtMlyWIz0RYS3VvaARY3lYK6dgEWnfJUF9dubAIe85HH6SgqPAqtj3KyrGS1mk8wd08ts-w__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/29/observation/image-367d05c9.jpg?Expires=1742305470&Signature=bI1DXqhPoqnEz1WNdQ6Qwdw7qpkSSx6JkDHZ3dphXJVZBQWYfO~jO60RWGOTuFXnEAAYMsr~u7n61s4NhgRz5FE8CoyZnLjs9Q9UwOfE4KxDJbR5HdhEeR46~YBtbloVfFR7F1UkOExoVkWUfzSq-VSJf20Iem3iPyrvo7pzQy9X7t7qdfBb1LnAJvxq~3iYCR7JxYU~INiOTU9hZrd2SGLCjXHpuTH1Fjl6lG3vqNov3M3pqGRX4cAF1ztEG6ngEgKGxgKG-EuySQzbVjDrIepuSe8kH7aij8Ppa0IhM6iJ6y4QmVMYLUrzSMmCmPXy1Mc9L6Xe8aSjXL~fyJKnZw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 426,
"y1": 240,
"x2": 460,
"y2": 341
},
"pose": {
"x": 167.42108154296875,
"y": 63.110225677490234,
"z": 826.6896362304688,
"roll": 2.374164819333977,
"pitch": 0.43511193905063844,
"yaw": 0.12674290357396775
}
},
{
"name": "5",
"bbox_2d": {
"x1": 286,
"y1": 206,
"x2": 363,
"y2": 277
},
"pose": {
"x": -0.00027768296422436833,
"y": -0.0000961871919571422,
"z": 1031.0311279296875,
"roll": -2.823264932661764,
"pitch": -0.8132203896415682,
"yaw": -2.2818287466273444
}
},
{
"name": "0",
"bbox_2d": {
"x1": 183,
"y1": 272,
"x2": 227,
"y2": 319
},
"pose": {
"x": -210.0957489013672,
"y": 88.6856460571289,
"z": 983.5953369140625,
"roll": -2.3408356254100324,
"pitch": 0.3554759880547336,
"yaw": 2.530892237585329
}
},
{
"name": "7",
"bbox_2d": {
"x1": 272,
"y1": 270,
"x2": 343,
"y2": 338
},
"pose": {
"x": -35.388694763183594,
"y": 87.47415924072266,
"z": 928.6240234375,
"roll": 3.0683182449066138,
"pitch": 0.857413736982808,
"yaw": 1.1888239549691433
}
},
{
"name": "4",
"bbox_2d": {
"x1": 470,
"y1": 107,
"x2": 508,
"y2": 157
},
"pose": {
"x": 332.87188720703125,
"y": -228.95985412597656,
"z": 1164.7694091796875,
"roll": 2.5099530988837544,
"pitch": -0.6289216389841288,
"yaw": -0.962408717270396
}
},
{
"name": "3",
"bbox_2d": {
"x1": 258,
"y1": 98,
"x2": 350,
"y2": 212
},
"pose": {
"x": -34.74642562866211,
"y": -161.64468383789062,
"z": 1116.150634765625,
"roll": -2.5972194522407297,
"pitch": -0.7029821159733024,
"yaw": -2.6085689791971634
}
},
{
"name": "2",
"bbox_2d": {
"x1": 267,
"y1": 137,
"x2": 305,
"y2": 181
},
"pose": {
"x": -58.68547821044922,
"y": -195.14306640625,
"z": 1230.65673828125,
"roll": 3.1359032808802247,
"pitch": -0.8597196310871278,
"yaw": -1.8484850159480264
}
},
{
"name": "1",
"bbox_2d": {
"x1": 377,
"y1": 173,
"x2": 484,
"y2": 289
},
"pose": {
"x": 165.03160095214844,
"y": -23.351905822753906,
"z": 907.7659912109375,
"roll": -2.489783984736307,
"pitch": 0.6077365792644419,
"yaw": 2.2139737038327354
}
}
]
} | image |
|
0 | 0 | 30 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/30/observation/image-35a605b7.jpg?Expires=1742305470&Signature=cZIc3EzyRsgHVzXNdxHz2~4TbkN~OwX7zFvTU-AI6xCMC~1d51aBhTlAxLnACGShAz9d9eSX1kyUmYGx4EX0xiHC1xfCb0c8cyje294ag1h3djv-TMAsf-mo3gqTk8DtNXnirHwSYilosGKaw~V39PqfPa9AEk96p1zfxUHeaUv9-ojtPj-hcuaXvA83Qw6rlTHIdtfOgSL2uSOSI2OYuD2r0mcQC9qWBI3Q1dV85dBKSJJtEDxv7stYCHahwrlJ5Kpag6iwUt2r2uTGkx0kOoJ5jtzyRe~LJnTlwZV72e-0-10owHfQ8WobWWcgfSB6QnblzAw06fLHp-u6EcIesw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/30/observation/image-367d05c9.jpg?Expires=1742305470&Signature=uvNhQgKfz~SV-Ex1fcMOVxte5jLkxBzHnDFVEtq4Z695sv~Au48XenJWVxPmJzQ1R~WjYDHEVkIfUPkjURKd6JN98u~WzbTc8OVGLKpLch0tXB0~bRMfm3SnnMIapceT7onRmCQtvPTB1dE2WDrN--1-XrjYXUMmCcg5reLvWB40QyKgcPo5VhNxzeRzoLRqqc6FLAxFsNG5VYFa1uLUdhfs94pu5DFdObOin2v0oWdmgVi57iiX8qx3PkBmjFbY~UBq1IZ4-XkiVtXtabDk~Zw2-eRQoLr7~r2T416cMKBKI01ol~safwzhTLouTA7SWVl78xLkwVoyKeiCMVxhWA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 382,
"y1": 335,
"x2": 435,
"y2": 375
},
"pose": {
"x": 162.0053253173828,
"y": 205.04190063476562,
"z": 1066.08642578125,
"roll": 2.728205921967371,
"pitch": -0.06723655129896987,
"yaw": 0.6003004367052908
}
},
{
"name": "5",
"bbox_2d": {
"x1": 294,
"y1": 205,
"x2": 356,
"y2": 280
},
"pose": {
"x": -0.0003122684720437974,
"y": 0.0002132352237822488,
"z": 1140.115478515625,
"roll": -2.774564906832067,
"pitch": -0.20582686953375867,
"yaw": -1.9007022073677329
}
},
{
"name": "0",
"bbox_2d": {
"x1": 186,
"y1": 247,
"x2": 227,
"y2": 284
},
"pose": {
"x": -211.796142578125,
"y": 38.1955451965332,
"z": 1051.0140380859375,
"roll": -2.995368511507325,
"pitch": 0.39355320279093664,
"yaw": 2.6897638674426685
}
},
{
"name": "7",
"bbox_2d": {
"x1": 267,
"y1": 278,
"x2": 332,
"y2": 332
},
"pose": {
"x": -47.33224868774414,
"y": 114.59416961669922,
"z": 1076.7186279296875,
"roll": 2.8273657682498405,
"pitch": 0.2811455567668941,
"yaw": 1.458933883655322
}
},
{
"name": "4",
"bbox_2d": {
"x1": 462,
"y1": 151,
"x2": 501,
"y2": 193
},
"pose": {
"x": 362.0273742675781,
"y": -162.47341918945312,
"z": 1293.9029541015625,
"roll": -3.108623045309752,
"pitch": -0.41728350344229787,
"yaw": -0.8997173607795451
}
},
{
"name": "3",
"bbox_2d": {
"x1": 301,
"y1": 75,
"x2": 384,
"y2": 195
},
"pose": {
"x": 22.878772735595703,
"y": -184.32272338867188,
"z": 1130.99462890625,
"roll": -2.7362377585501525,
"pitch": -0.10710766179399836,
"yaw": -2.1451626403613475
}
},
{
"name": "2",
"bbox_2d": {
"x1": 295,
"y1": 90,
"x2": 323,
"y2": 132
},
"pose": {
"x": -7.92543888092041,
"y": -278.4148864746094,
"z": 1201.73828125,
"roll": -2.846878701203063,
"pitch": -0.30159131189581834,
"yaw": -1.614759462075814
}
},
{
"name": "1",
"bbox_2d": {
"x1": 380,
"y1": 251,
"x2": 455,
"y2": 326
},
"pose": {
"x": 180.63682556152344,
"y": 92.11063385009766,
"z": 1096.9765625,
"roll": 3.124326845364567,
"pitch": 0.4181728571521602,
"yaw": 2.2805808793987947
}
}
]
} | image |
|
0 | 0 | 31 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/31/observation/image-35a605b7.jpg?Expires=1742305470&Signature=pq86TuyHUwMkRKZzzYplbIoUKONdf9K9Lp4t7fy1m3Vah2kn2ie9PBW4xtojtyeFGQBVoNKYIzT4kgmG68iVNeksmm9gjEmFuagWcbLcL8MyUZMjrv-UC2YLClt4uz8jIPEd~fUfdd3v60iYH7hMvNc2syPuoOeky8kU05DNWfm9iWbw1V03v2H5-rihIWJ9myFPRA0F9y6DUQAUG6OJwPpt2gHzcxQtCkG43g8HRSPugqdDf6cCWGqrjvGHH8o6MFmquA2gQhLyJTWvNPO~xl7RAHf3YgTQnolsX2pTY~twUNDKg~VIyiK-rhNJkUY6aTccNEBaQHmIosnWd8uWJw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/31/observation/image-367d05c9.jpg?Expires=1742305470&Signature=r92XjuO2b2yPsXiiz9rDnyLTo~grlHxxZXd526qypQlWNTMPyz7bumFDcyFIOIc4IlbWI0NwRk17LzikqScIKJ~Kw82QqlltJNogBZ4anhqsE1KnkxsV4DRRzsGRsyDYG4~LY6SgiGPZQm0Y5aeg-rG9K-tMc0hFxe6yt8z9ItMA8KCK-lvAuwM-TCzpGECTfCBxlk6YJFtYGEtwMRlDNh2~McKt1gNNjSlp2DqmBm-MdSAsdiIJ4TD4Hq5CA1RurM8eCNWlYWIIFup6as2g1mx72dFoga4WO6kK41NcmwwFXrzHLqjs~WqVRY8OPdJpdmlD0cI00kfc-gZ7hEP6Yw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 174,
"y1": 222,
"x2": 203,
"y2": 296
},
"pose": {
"x": -308.25958251953125,
"y": 42.18635559082031,
"z": 1247.0877685546875,
"roll": -1.6302446114421099,
"pitch": -0.3621219308814366,
"yaw": 3.006891955525654
}
},
{
"name": "5",
"bbox_2d": {
"x1": 231,
"y1": 266,
"x2": 243,
"y2": 284
},
"pose": {
"x": -110.98302459716797,
"y": 74.06710815429688,
"z": 1063.148193359375,
"roll": 1.6832859368198503,
"pitch": 1.0530116855822635,
"yaw": -0.057937461275268894
}
},
{
"name": "0",
"bbox_2d": {
"x1": 356,
"y1": 248,
"x2": 365,
"y2": 277
},
"pose": {
"x": 92.67485046386719,
"y": 24.927560806274414,
"z": 1164.9527587890625,
"roll": 1.6437007557628815,
"pitch": -0.7032055858827965,
"yaw": -0.20297591434300755
}
},
{
"name": "7",
"bbox_2d": {
"x1": 272,
"y1": 244,
"x2": 289,
"y2": 259
},
"pose": {
"x": -85.46753692626953,
"y": 51.52581787109375,
"z": 1198.174560546875,
"roll": -1.7626653113553357,
"pitch": -1.2751498567736013,
"yaw": -3.1136408607565134
}
},
{
"name": "4",
"bbox_2d": {
"x1": 0,
"y1": 307,
"x2": 50,
"y2": 370
},
"pose": {
"x": -438.5516662597656,
"y": 132.1218719482422,
"z": 797.7411499023438,
"roll": -1.6968584075943909,
"pitch": 1.1130737958295862,
"yaw": 2.872607893908482
}
},
{
"name": "3",
"bbox_2d": {
"x1": 209,
"y1": 173,
"x2": 307,
"y2": 283
},
"pose": {
"x": -93.63623046875,
"y": 10.804823875427246,
"z": 889.1407470703125,
"roll": 1.650089594279583,
"pitch": 0.7933991560075616,
"yaw": -0.09920870092729421
}
},
{
"name": "2",
"bbox_2d": {
"x1": 246,
"y1": 239,
"x2": 328,
"y2": 281
},
"pose": {
"x": -47.7105712890625,
"y": 55.321617126464844,
"z": 785.6228637695312,
"roll": 1.8179740426515592,
"pitch": 1.341713920609576,
"yaw": 0.08518749802312053
}
},
{
"name": "1",
"bbox_2d": {
"x1": 152,
"y1": 213,
"x2": 207,
"y2": 312
},
"pose": {
"x": -304.2469177246094,
"y": 37.621463775634766,
"z": 1128.690673828125,
"roll": 1.6884973572853035,
"pitch": -1.0779481856685518,
"yaw": -0.25958284012480437
}
}
]
} | image |
|
0 | 0 | 32 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/32/observation/image-35a605b7.jpg?Expires=1742305470&Signature=SpGfRxriHKQHUllpSac11kLyNJkurU3I6bW~yPXA84gW-DR5Qgu5ZKdmAFTyqe4A2~zP077HilnnoOlMdUAu6IbBinW093g7yDBMx-baDflAusPdVyP4m6rdpx-ryTcIAxZOC8PTv-Odaa7cx8Zjcs~K9uxOYE8VrdDv685MGmcIfK5zhjO8BD9KJe9iDjFA5zeqvIKjeVy9iTx6ggyI8FlxxIChyYyitNLRLdTbRB6aE5iCEu8FOeGVbX7gGlMlW9ALBEL7Yurod8gv6Dl7WDpoXdjJTb0fF1PfmUYaGShpMWLF5XZwMRtjVyIji35ICIAZN6vIwC5iOtoUKAln5g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/32/observation/image-367d05c9.jpg?Expires=1742305470&Signature=UOVPUdpISEW39V2frnYh75yIK0sNPmI-U9a6uW5Ijd5TjgmJ~ipTkW-MK1uR~dj7--e2rPxhHmEX6SjWlAahSBfmPKNsYGv3orG7gAzLPbIl84PjF5BS2JbaBI-Bh8DXNFPGCGFRsafQU43XShpWEkYJT3rlX1yuCkWLHmEm5Hwa1aoJGxsgCWjea6Cv9AYF1iXIj3Q9bN2ezPldWxF2~dX7a8SHKZ9s7YpWyAOfLRJ~jWBujYf9JrXqWNGf4d6Ss66pDZqpR-18p28gompe6dLykGjRKTOd2RCeKsSJuBZTJStNaD0FlH11D7VTy2kb04FMAgkFiZMSdESwoiggAg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 531,
"y1": 313,
"x2": 607,
"y2": 377
},
"pose": {
"x": 353.5313415527344,
"y": 138.86158752441406,
"z": 824.88720703125,
"roll": 2.648472754109525,
"pitch": -0.09029080249447573,
"yaw": 0.1483405537821404
}
},
{
"name": "5",
"bbox_2d": {
"x1": 351,
"y1": 216,
"x2": 446,
"y2": 310
},
"pose": {
"x": 114.99287414550781,
"y": 32.22210693359375,
"z": 899.0197143554688,
"roll": -2.6948070027848487,
"pitch": -0.23395478897143576,
"yaw": -2.376347378434545
}
},
{
"name": "0",
"bbox_2d": {
"x1": 255,
"y1": 330,
"x2": 309,
"y2": 377
},
"pose": {
"x": -54.73672103881836,
"y": 152.87933349609375,
"z": 794.6688842773438,
"roll": -2.97388036838539,
"pitch": 0.473985587760525,
"yaw": 2.2405656676883634
}
},
{
"name": "7",
"bbox_2d": {
"x1": 364,
"y1": 308,
"x2": 462,
"y2": 393
},
"pose": {
"x": 125.56366729736328,
"y": 150.82247924804688,
"z": 826.8153076171875,
"roll": 2.754010729979665,
"pitch": 0.32529429435883006,
"yaw": 0.9787787270003706
}
},
{
"name": "4",
"bbox_2d": {
"x1": 497,
"y1": 78,
"x2": 533,
"y2": 135
},
"pose": {
"x": 361.9859313964844,
"y": -260.87628173828125,
"z": 1083.9525146484375,
"roll": -3.0885907413677987,
"pitch": -0.4980708587649397,
"yaw": -1.3668132720566664
}
},
{
"name": "3",
"bbox_2d": {
"x1": 304,
"y1": 70,
"x2": 436,
"y2": 212
},
"pose": {
"x": 54.094966888427734,
"y": -143.4735565185547,
"z": 901.037109375,
"roll": -2.6534302415978384,
"pitch": -0.11588732780513109,
"yaw": -2.612618822555199
}
},
{
"name": "2",
"bbox_2d": {
"x1": 286,
"y1": 93,
"x2": 345,
"y2": 154
},
"pose": {
"x": -17.62900733947754,
"y": -208.7984619140625,
"z": 974.489013671875,
"roll": -2.7762919340078076,
"pitch": -0.35036441855709965,
"yaw": -2.095615543477906
}
},
{
"name": "1",
"bbox_2d": {
"x1": 479,
"y1": 218,
"x2": 592,
"y2": 316
},
"pose": {
"x": 319.103271484375,
"y": 31.930469512939453,
"z": 862.771728515625,
"roll": 3.1078549929690262,
"pitch": 0.4996054268999375,
"yaw": 1.8150411032736549
}
}
]
} | image |
|
0 | 0 | 33 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/33/observation/image-35a605b7.jpg?Expires=1742305470&Signature=steSo2G-K-KZK2ZsDfTfuhj7n6sRbnTjFv1KOzuj0UAWAGGR8Ecbry06J~pdwCEk2Jy0q-ixHumeK4vuad6oBLZrjBg8aBkDgDBQnTpw1KGXSW9TL5vaZJ1~XLKI~V7xvexOlaQEhI2nKavjPXZ8~ifSPfwXDCF-7X7XkCAAo9JEME8sB0YtTuXSjkIdhjLt6RPz2QgBT4taheUMClGTy9rvO5fMydep-Pw-m-XrECYYKi3Ow3H-Hvo8yOeVTcteDhgUQtapSkNjgZ9p1p32StUc~kLkZ2bs9Dk-TxpLhqmxHNckaHLPHVWaQl3tA1PYpJohkpp8m2~6nM4DC~W9fQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/33/observation/image-367d05c9.jpg?Expires=1742305470&Signature=U-YYEfXeVHYwtn7kZbNWGT6NZ8TJoWBKGOC8qJXW7VcDPayrizCapaWLtNt3Ze42L5q-d8hSCwL~4HM0RSd7IVF~74MDyWC~pR~suAHgYb61XA1RZXqioPMvAU6fwKy5sLPcFAXpM9lBvdQD6Ycz6-qhV5lUQ3l~m3W5a0ApjGDXXrjEAqpwt6EeUX~ewf5uVAuCCKh3V3d~UMtTDGFQtE3qMYiKOBxecpll1Tqs128689Flv9-Py4oa-TWxPktdcaTBdoAunOmnuvbj6dExZ3yhC-MormepxwKsGGH48U3Kh34zZe87-p0IdpavVT5tmRpItsPvvi1RN0TSNmBeOg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 0,
"y1": 55,
"x2": 76,
"y2": 161
},
"pose": {
"x": -332.38812255859375,
"y": -160.9926300048828,
"z": 623.4173583984375,
"roll": -2.7724005739069315,
"pitch": -0.13614596532305545,
"yaw": -2.9226140899474826
}
},
{
"name": "5",
"bbox_2d": {
"x1": 144,
"y1": 178,
"x2": 281,
"y2": 325
},
"pose": {
"x": -121.03713989257812,
"y": 7.935722351074219,
"z": 599.7069702148438,
"roll": 2.940517366400143,
"pitch": 0.33929898524670676,
"yaw": 0.9029070291088754
}
},
{
"name": "0",
"bbox_2d": {
"x1": 364,
"y1": 104,
"x2": 430,
"y2": 180
},
"pose": {
"x": 74.62703704833984,
"y": -115.11166381835938,
"z": 628.5219116210938,
"roll": 2.8360916470703588,
"pitch": -0.25025002811784364,
"yaw": -0.7840648295781828
}
},
{
"name": "7",
"bbox_2d": {
"x1": 167,
"y1": 69,
"x2": 287,
"y2": 186
},
"pose": {
"x": -107.82905578613281,
"y": -124.17821502685547,
"z": 641.6917724609375,
"roll": -3.0236316318992267,
"pitch": -0.3751432808708643,
"yaw": -2.00200510714452
}
},
{
"name": "3",
"bbox_2d": {
"x1": 97,
"y1": 287,
"x2": 333,
"y2": 479
},
"pose": {
"x": -78.82879638671875,
"y": 134.771240234375,
"z": 470.428955078125,
"roll": 2.859514169038111,
"pitch": 0.2765290808178489,
"yaw": 0.6371928840826613
}
},
{
"name": "1",
"bbox_2d": {
"x1": 0,
"y1": 116,
"x2": 90,
"y2": 261
},
"pose": {
"x": -315.35711669921875,
"y": -57.24828338623047,
"z": 568.6283569335938,
"roll": 2.9491936378947066,
"pitch": -0.3441609201154712,
"yaw": -1.165567935120969
}
}
]
} | image |
|
0 | 0 | 34 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/34/observation/image-35a605b7.jpg?Expires=1742305470&Signature=dBhfs~8TjhtrZ-5Zct5mmS7lNCVS~iuEueTVAlJDNZAn00-UMwceaexN71AU-PUeQgG2fKR9b1REOAXottRG9dhNMZW3YeMipMpmmH9x7VQoe-hqlFuCYP9Ggr9JoazCwa-x2dKYFEMmbqQaP8O8ZmGsT9Z5ubVUTGCGbdN7fpfbN1relhOnQkR4WCunL0wIY1oVJevAPDHk04HE~AalCOBgNoVWTCr7c3uo~0dbCzj37dGQN28keeR3AMe3yPTSIk9PwnOpxZNfPqN1ZbyOw-zKUdodZX9-U7ytisdDwpngOH65cKdQpUEh1DIyTajdwWBMuZ61aZjwXaIFAQAQwg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/34/observation/image-367d05c9.jpg?Expires=1742305470&Signature=wMbbFhyiUUNe7bHJ0C4ypY-lkQFFmgOePDvw9MQ~qi~oo2iLcyp9XlvEmcLI08iDlfeRS93078K7WDfz9GtqiYWXcUQHJYDvm-dxvNeD3RSoQmlqJ1QaGEcLt0siJ0zws-Oy~zJk2YVhcUU9-0eyo~XfEgLjLw9vRd6fyTDgkA-kHyv3VsLzcQtbvD3lF0RWCUtzQejBPOnRrooA94TbeAtwo69buEIaWp-f59Oxk4ij6Ev4HRr1vibpZzrCwWr~EE1~EQ6DQD01lw5PHACbghm4acRz2VPiZc33jb9c-ucKVKWYTlJ9RuI3Tn5Kaym5VTcrd4sCGu9bJjRYJ1Z8cA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 122,
"y1": 0,
"x2": 182,
"y2": 52
},
"pose": {
"x": -226.07928466796875,
"y": -303.48541259765625,
"z": 711.2144165039062,
"roll": -3.020423007781228,
"pitch": -0.042702427356710614,
"yaw": -2.456570252647015
}
},
{
"name": "5",
"bbox_2d": {
"x1": 198,
"y1": 135,
"x2": 288,
"y2": 254
},
"pose": {
"x": -107.55132293701172,
"y": -60.71469497680664,
"z": 739.1730346679688,
"roll": 3.075513436006905,
"pitch": 0.11021625428174167,
"yaw": 1.3769923438697234
}
},
{
"name": "0",
"bbox_2d": {
"x1": 390,
"y1": 146,
"x2": 447,
"y2": 200
},
"pose": {
"x": 123.2781753540039,
"y": -91.80345916748047,
"z": 741.7518920898438,
"roll": 3.0454314432572036,
"pitch": -0.08527546896513914,
"yaw": -0.3755072433647329
}
},
{
"name": "7",
"bbox_2d": {
"x1": 254,
"y1": 56,
"x2": 336,
"y2": 145
},
"pose": {
"x": -36.90065002441406,
"y": -180.52149963378906,
"z": 745.9610595703125,
"roll": -3.1017903508849898,
"pitch": -0.12214746617437061,
"yaw": -1.5388493143619348
}
},
{
"name": "3",
"bbox_2d": {
"x1": 138,
"y1": 228,
"x2": 254,
"y2": 443
},
"pose": {
"x": -132.903564453125,
"y": 99.71977996826172,
"z": 648.6212768554688,
"roll": 3.049322363958248,
"pitch": 0.08947359301232714,
"yaw": 1.1157436470904925
}
},
{
"name": "2",
"bbox_2d": {
"x1": 160,
"y1": 388,
"x2": 267,
"y2": 456
},
"pose": {
"x": -132.03443908691406,
"y": 217.2752685546875,
"z": 680.0350952148438,
"roll": 3.1102436302763157,
"pitch": 0.12457378281204572,
"yaw": 1.6713953534266508
}
},
{
"name": "1",
"bbox_2d": {
"x1": 48,
"y1": 20,
"x2": 165,
"y2": 143
},
"pose": {
"x": -258.53118896484375,
"y": -192.34144592285156,
"z": 685.7450561523438,
"roll": 3.0835094268291208,
"pitch": -0.11461904719660347,
"yaw": -0.7525982205174881
}
}
]
} | image |
|
0 | 0 | 35 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/35/observation/image-35a605b7.jpg?Expires=1742305470&Signature=uxrXN1BG6cTiHvLZ2ZOi196XPKmIl9VWvbCr-QBS2Zcl4t9b5wYLdOa8ZgHRW~Wpg4tFwvc~TQ~94iozbgV6eTSxO--j8WaezP5mYOiqyGxNkBPvGFApLjNdBp7rJR5HqNXspFybQIvXIfBoWjytecgIckIC-thi5MhjOkkVuJEgDNdzGi3aTpQU~e242DI8efAAB1nOZEX5P-8~nWe5607mpXqm8bLv1x~KapHnv6CcV9CTAhHYaWIPpVZE2biYoeRlq7B3KIEnEC~SILzhhsGsujdhKGRcrGSO1E0IIgSW5s8wFVYg4QiLxg21gS-MXS4GKvVmCvebcsByFYnmrA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/35/observation/image-367d05c9.jpg?Expires=1742305470&Signature=BfoFNEcODyoQcAB29ics7-2s3eBB4sI~Ntgg9BwSr2qmuN2n7agprFGNSnsF~KDEkmXAzkzo4e6eRH~v~T8ZyLBPcPOVY9cL9rxCKhBiWH8mWg5LopHaoSk-dNH5hpGU1woWzzzG9bgVT3JyN7dwW8kD2140-FbvhRmiq1En8c0lg3Og6YTgtpOnAsM6GfrTqOOwPgtvkPKMiMpHLDdlLo24StN~wHRxyLSJ1DhJqsd0oY30mYcT~lhwhfMxUhl28KtI-u4jlj4PlUbPc~4S~fSR5GtLmPQLRyFBncwmhM8r~Gv7yGDy6TVB3HIjNaJFpjAGKbxUITTN5oGlqRw62Q__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 365,
"y1": 344,
"x2": 454,
"y2": 479
},
"pose": {
"x": 69.76205444335938,
"y": 134.69337463378906,
"z": 435.80120849609375,
"roll": 2.5303768090197853,
"pitch": 0.6113559102454882,
"yaw": 0.6980429209438511
}
},
{
"name": "5",
"bbox_2d": {
"x1": 275,
"y1": 190,
"x2": 370,
"y2": 300
},
"pose": {
"x": 0.00004828025703318417,
"y": 0.00009021425648825243,
"z": 661.0991821289062,
"roll": 3.1338702987091764,
"pitch": -0.8357321783906728,
"yaw": -1.5486307228950198
}
},
{
"name": "0",
"bbox_2d": {
"x1": 102,
"y1": 190,
"x2": 162,
"y2": 263
},
"pose": {
"x": -231.92405700683594,
"y": -21.27814483642578,
"z": 664.82275390625,
"roll": -2.3141685607825786,
"pitch": 0.13502005288651528,
"yaw": 3.030228166164376
}
},
{
"name": "7",
"bbox_2d": {
"x1": 167,
"y1": 265,
"x2": 292,
"y2": 370
},
"pose": {
"x": -93.33000946044922,
"y": 60.272056579589844,
"z": 577.1466064453125,
"roll": -2.893025658421785,
"pitch": 0.806707937746587,
"yaw": 1.9205971695262556
}
},
{
"name": "4",
"bbox_2d": {
"x1": 622,
"y1": 203,
"x2": 639,
"y2": 245
},
"pose": {
"x": 421.1772155761719,
"y": -44.18052673339844,
"z": 703.1741333007812,
"roll": 2.3996975613089497,
"pitch": -0.4282562094240516,
"yaw": -0.41366196837953584
}
},
{
"name": "3",
"bbox_2d": {
"x1": 340,
"y1": 8,
"x2": 428,
"y2": 209
},
"pose": {
"x": 63.487388610839844,
"y": -158.80517578125,
"z": 734.1185913085938,
"roll": -2.87070210376823,
"pitch": -0.8009909142532847,
"yaw": -1.9280886949191383
}
},
{
"name": "2",
"bbox_2d": {
"x1": 337,
"y1": 81,
"x2": 422,
"y2": 155
},
"pose": {
"x": 83.58430480957031,
"y": -199.58163452148438,
"z": 846.9913940429688,
"roll": 2.8259433046743836,
"pitch": -0.7877124584365562,
"yaw": -1.1272658880918058
}
},
{
"name": "1",
"bbox_2d": {
"x1": 400,
"y1": 223,
"x2": 540,
"y2": 420
},
"pose": {
"x": 125.46430206298828,
"y": 57.430519104003906,
"z": 506.3880615234375,
"roll": -2.3882249633285184,
"pitch": 0.40419383496306005,
"yaw": 2.756302721430237
}
}
]
} | image |
|
0 | 0 | 36 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/36/observation/image-35a605b7.jpg?Expires=1742305470&Signature=z5eRtaMkIqPDHVx0kiqh5W8LnAw1RJNDfG1DhIB4LwBrH7Wk5kr--XzfEcsqw912DTjZOGyRLumzBg~JI4s48u7ZZah8BKVTcpaItx4yKyEK-GkNDTteMCB675IqRaOqS-6cd00WgIFy3WtXxHI-GeHOqliulh2mt7Qsm3Kz9G0xJs1GBPmvNBBGGeB6L-0IkD4~eAxgr2~bIjP98RSDlF6AclqT13PyEjxgbbxwN5S9djx3tKfGy76RpJu13attAJ9ZN4t8gWrYZi-RwDxOt7SzoypabDukDN41zDBQHBMaTjIE2W6qk~DaLmqnnoSbZBwdZ3jU1PKO4jWKKa5t2A__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/36/observation/image-367d05c9.jpg?Expires=1742305470&Signature=Ioj0PiwctEG33urM8gj9Tuq9R2PAviTq3M6rG1IeemqR0vJeU~T2~eqVQLzNnSA7t~IJnW0Q-jljHVO0EE~qGNzQcX0P-VlNfVBsxhEa4T2cl~QITJkUiW8MSEjk8UgN~8yknUL1wMNJD5P7xMz9emtdvgWTprxtjSqNclk45kO3GqldCnsgVQOQfk8q-5lDahix9GRWRGoHaRAXeAA2tr~15oTuphp6wjMVwhGGNhtDiQQhz-O2bqV6gR2SQsXEbFB06QT8gOxsMQFwtUErl1v3-VLcOjhaZjbfVn85xSIpNJli6tc0q9dHL~9wta3k3rIQ7QznhBBi7SWCkULO3g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 434,
"y1": 118,
"x2": 479,
"y2": 190
},
"pose": {
"x": 267.7660827636719,
"y": -165.7760467529297,
"z": 1120.99365234375,
"roll": 2.7234866639440956,
"pitch": -0.7002204318430435,
"yaw": -0.8367742061801509
}
},
{
"name": "5",
"bbox_2d": {
"x1": 320,
"y1": 191,
"x2": 395,
"y2": 245
},
"pose": {
"x": 46.1612663269043,
"y": -35.46696472167969,
"z": 1033.36328125,
"roll": -2.3919623446264495,
"pitch": 0.30194040194882016,
"yaw": 2.962772153669261
}
},
{
"name": "0",
"bbox_2d": {
"x1": 373,
"y1": 295,
"x2": 417,
"y2": 357
},
"pose": {
"x": 110.99647521972656,
"y": 117.76912689208984,
"z": 870.3583984375,
"roll": 2.6061661252496044,
"pitch": 0.6222947039922488,
"yaw": 0.9069957205178717
}
},
{
"name": "7",
"bbox_2d": {
"x1": 394,
"y1": 209,
"x2": 460,
"y2": 281
},
"pose": {
"x": 175.22930908203125,
"y": 2.0887367725372314,
"z": 997.0000610351562,
"roll": 2.355053390798189,
"pitch": -0.14557457913443808,
"yaw": -0.013352827227695641
}
},
{
"name": "4",
"bbox_2d": {
"x1": 235,
"y1": 80,
"x2": 264,
"y2": 120
},
"pose": {
"x": -154.58937072753906,
"y": -317.4012451171875,
"z": 1281.0013427734375,
"roll": -2.4213774333148317,
"pitch": -0.3771738156407825,
"yaw": -2.6138109275072825
}
},
{
"name": "3",
"bbox_2d": {
"x1": 188,
"y1": 130,
"x2": 318,
"y2": 244
},
"pose": {
"x": -119.13578033447266,
"y": -98.62110137939453,
"z": 976.1790771484375,
"roll": -2.4731470062030225,
"pitch": 0.4724189150857429,
"yaw": 2.7492355357774856
}
},
{
"name": "2",
"bbox_2d": {
"x1": 167,
"y1": 175,
"x2": 212,
"y2": 242
},
"pose": {
"x": -234.18719482421875,
"y": -60.49074935913086,
"z": 986.9554443359375,
"roll": -2.349195476332181,
"pitch": 0.09716316676268055,
"yaw": -3.1065864003717416
}
},
{
"name": "1",
"bbox_2d": {
"x1": 369,
"y1": 94,
"x2": 432,
"y2": 194
},
"pose": {
"x": 152.27944946289062,
"y": -192.35250854492188,
"z": 1117.6302490234375,
"roll": 2.4323265662518243,
"pitch": 0.4003701360550827,
"yaw": 0.5566630697106075
}
}
]
} | image |
|
0 | 0 | 37 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/37/observation/image-35a605b7.jpg?Expires=1742305470&Signature=RkQM2GwuoDohVs4H0ThUmr0Z5huXmqDLqfhhMzHEVXG119N5NjjTZlY41q8RZWYodFya3gdwoWilS2C6pMlXsC2Wt3YlRsgNr7C6xgxytONUVRIDKsa2A0M-VY-W482ievIEnV9duKvsSAZn-7TpBYluvfFEe1mkxe02Vjmx4nJUJjlcAHVTU0aOzm9oK4Ilg5qjQim-MWLx0E5~R3FDZvsWZ8XQM7i2W4isXLvVUAeFFrvF5hCYxRGkgq5~kPyR3GV0jawILPJxJcE3Pzi0hYbRE42lN7m~ivMepx5lo7G72qzgwCwKICyPfk~R7vWqnUtDpnNl-3~dZY6EtD1T3Q__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/37/observation/image-367d05c9.jpg?Expires=1742305470&Signature=ikUXbN3W4uRO~OANlch6ah5jsbRQYAqZCd9A5R1d~DsioXKrrYFRrYYdHIDHGIod1shGBHuNQfdHMy4glkmctlXuoamLPEB2rc4HTVoUTpL0BjnrBbBWyEDGIcifv6GJ-V0QMicht0Zug2xvS7G6oD5dolNiYKJP0z0x9gyd~ahy23U4RNqDrjHONoVgczSw2r~254djQ5AxfWlf4MypwwXFChcayJEmKBXwq30PS552sHRlx3ig4KBKpA9a74ZRN6A1FEbiamvp8TfV13CM1gir5Z9qpsUsMdNeINcWR0ewBvo8C4CzZq~3Rmb8IpdTSPB~MMwrHdrhng7h6~qhAQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 188,
"y1": 243,
"x2": 232,
"y2": 273
},
"pose": {
"x": -309.7607116699219,
"y": 52.77820587158203,
"z": 1551.2615966796875,
"roll": -2.3643015276419375,
"pitch": -0.4188343047603003,
"yaw": 2.7729678058837695
}
},
{
"name": "5",
"bbox_2d": {
"x1": 267,
"y1": 251,
"x2": 323,
"y2": 278
},
"pose": {
"x": -75.7506103515625,
"y": 83.49762725830078,
"z": 1416.859619140625,
"roll": 2.797852915642031,
"pitch": 0.8070051793578941,
"yaw": 0.35007265239917024
}
},
{
"name": "0",
"bbox_2d": {
"x1": 335,
"y1": 198,
"x2": 347,
"y2": 214
},
"pose": {
"x": 55.27949523925781,
"y": -105.49400329589844,
"z": 1453.855224609375,
"roll": 2.3454131583204028,
"pitch": -0.37356695938500223,
"yaw": -1.1036147189645245
}
},
{
"name": "7",
"bbox_2d": {
"x1": 261,
"y1": 208,
"x2": 308,
"y2": 253
},
"pose": {
"x": -98.32623291015625,
"y": -20.713565826416016,
"z": 1506.4232177734375,
"roll": -3.0399176505411805,
"pitch": -0.8571648371266193,
"yaw": -2.4655252970322135
}
},
{
"name": "4",
"bbox_2d": {
"x1": 186,
"y1": 433,
"x2": 227,
"y2": 466
},
"pose": {
"x": -268.2029724121094,
"y": 431.4129333496094,
"z": 1265.10498046875,
"roll": -2.5227538512272587,
"pitch": 0.6443993938938083,
"yaw": 1.680290288917544
}
},
{
"name": "3",
"bbox_2d": {
"x1": 253,
"y1": 273,
"x2": 346,
"y2": 340
},
"pose": {
"x": -40.42623519897461,
"y": 132.13156127929688,
"z": 1240.8807373046875,
"roll": 2.5781315149094595,
"pitch": 0.6915177830933952,
"yaw": 0.02948389160331726
}
},
{
"name": "2",
"bbox_2d": {
"x1": 321,
"y1": 305,
"x2": 367,
"y2": 368
},
"pose": {
"x": 45.223388671875,
"y": 198.52810668945312,
"z": 1185.540771484375,
"roll": 3.11888904459393,
"pitch": 0.8614068590357437,
"yaw": 0.7802965189262228
}
},
{
"name": "1",
"bbox_2d": {
"x1": 185,
"y1": 260,
"x2": 251,
"y2": 321
},
"pose": {
"x": -276.8335266113281,
"y": 115.23027038574219,
"z": 1456.02294921875,
"roll": 2.5017186816993497,
"pitch": -0.6235676951922698,
"yaw": -1.4257947079946063
}
}
]
} | image |
|
0 | 0 | 38 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/38/observation/image-35a605b7.jpg?Expires=1742305470&Signature=eH25WjyWN1zE~JAMVfq0PNo~a8wI6LqTRrvpRdAVdCyjzWWgM5O4fIXuMq04a4dnddNeSdTF7hNbBJMCTb0fHVaEIUfhrZzJwABRL8fBWzFVEVzhfXJ4A3JU1UurGo07BwhZwwGr7ugrofNGBP-rTx~y5lMraSCT0EoS9nHBVKazFgdhUllH6k4bgMhj1d499EgUhpn4pUYzBUDArCWheLJ8LeTi0TlItFrC8geEUBlnHZ55iKicykzM6ABE2BUIcI3Wevr21TTZSxF8dQ9wTQ16mJJqjYh0p7COaVCq~ln0U6xOIAwLH~9KhnFBUxPctfzb6~GPH~8GsNsfWfYujw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/38/observation/image-367d05c9.jpg?Expires=1742305470&Signature=YsHhNvUV8jF-g97a1G87ZIdveI-jKnNrZPIgsIy7QXq4oVrjHuHH5uAGX5le2URbUJ7t4fF8gN3gJBE5v7-cynKLUPUHa50YgGkDXhkL5tkQw9Eqr0LeZdaMlxUnF8p6Fgd3kjtZL3CVXdOjicIoLg-Yw7dVGNCnbHDz0ArRFyc~v4sUTdqqnoggOSW4GKk1m-9qgmc2eznr3Q4tL8wC5LGIkUL5C3KT0BzmJHe2muUFpnEs2S99G0yNvMJ1F3PHLZaWhYjSEKsOEQJsuPxvQFhNULlocmkFzfborofzJR4OG9ytb5Be2nbPOeqaoZn82l8jyCOzsGFUCddYp6nLEA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 398,
"y1": 312,
"x2": 429,
"y2": 357
},
"pose": {
"x": 155.540771484375,
"y": 155.16107177734375,
"z": 1029.5833740234375,
"roll": 2.86942222340652,
"pitch": 0.36002304387661926,
"yaw": 0.36380176777488316
}
},
{
"name": "5",
"bbox_2d": {
"x1": 292,
"y1": 206,
"x2": 356,
"y2": 278
},
"pose": {
"x": 0.00016684892761986703,
"y": -0.00011846304550999776,
"z": 1189.2716064453125,
"roll": 3.1066414430909814,
"pitch": -0.4464409628070601,
"yaw": -2.027002972141844
}
},
{
"name": "0",
"bbox_2d": {
"x1": 206,
"y1": 272,
"x2": 242,
"y2": 303
},
"pose": {
"x": -214.7256317138672,
"y": 90.21675109863281,
"z": 1192.3023681640625,
"roll": -2.696530662843845,
"pitch": 0.05037722400288965,
"yaw": 2.4993975777160338
}
},
{
"name": "7",
"bbox_2d": {
"x1": 278,
"y1": 279,
"x2": 335,
"y2": 334
},
"pose": {
"x": -42.8637809753418,
"y": 121.96466064453125,
"z": 1137.5167236328125,
"roll": -3.0017775738561183,
"pitch": 0.42673616315685964,
"yaw": 1.3615341406768278
}
},
{
"name": "4",
"bbox_2d": {
"x1": 471,
"y1": 100,
"x2": 508,
"y2": 150
},
"pose": {
"x": 345.69427490234375,
"y": -248.0706787109375,
"z": 1197.5789794921875,
"roll": 2.7484186281834897,
"pitch": -0.219979579228223,
"yaw": -1.021322080675846
}
},
{
"name": "3",
"bbox_2d": {
"x1": 266,
"y1": 93,
"x2": 351,
"y2": 198
},
"pose": {
"x": -25.704696655273438,
"y": -184.09950256347656,
"z": 1194.587646484375,
"roll": -3.0521303494974026,
"pitch": -0.4392801774398126,
"yaw": -2.315683679329587
}
},
{
"name": "2",
"bbox_2d": {
"x1": 276,
"y1": 104,
"x2": 337,
"y2": 142
},
"pose": {
"x": -43.15457534790039,
"y": -265.986572265625,
"z": 1282.887451171875,
"roll": 2.9715662294541025,
"pitch": -0.4162115969653354,
"yaw": -1.7062397863408558
}
},
{
"name": "1",
"bbox_2d": {
"x1": 368,
"y1": 231,
"x2": 453,
"y2": 305
},
"pose": {
"x": 159.64549255371094,
"y": 41.72202682495117,
"z": 1063.7816162109375,
"roll": -2.7413540673199086,
"pitch": 0.20630483782820636,
"yaw": 2.1536657488552358
}
}
]
} | image |
|
0 | 0 | 39 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/39/observation/image-35a605b7.jpg?Expires=1742305470&Signature=M~FCkVZSZQ~aD6zgyPaS2O4RmCBZDEi5isWH532gK49OPvv~FZccx5tPKe4nasG7XBVIvrlHWngI31JC2~9nvT67d1W5TqKyJLqyNSU-i3rc5PeCSklNgIWA9s7hxnH-uRA9cODxzyws9i8meeljOP5z5B8cYHsr7SjK-r0ZngFcRBYfcFUl~kV5X4xxSnkDfgKG~aM9g6JlNna0AYhizY2k8cFVsGeIP7T3WXIbBhdy8MV6h1o0HnUZsEGAdNkIf12iZXiF3HlFbuBUNVUHwb-eWW35ht-QKWB03fi8mw6N8ESJRTWE8MHHU7Tl-HiZNq67UkdQExWtt3cBZzSN6Q__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/39/observation/image-367d05c9.jpg?Expires=1742305470&Signature=TuJxHyak2IXouPAJ0NqWkzyDotL4jM3YWHsTru4HD8Y39wwdMamjHEEj3hlGxH~CND8AM--UT-JOSuIiethiYb6x6r85lGQkInTWNm8ggWTJyjXDLPnmeycN6Zj3RXeqh6pqvUPJEoLjWSICX1YnWKYii9OkZ6GPqQCxqYdtVzObMkIyYQS~jfblhQWKzjMmC7r907YiLgzzcwQImcrvkUClf6EYEquVyZosTBj435u0rnmlWHL-zGk4wx8GjcfzSHTxGO3vnrujluMxIyYdXH4TxIn7K0dZ8R7jq-i8ptE33rwunOMFhq0ExkIkbwTLORB~jrJQeJRUdzYK5Ulk0A__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 330,
"y1": 119,
"x2": 360,
"y2": 156
},
"pose": {
"x": 47.47296142578125,
"y": -267.3298645019531,
"z": 1439.544921875,
"roll": 3.099808076093798,
"pitch": -0.2545996917699223,
"yaw": -1.7932516469417528
}
},
{
"name": "5",
"bbox_2d": {
"x1": 297,
"y1": 211,
"x2": 353,
"y2": 273
},
"pose": {
"x": -0.00019716739188879728,
"y": -0.0001452240685466677,
"z": 1432.5205078125,
"roll": -2.9455679244774675,
"pitch": 0.16873222754444644,
"yaw": 2.0526484937984053
}
},
{
"name": "0",
"bbox_2d": {
"x1": 392,
"y1": 272,
"x2": 420,
"y2": 304
},
"pose": {
"x": 198.10342407226562,
"y": 108.0433578491211,
"z": 1374.75390625,
"roll": 2.936549375277352,
"pitch": 0.15759458217295794,
"yaw": 0.25951902599334514
}
},
{
"name": "7",
"bbox_2d": {
"x1": 351,
"y1": 192,
"x2": 401,
"y2": 246
},
"pose": {
"x": 127.76815795898438,
"y": -54.35451126098633,
"z": 1421.9317626953125,
"roll": 2.9133808324557022,
"pitch": -0.12126208476175376,
"yaw": -0.8671223987873087
}
},
{
"name": "4",
"bbox_2d": {
"x1": 151,
"y1": 184,
"x2": 192,
"y2": 212
},
"pose": {
"x": -403.0103454589844,
"y": -122.14303588867188,
"z": 1493.9725341796875,
"roll": -2.891404859576936,
"pitch": -0.06340053646453454,
"yaw": 2.9976764217018097
}
},
{
"name": "3",
"bbox_2d": {
"x1": 241,
"y1": 232,
"x2": 293,
"y2": 327
},
"pose": {
"x": -133.98863220214844,
"y": 99.01997375488281,
"z": 1349.9146728515625,
"roll": -2.9955550474037334,
"pitch": 0.2133707793167698,
"yaw": 1.790922724303758
}
},
{
"name": "2",
"bbox_2d": {
"x1": 223,
"y1": 303,
"x2": 265,
"y2": 343
},
"pose": {
"x": -197.16688537597656,
"y": 198.98123168945312,
"z": 1378.605224609375,
"roll": -2.9058195564680283,
"pitch": 0.10558221483383572,
"yaw": 2.3412456673849436
}
},
{
"name": "1",
"bbox_2d": {
"x1": 283,
"y1": 128,
"x2": 328,
"y2": 195
},
"pose": {
"x": -49.303123474121094,
"y": -201.09056091308594,
"z": 1422.1800537109375,
"roll": 2.8937337389980673,
"pitch": 0.07212438282486028,
"yaw": -0.1095408995849147
}
}
]
} | image |
|
0 | 0 | 40 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/40/observation/image-35a605b7.jpg?Expires=1742305470&Signature=k43rTgSasAOvwchqpZ0sz58FmWo7grH57sMeibivuRFcNucCw2AmkmTCDxSxGGRwKiHROsgy~~8yidd6Z9TuCnlyRv3W92NbKrII1Eawuqva-eTGQl7fMiN1tO9aVlKlz11H3OahrJ6NHrEHyjRKlee8D3JeL8FaMEMNcwx1V6e1jKWkZ7k44EZVKgL8XCXDF83PJLSmtdvdxbLJusNnSlaRv2rWp6ptQMi4rJOQwM3zrFkjLcGEQWfyVyKS~dwAo10tHl9dWxYw5qcXBouet9mEzYUiwollg5vqvMAe53mfGZLNZvgSlvcPARcPvGDYTxqhHIa733ElBJY6JcWzPA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/40/observation/image-367d05c9.jpg?Expires=1742305470&Signature=zYF4gyiI7lrb70nBHVfN-GP0IbSdFirZbsHWfseXOOXv3K-BHGBScVcW~RuV283mSgLiLhXMOOBIxlo7Jc3~mgi~xpEcWaIWSqQ8AiXgcC9gJbnZswP9CecPsqrmkyehCj6-vrtePlC5dTyOWyEqckWzB7BSyqXYqxpChaponc5JjEiRkd6n~PY-BkPPhuInQy9~eY2ze8Vnnt5puuysszAW0EG4Lb2e-v2vgmMTvm6CeH3b75LkdDqubnWii6w73EgvVZzizIVHSAIQJ3UvvMSTo4FB~HE3KZ0QLWs6BdzA90ZzZsn5GoF2y-G3IJisP7RKYwgIpTX2eey~zReOCQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 431,
"y1": 162,
"x2": 471,
"y2": 254
},
"pose": {
"x": 230.95529174804688,
"y": -66.5230712890625,
"z": 1061.8326416015625,
"roll": 1.6744653314574198,
"pitch": 0.6412179127583988,
"yaw": -0.34538824261410134
}
},
{
"name": "5",
"bbox_2d": {
"x1": 363,
"y1": 228,
"x2": 404,
"y2": 259
},
"pose": {
"x": 123.8826904296875,
"y": 14.917712211608887,
"z": 1297.77978515625,
"roll": -1.9154051716572484,
"pitch": -1.3227866406157298,
"yaw": 3.0688953023330363
}
},
{
"name": "0",
"bbox_2d": {
"x1": 270,
"y1": 267,
"x2": 304,
"y2": 312
},
"pose": {
"x": -89.54764556884766,
"y": 98.50250244140625,
"z": 1256.349609375,
"roll": -1.6618199741144783,
"pitch": 0.42187389120996105,
"yaw": 2.6966922030101848
}
},
{
"name": "7",
"bbox_2d": {
"x1": 329,
"y1": 237,
"x2": 382,
"y2": 286
},
"pose": {
"x": 63.73908233642578,
"y": 40.25089645385742,
"z": 1174.7666015625,
"roll": 3.028733080972827,
"pitch": 1.4872399323755896,
"yaw": 1.0500017585760024
}
},
{
"name": "4",
"bbox_2d": {
"x1": 501,
"y1": 162,
"x2": 531,
"y2": 195
},
"pose": {
"x": 476.2518310546875,
"y": -160.82962036132812,
"z": 1459.21484375,
"roll": 1.69416819261369,
"pitch": -0.8313352666406805,
"yaw": -0.49890442422393644
}
},
{
"name": "3",
"bbox_2d": {
"x1": 332,
"y1": 178,
"x2": 393,
"y2": 231
},
"pose": {
"x": 110.47974395751953,
"y": -70.06961059570312,
"z": 1462.640625,
"roll": -1.7442989723717517,
"pitch": -1.0697167715255471,
"yaw": 2.886574192552107
}
},
{
"name": "2",
"bbox_2d": {
"x1": 343,
"y1": 211,
"x2": 385,
"y2": 239
},
"pose": {
"x": 117.77810668945312,
"y": -34.25836944580078,
"z": 1578.705810546875,
"roll": 2.5271908906195364,
"pitch": -1.469132332930261,
"yaw": -1.3614977135712052
}
},
{
"name": "1",
"bbox_2d": {
"x1": 409,
"y1": 148,
"x2": 487,
"y2": 222
},
"pose": {
"x": 248.98622131347656,
"y": -96.01734161376953,
"z": 1175.2335205078125,
"roll": -1.6896426526059676,
"pitch": 0.7962062098435221,
"yaw": 2.6489135271002286
}
}
]
} | image |
|
0 | 0 | 41 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/41/observation/image-35a605b7.jpg?Expires=1742305470&Signature=mXzJqLQVVOQ9LYUZFPTYH~UYurUGwilM9lbAsPSKAs-TWp50MJ3EE39a3oYTW55bgJcEELxu9drgHDPtAPCJN36--FUTQ8YNdiIVHJfyjakL4WA4gkVAWFG78~29aE-2vKFICtdBsY~INA79Dsu-yT1eEtuXmKNI6CZPOIXNM7W1cR~OYyNdKAyMQOxl4DaG2zljAVrZ4CYd8r3wW6ciJCr17XAkzOMgCT5WjUMTL08L0guw10K3qpFus8nz7iGMhZKUGWQGckTUgaxF31VdtT36QXVnkCxxF9r~FcJh8ryiz~uXl5mlSBqVi2p1kA0BVEKqfl~zTft0VgcqtKHS9w__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/41/observation/image-367d05c9.jpg?Expires=1742305470&Signature=cuLpJLQc2qgZrIFSTsqmFQHFbLRi8mkEsW1linq0mpmB57xkiI54KyMNBvnsWBMIrwf7Ht8aDSDQ8noq-8eqp2K7KhERJovlL3yv9AAze8olFi4pQjveL5Pv5Segq1MxAjdP-HHZxYfkpwLvXtCf8-NAskVsn8fFVkV--b-TapICXZLGgGy6gKoItK7eYGNt-DplQqEvyZtCHZoZTDMx3Hn~QLdLZwPqT0wNoHtt-kS6~014ZL76gXQPMfCA8UL-p0wAoPQk5zDkCcNap754jucJLQGB1tEF~-K-Mt-tjt25vKPTzriJYDoUo2nK4lUZh176BTj-XBrY7-T3ndvycg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "5",
"bbox_2d": {
"x1": 389,
"y1": 255,
"x2": 591,
"y2": 449
},
"pose": {
"x": 114.25970458984375,
"y": 74.50626373291016,
"z": 410.6675109863281,
"roll": -2.945485925941425,
"pitch": -0.8745862586176342,
"yaw": -1.9617578524765782
}
},
{
"name": "0",
"bbox_2d": {
"x1": 109,
"y1": 359,
"x2": 218,
"y2": 479
},
"pose": {
"x": -114.11042022705078,
"y": 112.48828887939453,
"z": 384.9794616699219,
"roll": -2.2820179807185546,
"pitch": 0.2705095959464097,
"yaw": 2.777672727838922
}
},
{
"name": "7",
"bbox_2d": {
"x1": 328,
"y1": 436,
"x2": 511,
"y2": 479
},
"pose": {
"x": 49.980735778808594,
"y": 149.5578155517578,
"z": 312.5515441894531,
"roll": -3.0638270061410537,
"pitch": 0.8880466631083834,
"yaw": 1.5332871947478177
}
},
{
"name": "3",
"bbox_2d": {
"x1": 386,
"y1": 0,
"x2": 601,
"y2": 266
},
"pose": {
"x": 125.67138671875,
"y": -88.97352600097656,
"z": 498.5635986328125,
"roll": -2.6728162705218406,
"pitch": -0.7882531199239812,
"yaw": -2.3285730671763307
}
},
{
"name": "2",
"bbox_2d": {
"x1": 378,
"y1": 73,
"x2": 458,
"y2": 185
},
"pose": {
"x": 121.43962097167969,
"y": -124.5805435180664,
"z": 614.8439331054688,
"roll": 2.9812196165988007,
"pitch": -0.8799384618077497,
"yaw": -1.5015192480868027
}
}
]
} | image |
|
0 | 0 | 42 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/42/observation/image-35a605b7.jpg?Expires=1742305470&Signature=oTzj60cDagRuiCeO03EtBYSSyOKEJaqrdXevkSXpXUkzM6Emwz58PUEhq~MqnqhMEqMw08SIT7O~WJv30G4aYAjLcxjX2n01eEuUu2ga1kov5TaziKYWQEVfk9L0HwZyhShHep81C5TVvmqeRv4v3zlyQPPrYzqETHLxKrMYajNiBccSFC4Zis5TfIaVKHKXo3C7vH1~Lx7JNTrdCojcuUnVePhcDXwzyjDO9FDzW8dgHhN-~-jjqnSmXNg9KuPQeO4Vc~~8fycBVS-7Ga6KLH0iEeLbtFA275fYugoVFnIjt1AME4WL6c7gkMfZ~yTXbR773h8B37rDRuxRafXQPg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/42/observation/image-367d05c9.jpg?Expires=1742305470&Signature=h9jZNuPYyK7F7NtPr6pb3yhPODSNzYdeOgOkfL0ZljAuLNrAjMdJ4KtL3QRmxq3mAbH3-wx627goCeaoCbZVvytGKIxWVbUHbcRrgm8aQXnv3wtuFKjp1zaUV1T8RG-gBz~nQURn60qF-nCSeaIvxwDugAR1lF5ghSHKnuU8QfEb0D41ORfA4pegk3QSAA3RsWOIsY0yazt2zSNWqy~1c8jfO4oCnSRkEGUAswcIKd2sgT-7J18qhDOum81SmHkEjuM1ojw~wjM0BWyDBZW2439JXacmWMn9skuNQ6XlpGIs2C3zMEv76KPz7V1aeFLAOfey4PnX-c-eZE-m4AEYuQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "5",
"bbox_2d": {
"x1": 229,
"y1": 305,
"x2": 308,
"y2": 414
},
"pose": {
"x": -78.31201171875,
"y": 166.52545166015625,
"z": 812.4215087890625,
"roll": -2.9968654783325297,
"pitch": -0.19904232146368214,
"yaw": -1.520632623557353
}
},
{
"name": "0",
"bbox_2d": {
"x1": 76,
"y1": 314,
"x2": 130,
"y2": 369
},
"pose": {
"x": -305.12078857421875,
"y": 132.97015380859375,
"z": 771.345458984375,
"roll": -2.970531948792269,
"pitch": 0.1770047231987177,
"yaw": 3.031992658732627
}
},
{
"name": "7",
"bbox_2d": {
"x1": 149,
"y1": 393,
"x2": 242,
"y2": 479
},
"pose": {
"x": -172.45335388183594,
"y": 259.2100830078125,
"z": 768.3961181640625,
"roll": 3.0451929318794515,
"pitch": 0.22616762412503416,
"yaw": 1.8490185259847525
}
},
{
"name": "4",
"bbox_2d": {
"x1": 509,
"y1": 303,
"x2": 578,
"y2": 355
},
"pose": {
"x": 340.9055480957031,
"y": 132.10690307617188,
"z": 877.1083984375,
"roll": 3.056129546594288,
"pitch": -0.23046009271904722,
"yaw": -0.526624900752318
}
},
{
"name": "3",
"bbox_2d": {
"x1": 289,
"y1": 139,
"x2": 366,
"y2": 324
},
"pose": {
"x": -0.00009480086009716615,
"y": -0.000012871642866230104,
"z": 785.6236572265625,
"roll": -2.9505768534826182,
"pitch": -0.155219920870118,
"yaw": -1.7818178829974107
}
},
{
"name": "2",
"bbox_2d": {
"x1": 294,
"y1": 150,
"x2": 376,
"y2": 213
},
"pose": {
"x": 17.100339889526367,
"y": -99.03868103027344,
"z": 854.2225341796875,
"roll": -3.0610383699879957,
"pitch": -0.23219416721112202,
"yaw": -1.2228445699082195
}
},
{
"name": "1",
"bbox_2d": {
"x1": 318,
"y1": 416,
"x2": 407,
"y2": 479
},
"pose": {
"x": 49.343692779541016,
"y": 312.9725341796875,
"z": 740.0866088867188,
"roll": -3.047917782037596,
"pitch": 0.22729373549756401,
"yaw": 2.6511579505710223
}
}
]
} | image |
|
0 | 0 | 43 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/43/observation/image-35a605b7.jpg?Expires=1742305470&Signature=njAmaLHv3GXrgrtN0RQVfdkTH-i06MJd5PHa7p6EW2uL~7HOVm5TiJZdW2MAiXxdxjB5V2hYQUZXrR~dsS7dW3WxOodi0w3bHb0TqtVzwuTkgl33kpLgGf5a~3CbbtBi75R7OKB8CayjTaOzoS9c~IsE5Kw60B6Ipb-Bu85eDlgw3ZQm47MCr0vvWecndJYin5QqwUmIyfrQfcxF9XELsJAMuaTBv~ndk2e3wfTxW7CZNT8mR2pF5MaGpNjI9XVWWHHNP~DL9ywvH4uOp7LWn24v0K~49CigVgf8HB9rMbOKVmaBWDrq~8BjDXj9aLR6p8OrfuNM1P883cM2ikVHPg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/43/observation/image-367d05c9.jpg?Expires=1742305470&Signature=ESF2qTcFdVHKwhFiuewCNJ-L3w3cfSNP6OVJkpqX45Eg9MtCtxjOu-rjGMOHVlsW-jMHMFGujGFHSECKcrp4QXGcBP5S3ggFXpctlMm6QSoZjqbuzRCTk~Iugps00SDww5VqIeIErIviiH3kbDD8xaq9DMKGbAr1afVJXHH0ny3SHPeNGwWWOruDI9u0mkB6HtEOxyq0qIvV6j0vDHAHOq697Qwd5WOetMfBH~K4EvOeuCyQGdt5MUUicLabwM1XXYkgNbLrxWPVkhZYtM04caSGK-KD4kD23812JZawS1mwpiSuvPZ5zWjKwK7ptYK0QVMT6D5OJWoOTD1Csgzeag__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 177,
"y1": 369,
"x2": 221,
"y2": 432
},
"pose": {
"x": -247.3065185546875,
"y": 297.0104064941406,
"z": 1086.4425048828125,
"roll": 2.962863294877767,
"pitch": 0.8581895815404572,
"yaw": 1.228947341067228
}
},
{
"name": "5",
"bbox_2d": {
"x1": 208,
"y1": 284,
"x2": 272,
"y2": 343
},
"pose": {
"x": -191.9729766845703,
"y": 164.2992706298828,
"z": 1316.864013671875,
"roll": 2.5921378632994783,
"pitch": -0.7159957761405498,
"yaw": -0.9275562351961002
}
},
{
"name": "0",
"bbox_2d": {
"x1": 154,
"y1": 265,
"x2": 183,
"y2": 298
},
"pose": {
"x": -392.9917297363281,
"y": 92.42720031738281,
"z": 1410.037841796875,
"roll": -2.300879214592697,
"pitch": -0.2664680061818695,
"yaw": -3.01760370683559
}
},
{
"name": "7",
"bbox_2d": {
"x1": 150,
"y1": 311,
"x2": 211,
"y2": 362
},
"pose": {
"x": -321.5482482910156,
"y": 197.12094116210938,
"z": 1277.8221435546875,
"roll": -2.452310109304987,
"pitch": 0.5849631713802189,
"yaw": 2.4438037669751207
}
},
{
"name": "4",
"bbox_2d": {
"x1": 402,
"y1": 329,
"x2": 450,
"y2": 371
},
"pose": {
"x": 210.81077575683594,
"y": 217.21524047851562,
"z": 1190.06689453125,
"roll": 2.2706233025285183,
"pitch": -0.04634834864844558,
"yaw": -0.14647188618576837
}
},
{
"name": "3",
"bbox_2d": {
"x1": 269,
"y1": 194,
"x2": 316,
"y2": 302
},
"pose": {
"x": -70.84037780761719,
"y": 28.300384521484375,
"z": 1354.451171875,
"roll": 2.824074133041695,
"pitch": -0.8267819655972316,
"yaw": -1.2581983936833903
}
},
{
"name": "2",
"bbox_2d": {
"x1": 306,
"y1": 219,
"x2": 350,
"y2": 272
},
"pose": {
"x": -0.00009175031300401315,
"y": -0.0005425875424407423,
"z": 1449.2542724609375,
"roll": 2.4195561542640096,
"pitch": -0.5407346060511293,
"yaw": -0.6364335260248055
}
},
{
"name": "1",
"bbox_2d": {
"x1": 219,
"y1": 324,
"x2": 278,
"y2": 415
},
"pose": {
"x": -152.6539306640625,
"y": 238.4945068359375,
"z": 1127.3275146484375,
"roll": -2.269875127493024,
"pitch": 0.0192701894647963,
"yaw": 3.0179161709274
}
}
]
} | image |
|
0 | 0 | 44 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/44/observation/image-35a605b7.jpg?Expires=1742305470&Signature=yXxZ-3z7fDd44s4E7wAQ2fZ6HY6Qcaah4L-m4XKQb4ziBYhe2Njeum1q~s8VV7-kJTGOrZ7AMYFjJGUAnW2bEnAFe5rkLMP0WKHU0Up8-rPkWbR2TNN4U-JvL~x6YEOteWHJEMMBwdEmScTcghhHiAS~oPSBlsJzxhwmifeAuYh06~fwG7-5GFt2yCjWqTDMmQ3xegx9ATmKCEcbim-4i1NBhiE4Aj7-1M6o26fID4zzZFLcznXXg3Otg21ftciwBzqrRfJWf9EDC02rqiydoQO5cbBX-sg74NDkPMULJSUvBEUFqrxSkbeLQ8JzcJZXW-NbUJujgXfLw-ENTlZ3Qw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/44/observation/image-367d05c9.jpg?Expires=1742305470&Signature=GoFwqxzCHefoFEbkCrzgJVw~Z166NmJ894xDL-GAf8jy8ApzcFk3QViGxSiY~Z-kFJESO81czPNk9w-r~WWGfpfVfKBqjowU2GUgDv1GolLPbG8gSuaLbLpWgB3tdZe05WBDSYmBV83lMgYk4pYQGpmHQCvQKklAa8imS2cuMIlcz4EQh2rMLE39u4i4fof~~yEYixhEzK-s1uNxOK-EtW1D8st7zxEFOoFE1dc42d520oL6m3KnuIwq1DJmwofDMvh4~X8mD38fp1HA5QzIQ3LVDRH71zVesx9VW61hCObWaCrmTBYDG6vDbE4HgPMtiDyuhVrv~GWMqsOHAaM6lw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "5",
"bbox_2d": {
"x1": 397,
"y1": 227,
"x2": 621,
"y2": 434
},
"pose": {
"x": 124.91961669921875,
"y": 57.769996643066406,
"z": 401.98284912109375,
"roll": -2.874139317868746,
"pitch": -0.709439601943034,
"yaw": -2.1599748435570207
}
},
{
"name": "0",
"bbox_2d": {
"x1": 124,
"y1": 409,
"x2": 243,
"y2": 479
},
"pose": {
"x": -90.7158203125,
"y": 132.89556884765625,
"z": 356.01629638671875,
"roll": -2.45317965152447,
"pitch": 0.3253088952557698,
"yaw": 2.580052964641977
}
},
{
"name": "7",
"bbox_2d": {
"x1": 380,
"y1": 432,
"x2": 574,
"y2": 479
},
"pose": {
"x": 84.93097686767578,
"y": 152.3006591796875,
"z": 307.8758239746094,
"roll": 3.072771323380982,
"pitch": 0.7473562065271439,
"yaw": 1.2787360521755
}
},
{
"name": "3",
"bbox_2d": {
"x1": 363,
"y1": 0,
"x2": 601,
"y2": 235
},
"pose": {
"x": 102.10765075683594,
"y": -114.34475708007812,
"z": 468.59906005859375,
"roll": -2.682543970564577,
"pitch": -0.6158972752974555,
"yaw": -2.4695178282084216
}
},
{
"name": "2",
"bbox_2d": {
"x1": 341,
"y1": 25,
"x2": 441,
"y2": 146
},
"pose": {
"x": 77.92073059082031,
"y": -161.6990966796875,
"z": 578.0497436523438,
"roll": -3.1360978413409817,
"pitch": -0.7498909318997291,
"yaw": -1.7698520082833322
}
}
]
} | image |
|
0 | 0 | 45 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/45/observation/image-35a605b7.jpg?Expires=1742305470&Signature=wfrh0ddV7YOn38Et6zo~YrWO2rIHy8FMpnAfUBfpwbfQMg~RvGoYJ-SCIgH6buxg5Joi8o0~sYwnsyhcTy1AzR~nnpOwen7bl2TayByUjoAm7LibwOLUDcRrPBCRPPhgFr5B32K77BPlM3s4H0g33FbunbJYhrUWqiAUhS7HJhbS8uVTt2UAFczZgOp4m-Q33KhJnzfm~HvvzCBYaEXYnYJyoaAF3HhbePjELY0UDXYcvDP~Le7R8VSm6I12uJlupJy5Bvw-DsEEhASNPOlmkLAh0SbqlqNSrU3~ncJRnqMXbVRVJD24Irfv3eh7rNyU0cnxAnLpZkr58JDyXSYl6A__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/45/observation/image-367d05c9.jpg?Expires=1742305470&Signature=x77yWQIz9Nj4vPwLnq4NuKnxl6I4tsMxhaNMqAl32NukEiKuHMbkG74UEsHndAcBi8pmDG0luKKSebqz5FMRkWZdbTpq9nWVE1xeoZsKWUFXI3WGpsh5cCMUFH-uarUfDsR9kwNihqSkm~JMvAuDuGvjj6X~0JBTEm3nX76Spyu7CrHC3e7IhQYj~QPDTjn-1p7VwxmyTL77XSPftG5pP7pQ44lrLJAc~Yhpew5ZE2k5WxX8~2jqRW3e1V9qKxYRhBgTlyhp7XA7QUvjLkdBAhGqfOyJmPRrNxf6l4qYJmgJnTUc7Myu95CE2k4kfO4QrXFO~BwWlmnh8~MaCF9yXQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 441,
"y1": 115,
"x2": 474,
"y2": 171
},
"pose": {
"x": 314.5487976074219,
"y": -235.8220977783203,
"z": 1405.482177734375,
"roll": 2.534617486227398,
"pitch": -0.7979027846472873,
"yaw": -1.241474006520663
}
},
{
"name": "5",
"bbox_2d": {
"x1": 380,
"y1": 204,
"x2": 438,
"y2": 237
},
"pose": {
"x": 179.77723693847656,
"y": -23.279308319091797,
"z": 1303.35302734375,
"roll": -2.2148750664838683,
"pitch": 0.30083819714529614,
"yaw": 2.4817945299906823
}
},
{
"name": "0",
"bbox_2d": {
"x1": 459,
"y1": 249,
"x2": 494,
"y2": 295
},
"pose": {
"x": 294.5589904785156,
"y": 52.78408432006836,
"z": 1115.4835205078125,
"roll": 2.492835400625948,
"pitch": 0.7674060686037606,
"yaw": 0.3005271820848768
}
},
{
"name": "7",
"bbox_2d": {
"x1": 437,
"y1": 183,
"x2": 495,
"y2": 245
},
"pose": {
"x": 305.57080078125,
"y": -61.94269561767578,
"z": 1257.8297119140625,
"roll": 2.1865648019817527,
"pitch": -0.11911138008454454,
"yaw": -0.5247349774342611
}
},
{
"name": "4",
"bbox_2d": {
"x1": 270,
"y1": 182,
"x2": 289,
"y2": 214
},
"pose": {
"x": -107.04025268554688,
"y": -128.4142608642578,
"z": 1599.6549072265625,
"roll": -2.2740900978798857,
"pitch": -0.48052125063572315,
"yaw": 3.0742852771119824
}
},
{
"name": "3",
"bbox_2d": {
"x1": 273,
"y1": 189,
"x2": 362,
"y2": 289
},
"pose": {
"x": 0.00010137703793589026,
"y": 0.0001701401051832363,
"z": 1261.8819580078125,
"roll": -2.285034371020025,
"pitch": 0.5043149169996461,
"yaw": 2.3040418327844727
}
},
{
"name": "2",
"bbox_2d": {
"x1": 275,
"y1": 263,
"x2": 312,
"y2": 314
},
"pose": {
"x": -78.67510986328125,
"y": 92.53683471679688,
"z": 1269.23388671875,
"roll": -2.1829695361097583,
"pitch": 0.06338140578551359,
"yaw": 2.656291986000876
}
},
{
"name": "1",
"bbox_2d": {
"x1": 384,
"y1": 123,
"x2": 436,
"y2": 200
},
"pose": {
"x": 201.6457061767578,
"y": -199.90234375,
"z": 1409.659912109375,
"roll": 2.2865051804390637,
"pitch": 0.5073714983463683,
"yaw": -0.04112447206845
}
}
]
} | image |
|
0 | 0 | 46 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/46/observation/image-35a605b7.jpg?Expires=1742305470&Signature=ZG1qVVGcBgq75kPWi0t9hqMmWkt1e1E1sbOngl~AbBh7cps0Xop~gTZ9SXAHcAq0wsa0uyV~NfJ1unIpcbT59EScFrElWSNXWDdZDJN3Sez9XfrkyJhg2XDcDmz9OtFJnQtQOUzb4KjL3Y~3WhYdJjS6x9AWAogohKLVdh5wVoG-QuvYq8c4YelWOy5rUpSLc06yqpTk~cfDT3vuk0ZPBR24a4w8Do4QUGZlw~63itT7rDb-U5UZKD4l-lpIxsn9FWsS~coHZ7amQn0h5U7q3TaBs5gs3-biHds4a2t2TY64MENyucVu9B5pKjhg~CZM5hh~PWuV3TAwhXdJLwqPbA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/46/observation/image-367d05c9.jpg?Expires=1742305470&Signature=XD5lxz1JE87ZY6jNBtqIE9Wkegie546u3fe21H6ruCB0uoX2Pe5wdMr5jXUb82-u8xkVo3Nz0rhT674EHEWit54oDHeuWFjEAYV7~fPdVp9uI73yc-zHc3~QkWSCNYQ3sFzdKMoRGiZiioM5pPNEG9N4jMBdtYJdDdjS01CX0gnuePviiB1Taxs-kaJxI9aqrGcAIiO7hX6Y1oQU4p6MTAujZ62aAqiHUHkUXPBqtgscvQlnANYK~lLE5f4iXIRFlUoKBmrgeEveOkcPb6oIgcsWqKxYNcDNyrLYKpV~xAYvdr8APKeNVZkOBY6ot-P5KD3miHluULZbE9yuRoKkzg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "6",
"bbox_2d": {
"x1": 378,
"y1": 126,
"x2": 426,
"y2": 184
},
"pose": {
"x": 185.7955780029297,
"y": -193.0883026123047,
"z": 1290.3099365234375,
"roll": -3.0719186499502236,
"pitch": -0.7858588006366248,
"yaw": -1.1580744715104752
}
},
{
"name": "5",
"bbox_2d": {
"x1": 287,
"y1": 188,
"x2": 364,
"y2": 235
},
"pose": {
"x": 2.5231409072875977,
"y": -50.98334503173828,
"z": 1148.939697265625,
"roll": -2.610545776603292,
"pitch": 0.6134285189032596,
"yaw": 2.8772626955673872
}
},
{
"name": "0",
"bbox_2d": {
"x1": 362,
"y1": 289,
"x2": 404,
"y2": 338
},
"pose": {
"x": 113.39545440673828,
"y": 120.57553100585938,
"z": 1037.000732421875,
"roll": 2.401924822989605,
"pitch": 0.30288952172099765,
"yaw": 0.8269906200289461
}
},
{
"name": "7",
"bbox_2d": {
"x1": 359,
"y1": 206,
"x2": 424,
"y2": 269
},
"pose": {
"x": 134.9651336669922,
"y": -10.39949893951416,
"z": 1163.1995849609375,
"roll": 2.4952971152389725,
"pitch": -0.48818157469667983,
"yaw": -0.045195492198026016
}
},
{
"name": "4",
"bbox_2d": {
"x1": 191,
"y1": 61,
"x2": 221,
"y2": 105
},
"pose": {
"x": -260.4773254394531,
"y": -359.45538330078125,
"z": 1278.5087890625,
"roll": -2.353438240501422,
"pitch": -0.015900625755481086,
"yaw": -2.614730659916235
}
},
{
"name": "3",
"bbox_2d": {
"x1": 210,
"y1": 135,
"x2": 309,
"y2": 238
},
"pose": {
"x": -131.596923828125,
"y": -105.11845397949219,
"z": 1032.0517578125,
"roll": -2.7987253116378152,
"pitch": 0.7247859352866088,
"yaw": 2.575765347426069
}
},
{
"name": "2",
"bbox_2d": {
"x1": 163,
"y1": 170,
"x2": 207,
"y2": 237
},
"pose": {
"x": -244.7437286376953,
"y": -67.57006072998047,
"z": 1007.6630249023438,
"roll": -2.4681104327003527,
"pitch": 0.44637523163842174,
"yaw": -3.12646222759992
}
},
{
"name": "1",
"bbox_2d": {
"x1": 327,
"y1": 100,
"x2": 393,
"y2": 185
},
"pose": {
"x": 79.16480255126953,
"y": -218.00543212890625,
"z": 1244.880859375,
"roll": 2.3541487329471327,
"pitch": 0.0409844058065346,
"yaw": 0.5518344508445568
}
}
]
} | image |
|
0 | 0 | 47 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/47/observation/image-35a605b7.jpg?Expires=1742305470&Signature=0QGxGESAdK4eNOD2gzVUEcedxkEltDN-6XLzGF5avB99jy7u5jlBiwm5UDr3hyh4q1Ea6GASYOk7LJ-s8OeScAJsDhznDgNaQAEO95g~w2T4eGJV7NuQBjRj2FTrL8Evz9Ktim1~Qs7LLbLrdbqJ5IB9NgI~pzNuOfongUGMDlMvUxadlCkql2K4iY4a13lk-8v8mQEiy3as8uRQfVKziVerJJUk67Jgad0sqIz1JTCLwxuuW48cggmPaw2JJAONWSzoxHa1Tz649KD8oeSiViFaE7c0LRgd3vD6Jj7~xVDFv0PvSaue7obVEpsjv2g5JI65wjuaTjxbhqqtIYtJcA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/47/observation/image-367d05c9.jpg?Expires=1742305470&Signature=VfVLh21S6iAkSdT8D~2oLieJEctqp--olrS5PWLabTPj5CmFRZgp5r65KOmFe0Ovp3H-7reYAHF9m59I7QP7hMO14UkdXafZGCoy7S4MI3cruT2-vN16eCvOx49kFbbCkNtN704b8U2fb4xHCl2Sa7eSgt0aegYuFC0NCFLyvWecmSHbqNOSGd~jfbMx5KZMcsfLXk3PCXHj-mN7YQaJe7TqyGebzYXCSJJs2mbBEwTc6OE9BEUz19eYzQDWRGFHnlS-fHGHPxlaj0sDRKNso~517s0DElBfbmUcjD5eqf8~JE-z6I5P9-Fmu~7zqhfb-84RtK0pywKQJE7RVySp2A__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "5",
"bbox_2d": {
"x1": 95,
"y1": 245,
"x2": 191,
"y2": 301
},
"pose": {
"x": -178.29962158203125,
"y": 45.79710006713867,
"z": 647.3642578125,
"roll": 1.6869415844313376,
"pitch": -0.5497261336550003,
"yaw": 0.0915340888584897
}
},
{
"name": "0",
"bbox_2d": {
"x1": 116,
"y1": 210,
"x2": 155,
"y2": 246
},
"pose": {
"x": -282.628173828125,
"y": -2.042550563812256,
"z": 850.052001953125,
"roll": -1.7166614085903797,
"pitch": -0.8232780139099297,
"yaw": -2.881853688999775
}
},
{
"name": "7",
"bbox_2d": {
"x1": 85,
"y1": 281,
"x2": 96,
"y2": 294
},
"pose": {
"x": -311.5513916015625,
"y": 12.120856285095215,
"z": 669.7503662109375,
"roll": -1.6753097956573648,
"pitch": 0.3265375290758282,
"yaw": -3.022812919570591
}
},
{
"name": "4",
"bbox_2d": {
"x1": 392,
"y1": 366,
"x2": 580,
"y2": 479
},
"pose": {
"x": 92.58901977539062,
"y": 111.35133361816406,
"z": 325.7519836425781,
"roll": 1.6789704597284503,
"pitch": 0.4147257334805312,
"yaw": 0.19614404019886864
}
},
{
"name": "3",
"bbox_2d": {
"x1": 243,
"y1": 157,
"x2": 402,
"y2": 312
},
"pose": {
"x": -0.0000031403540106111905,
"y": 0.000020829791537835263,
"z": 673.6983642578125,
"roll": 1.7143482127004692,
"pitch": -0.8083411996226347,
"yaw": 0.04826448030093852
}
},
{
"name": "2",
"bbox_2d": {
"x1": 388,
"y1": 241,
"x2": 434,
"y2": 344
},
"pose": {
"x": 97.25645446777344,
"y": 56.27644348144531,
"z": 720.39990234375,
"roll": 1.673187884616912,
"pitch": -0.25872866674209566,
"yaw": 0.12613062016397716
}
},
{
"name": "1",
"bbox_2d": {
"x1": 0,
"y1": 108,
"x2": 133,
"y2": 373
},
"pose": {
"x": -233.07159423828125,
"y": -6.515941143035889,
"z": 454.3915100097656,
"roll": -1.680748011747725,
"pitch": -0.44990323866245946,
"yaw": -2.941206019026871
}
}
]
} | image |
|
0 | 0 | 48 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/48/observation/image-35a605b7.jpg?Expires=1742305470&Signature=cVLS7DP36-F86U5rnAEqtGcwzMf9s8-KDJ1aOoFVL0mmQ7TILNR85jmMPgLHfS914YhnvJe~e9JiNFTflUVL5dssM2em9pKO5PlXObPgXaTwwHcHssgYeUgBhBTzEv5JlAjIOggrP4QE1cPkdTV3Ex22CETJsnSJw7w~QCDeb~88ErVDoHEKaOeHAZqZKqN3AOvyJ43vHf8fpUklHOyaWKOe4vpn0OGBh4z2-zm6sr2tQMIgrX-vony2BN5-7JSUvoH8yQDc0JXK3S00Dsyz8W8KnsSzqlyOd-yXz6MT6zr9NDAhK5z8I6IhlpFwYZkWXAkElRHmyqgW6E7o8C9UpQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/48/observation/image-367d05c9.jpg?Expires=1742305470&Signature=Gd-3rO7wxhfjiFoKB1Uvejl2R66rbtsfCdH9EZFV7t0x6eMBLshjdmOxDnYTV9iLl70zpRsmt-~GNsyB~5NQV9htV42Eta4ngW6RbA56cYHXRmCqH8bj-kAwNR3rcn6O9BFEy4698QruJ4x02knmgW5UbzwNw9iKM13LKseEyn7TRUMHaeiF75XcCAyQ6d6R44weouB~HdXrksMnj4OZLqaaMVUJ2Y8J4GBBM-29ClnO44dhPiJChd7MwAuuk1yzh-hq7PGbGMHHvfcHyGmK9xIfrDPr7p6SmvpDEEzcxPkERMRL5F69TUeA3UT~iGPOxxXYlieAHZQtKlX1N9jZfA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "5",
"bbox_2d": {
"x1": 318,
"y1": 287,
"x2": 467,
"y2": 455
},
"pose": {
"x": 62.25816345214844,
"y": 110.12008666992188,
"z": 509.54437255859375,
"roll": 2.4461196232037996,
"pitch": -0.5155904376717196,
"yaw": -1.0878297328977276
}
},
{
"name": "0",
"bbox_2d": {
"x1": 178,
"y1": 281,
"x2": 253,
"y2": 350
},
"pose": {
"x": -128.6634063720703,
"y": 74.6988296508789,
"z": 638.1900634765625,
"roll": -2.4187435743800134,
"pitch": -0.4719508515531156,
"yaw": 3.063245360551793
}
},
{
"name": "7",
"bbox_2d": {
"x1": 176,
"y1": 385,
"x2": 338,
"y2": 479
},
"pose": {
"x": -59.97455978393555,
"y": 176.4322967529297,
"z": 502.25616455078125,
"roll": -2.367325317813183,
"pitch": 0.36457161700678414,
"yaw": 2.23777066080951
}
},
{
"name": "3",
"bbox_2d": {
"x1": 439,
"y1": 17,
"x2": 554,
"y2": 304
},
"pose": {
"x": 150.37350463867188,
"y": -53.6392707824707,
"z": 509.1502685546875,
"roll": 2.589451156366626,
"pitch": -0.6688713520498567,
"yaw": -1.3428915159545025
}
},
{
"name": "2",
"bbox_2d": {
"x1": 520,
"y1": 78,
"x2": 623,
"y2": 204
},
"pose": {
"x": 228.67453002929688,
"y": -109.35044860839844,
"z": 583.7968139648438,
"roll": 2.350193450992749,
"pitch": -0.31648065476223497,
"yaw": -0.8525540416103363
}
},
{
"name": "1",
"bbox_2d": {
"x1": 411,
"y1": 434,
"x2": 471,
"y2": 479
},
"pose": {
"x": 81.8486328125,
"y": 197.1487579345703,
"z": 322.41522216796875,
"roll": -2.322145830750417,
"pitch": -0.20777000520507993,
"yaw": 2.777727858229902
}
}
]
} | image |
|
0 | 0 | 49 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/49/observation/image-35a605b7.jpg?Expires=1742305470&Signature=oxLsxWiFF6gLLxuij~W9nuCksfd~BkPcp7x1lb9dDgnHH7WZdL0IEnjBJ-hhLCzQE-iazsl8N05PNFsjp0Dp37ufkhwherFdkDRlNYB1ONGnOLLq4zzMzDJQySCeXJ6kycQM0sQs-2il7v9CWryN51ZRfcbftRMbhQmGKC8yfYwmmnV1wKco~yMo6XGEYqqVF10rcu8byQid1c7QR0gWGodqzbFnFEAV4mEccX3RugJoK8VAMOd~KsJB~4WnqCAYxEbF8Yu2kOVO2UiJeu9eg-NXNTbZNugq2ZdwIa-H~Dqkth4pp-ERPOZDHtREi-6uWpllLbcNGLe3QZ4zcOAZXw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/49/observation/image-367d05c9.jpg?Expires=1742305470&Signature=UDpgxfCGLPx8H7m-Ngg-dUTsXfem~JcjmGh1j1NL4Si7HFUfktbpvu7lYa4asbYrmhFHJIwHltSWyhFdE86hfJkC2NkGRXDWiIUAqahnBZmta43fGr8NGu3aCTmEKX2-uUmWcvxPm7pPfadeGyCJ2EpX1Iz5nKg5SQaav5Jam2h3AeFMBncmxnW2mPofQJJpeC9kp6RdVqx4StEr5O1uIVixpahya09RqyhqCSiShMAh8zTE02RNn0SuxglVtjyvJKo-ZjEDOcAHiiUNTqmSo6z6xerQAmiKMYYsmysvGgZOneaDRLuVlRyToP6DdyetS1kd2IYoNCeDgUJmpOgdUw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "5",
"bbox_2d": {
"x1": 310,
"y1": 274,
"x2": 417,
"y2": 400
},
"pose": {
"x": 51.38880920410156,
"y": 122.54938507080078,
"z": 738.0504150390625,
"roll": 3.0279042325720353,
"pitch": -0.12438374304736717,
"yaw": -1.1584174737926978
}
},
{
"name": "0",
"bbox_2d": {
"x1": 185,
"y1": 228,
"x2": 238,
"y2": 285
},
"pose": {
"x": -156.54920959472656,
"y": 18.927570343017578,
"z": 754.7755126953125,
"roll": -2.9975048975204586,
"pitch": -0.08729998083676832,
"yaw": -2.932060783303671
}
},
{
"name": "7",
"bbox_2d": {
"x1": 212,
"y1": 336,
"x2": 316,
"y2": 440
},
"pose": {
"x": -74.7505111694336,
"y": 180.04757690429688,
"z": 724.8558349609375,
"roll": -3.003145891573791,
"pitch": 0.09603104427581836,
"yaw": 2.2072899057075306
}
},
{
"name": "3",
"bbox_2d": {
"x1": 421,
"y1": 113,
"x2": 513,
"y2": 328
},
"pose": {
"x": 167.26797485351562,
"y": -12.026711463928223,
"z": 682.8880004882812,
"roll": 3.0638722740372457,
"pitch": -0.14944707901269844,
"yaw": -1.4204453078187278
}
},
{
"name": "2",
"bbox_2d": {
"x1": 458,
"y1": 135,
"x2": 548,
"y2": 216
},
"pose": {
"x": 231.28097534179688,
"y": -98.8385009765625,
"z": 739.216796875,
"roll": 2.9969741530470326,
"pitch": -0.08641309483153753,
"yaw": -0.8665297897596393
}
},
{
"name": "1",
"bbox_2d": {
"x1": 374,
"y1": 425,
"x2": 447,
"y2": 479
},
"pose": {
"x": 104.2759017944336,
"y": 299.3370056152344,
"z": 643.5825805664062,
"roll": -2.9756904151024,
"pitch": -0.02852409375997419,
"yaw": 2.978737765798936
}
}
]
} | image |
|
0 | 0 | 50 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/50/observation/image-35a605b7.jpg?Expires=1742305470&Signature=cq0CRhoVOQP5Eb5vIai2tGeFaOvJ2tZwz9xvdVk6utab-Tib~8DkC1STFOZY5ftWkcuMr3eUZ1UNpaUdt4BFPSpILT8cOvdq9SMQuNoPfzmbUKMhjXTXBa7CJ8qIPR0UzbWl2630WL~LuhHf-bNU5p0AHmFQD47zaCM0o0hRKHEOfeKQ6tsA7bIFU-8TfXwWY2OTLgtiyRXgFp5Jvq5wJDjx3Y5Iq2vo41XV6OlefV~rXhNL4fOBhvix9OwVUj4LhsJG4q4vgDPYg3NM1fQdJaeyd0A~w9QUVGj-T-GzZqz3iUnOuvm38flCBX6J6fkUCJgC2kFDT4I94zDloLPDVA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/50/observation/image-367d05c9.jpg?Expires=1742305470&Signature=C30gA3uEEJFrgtyw3StbeGgHvZIQ3xFKispFxFPqo32JiXbD8rlf0tJY4YRUnhyDB~Wov~9f1rekOkRlp7L2NWAwy-S4ZBDGcw37TcCTSz4fK-kU95-2ZFxm5YpdYYabvxjRB8PMw~-pnGZ1x4FPEYFio02x~voWHZlMn3camSPkK7OLSErURzjysJGUnxhO7gYSBktPZWT5B2HzEUnqoPCHcqrJNIAH9bdEbXGMHKu6Rp0CFd6vIplQaVkDd8Nm0wzD-t2ZRdSY0cARn9srrZIgzqxETSh1MTREFbau8NN1pMCvVPTj3gnsN~xCEfBLfFmTTifJxYKVRngQHHAI9g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "3",
"bbox_2d": {
"x1": 45,
"y1": 239,
"x2": 124,
"y2": 330
},
"pose": {
"x": -543.35107421875,
"y": 104.22858428955078,
"z": 1305.0137939453125,
"roll": 3.0952351504458866,
"pitch": 0.1898574055637623,
"yaw": 0.9917299841956881
}
},
{
"name": "4",
"bbox_2d": {
"x1": 290,
"y1": 181,
"x2": 331,
"y2": 211
},
"pose": {
"x": -36.8087043762207,
"y": -117.50337219238281,
"z": 1375.505615234375,
"roll": -2.94889339534766,
"pitch": -0.032384421883928836,
"yaw": 2.9680198198371808
}
},
{
"name": "2",
"bbox_2d": {
"x1": 309,
"y1": 215,
"x2": 342,
"y2": 271
},
"pose": {
"x": -0.00008480322867399082,
"y": -0.0002876771322917193,
"z": 1334.9652099609375,
"roll": 2.948735368547999,
"pitch": 0.031420564737090956,
"yaw": -0.17852412125254932
}
},
{
"name": "7",
"bbox_2d": {
"x1": 340,
"y1": 290,
"x2": 393,
"y2": 344
},
"pose": {
"x": 92.25334167480469,
"y": 173.03854370117188,
"z": 1310.192138671875,
"roll": 3.042519312177138,
"pitch": 0.1686615169211308,
"yaw": 0.6981479076553229
}
},
{
"name": "1",
"bbox_2d": {
"x1": 224,
"y1": 146,
"x2": 275,
"y2": 220
},
"pose": {
"x": -181.0377197265625,
"y": -136.9435272216797,
"z": 1333.5340576171875,
"roll": -2.9466648796364865,
"pitch": 0.013194056390821397,
"yaw": 2.7368509177415623
}
},
{
"name": "6",
"bbox_2d": {
"x1": 277,
"y1": 299,
"x2": 310,
"y2": 317
},
"pose": {
"x": -76.72139739990234,
"y": 147.6129608154297,
"z": 1284.22509765625,
"roll": 3.0674100593732048,
"pitch": -0.1809039585327339,
"yaw": -1.5171023096234535
}
},
{
"name": "5",
"bbox_2d": {
"x1": 227,
"y1": 338,
"x2": 296,
"y2": 397
},
"pose": {
"x": -145.7342529296875,
"y": 286.57598876953125,
"z": 1315.60205078125,
"roll": -2.946446633532045,
"pitch": 0.009403537338053297,
"yaw": 2.7560124520745397
}
},
{
"name": "0",
"bbox_2d": {
"x1": 149,
"y1": 334,
"x2": 183,
"y2": 364
},
"pose": {
"x": -377.5446472167969,
"y": 249.99290466308594,
"z": 1326.162353515625,
"roll": 2.9462590845205803,
"pitch": -0.0037443755160452533,
"yaw": -0.3569476369635504
}
}
]
} | image |
|
0 | 0 | 51 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/51/observation/image-35a605b7.jpg?Expires=1742305470&Signature=tlw8nzGfOm18dgEZlvGGhFg68D-dewucSYtGinhs7vfqZEyETjGHvKzE8mAMjrhLLLbJBO1a3Kg7ETjO7HmRZEzGrmQsJsvSY~rL9S55JA6utekSmLwe0o-0URqu0DvTtJ4rPk8vsMGanJlP7c7gDVpeozboS7mYYKFNMg-pOm3ey2phfT7k8tBBwJvXAJNIo06XjqXN7vE4A5bDWBE8GnsAr3niiYyBN4DUgAerU7g1IsTq4DqtJv-dWgA0L2ZQJOIVA7yth8FURhrF6v7eU1LoUfRXyQjeW7iyCwx0HTb7J7I~40TbHTG-VYSFN2dvI6HYelpVvrhjz0NJUc9qDQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/51/observation/image-367d05c9.jpg?Expires=1742305470&Signature=CZFRq16D6zJ~fDpof~L~ytRoZXsgvuA-FbWwT7NIJ6339~zQWEpInJ9wRwAZhjnFRrM-RxxGJtFo6jN2~1EokOFwJEfb5LXHuEUaY9XwQiEv6NpmYtont3O4FSO2gjNbCGfLC93ucugNiCTiHJS~DlPCEjzjqWGNH-UHtTKrYcmO-vfg~xt45qCh2ut8luEXXATtfdWLsa48azWg8v81cdvlKEn0uwOHi29VkU1MFZpLs735XJVwWvCZNYrPxB8fJirvgUIzJCAjGxwVO0emVXgg9nHl7eG~60oGdo7DbC-oi9SJlL8jtjpRgOheGwLn8VijFPREWRRn24nO6bqqNA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "3",
"bbox_2d": {
"x1": 503,
"y1": 245,
"x2": 595,
"y2": 357
},
"pose": {
"x": 447.08251953125,
"y": 141.3050537109375,
"z": 1159.606201171875,
"roll": -2.865411091821941,
"pitch": -0.3275288169349647,
"yaw": -1.9638239041424286
}
},
{
"name": "4",
"bbox_2d": {
"x1": 248,
"y1": 358,
"x2": 300,
"y2": 398
},
"pose": {
"x": -94.98976135253906,
"y": 255.84304809570312,
"z": 1098.3031005859375,
"roll": 2.7303088637717843,
"pitch": -0.11108657353353256,
"yaw": 0.08029806993810581
}
},
{
"name": "2",
"bbox_2d": {
"x1": 253,
"y1": 277,
"x2": 287,
"y2": 337
},
"pose": {
"x": -106.23575592041016,
"y": 131.32794189453125,
"z": 1132.5799560546875,
"roll": -2.7308288375313787,
"pitch": 0.1131006785584509,
"yaw": -3.0659458869041853
}
},
{
"name": "7",
"bbox_2d": {
"x1": 217,
"y1": 191,
"x2": 276,
"y2": 255
},
"pose": {
"x": -163.69187927246094,
"y": -40.17194747924805,
"z": 1212.2882080078125,
"roll": -2.78503830995533,
"pitch": -0.23677960827621633,
"yaw": -2.2503766503573073
}
},
{
"name": "1",
"bbox_2d": {
"x1": 317,
"y1": 345,
"x2": 380,
"y2": 445
},
"pose": {
"x": 47.19281768798828,
"y": 277.20391845703125,
"z": 1050.665283203125,
"roll": 2.7647943829173913,
"pitch": -0.20190658529491365,
"yaw": -0.1398638786077976
}
},
{
"name": "6",
"bbox_2d": {
"x1": 303,
"y1": 223,
"x2": 340,
"y2": 266
},
"pose": {
"x": -0.000027773523470386863,
"y": 0.00011608206841628999,
"z": 1174.020751953125,
"roll": 3.1168463771105355,
"pitch": 0.424517394384039,
"yaw": 1.8399720227593281
}
},
{
"name": "5",
"bbox_2d": {
"x1": 330,
"y1": 181,
"x2": 398,
"y2": 228
},
"pose": {
"x": 88.6059341430664,
"y": -79.88005828857422,
"z": 1278.0693359375,
"roll": 2.7611471849123905,
"pitch": -0.19468626836086253,
"yaw": -0.12135180071662009
}
},
{
"name": "0",
"bbox_2d": {
"x1": 448,
"y1": 229,
"x2": 478,
"y2": 262
},
"pose": {
"x": 308.051513671875,
"y": 2.5089588165283203,
"z": 1262.525146484375,
"roll": -2.7559623345196105,
"pitch": 0.18377799889848667,
"yaw": 3.0478024636041345
}
}
]
} | image |
|
0 | 0 | 52 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/52/observation/image-35a605b7.jpg?Expires=1742305470&Signature=RF0U81gB2UUydSw6wQyccMYe31z13JqScYJYKMM0Sihajnv-umGDDpUphfcdez~IRTKktaPnQjXEKClRAYc8SnvdgWM5KfMbs1kT7lBVNnSJEKr~hGWKg0-nrwnX2ImYOno0~acdlscI5w18V47~jfhycCwWiU-CtMWu1GVbc5xO4jN-1bU-0JmqflLhjBO6FFLmrz35sY6QzhGr0urnYrJEgt1x6q4-ZUmGDezVU3t2c0MYyPSo-Abq-srPkX3bzP6AN9XoDRM7poXvcOz5ZLeLiuzZw5Hn7LPoFSyCoZbYD9u~J7juMnEMqw0XcYjmhvcucqQblVtuLFCFM8XBVA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/52/observation/image-367d05c9.jpg?Expires=1742305470&Signature=bpyae9gsTPSKenEhOX04z8AfiTamaYmp4xuANwNUVtGIkrza5bK1KoippP5JfiHKtpwAYTbvL7qPakAifI8cVp3IaZuREJLoI9nxke-9C69p-0oQIOm70PYF-Q3EKpWRBes3sRRm5frQIyjMWGTOjaNET-1WoYa4WDBYOt1NuF3aNRnLZN58Lx7k3RNnEip-l6YRVB~bniD1I-387NKg6Den5i5Esj6n3DOM4~UnD-qFzRIbUmRNC0~BVHqufB9AJRlmw-4hkc32QmMjZXXI3IXikYkrw0u7FSq5CCN6VOxYrxDK5DSCO4XPvYGzOVmuqJr4Gsqp41RRVda8jB90WQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "3",
"bbox_2d": {
"x1": 505,
"y1": 32,
"x2": 580,
"y2": 137
},
"pose": {
"x": 461.1128845214844,
"y": -305.17462158203125,
"z": 1099.160400390625,
"roll": -2.5345357382461158,
"pitch": -1.0146264305586101,
"yaw": -2.780614097194953
}
},
{
"name": "4",
"bbox_2d": {
"x1": 326,
"y1": 250,
"x2": 383,
"y2": 304
},
"pose": {
"x": 42.9417839050293,
"y": 55.97824478149414,
"z": 1025.5335693359375,
"roll": 2.020079430377457,
"pitch": 0.057153946786271656,
"yaw": -0.49677850515960853
}
},
{
"name": "2",
"bbox_2d": {
"x1": 306,
"y1": 222,
"x2": 347,
"y2": 276
},
"pose": {
"x": -0.00021985030616633594,
"y": 0.00028968980768695474,
"z": 1134.289306640625,
"roll": -2.019959359164107,
"pitch": -0.05261178072430559,
"yaw": 2.6426217386466617
}
},
{
"name": "7",
"bbox_2d": {
"x1": 265,
"y1": 202,
"x2": 314,
"y2": 252
},
"pose": {
"x": -78.4831314086914,
"y": -36.321842193603516,
"z": 1312.01953125,
"roll": -2.255423817482908,
"pitch": -0.8152642210400562,
"yaw": -3.129747068624447
}
},
{
"name": "1",
"bbox_2d": {
"x1": 370,
"y1": 166,
"x2": 453,
"y2": 279
},
"pose": {
"x": 144.61216735839844,
"y": -37.5189323425293,
"z": 963.3807983398438,
"roll": 2.025138046861518,
"pitch": -0.15498328953787036,
"yaw": -0.5995666294126742
}
},
{
"name": "6",
"bbox_2d": {
"x1": 330,
"y1": 149,
"x2": 374,
"y2": 222
},
"pose": {
"x": 52.07246780395508,
"y": -125.7748031616211,
"z": 1242.545654296875,
"roll": -2.6190210914619545,
"pitch": 1.0467425242207473,
"yaw": 1.6335105733216395
}
},
{
"name": "5",
"bbox_2d": {
"x1": 352,
"y1": 142,
"x2": 409,
"y2": 190
},
"pose": {
"x": 138.04917907714844,
"y": -177.22860717773438,
"z": 1365.095703125,
"roll": 2.023877615138446,
"pitch": -0.1374265993350081,
"yaw": -0.5909132166763386
}
},
{
"name": "0",
"bbox_2d": {
"x1": 465,
"y1": 105,
"x2": 481,
"y2": 123
},
"pose": {
"x": 340.2019348144531,
"y": -261.15887451171875,
"z": 1279.7965087890625,
"roll": -2.022283879894497,
"pitch": 0.11117603055048465,
"yaw": 2.563533496636509
}
}
]
} | image |
|
0 | 0 | 53 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/53/observation/image-35a605b7.jpg?Expires=1742305470&Signature=whRQNlE0esMj2pdhwCX3rXpnjdgfmliPCUAHDAVZeePAPYfjVthC8DPpoP2EtywrhO~A4889oNqJqCoe5AAnoLMy1YwaE~nohmYmCUD2T3y1-kG7MaJQ9FZ~GiTxcaIhb~mcPu6J~dpYpDG9dSpv07r~IMN3IubR3tmmwLklDLZS89VazP67D~9O9EgJr7QlilT-TeSuWQ68Hu~Cdi54Pg30Q3p5CkTYpurZMY7LSL96GfMooC0b13OOts146JbQthfCGLEETEB~H2kU6mJGSxPTww~UDCVD4z3uua3lyaTYi-ZP10Ua14APp~rKrNYhBtkaLFnRz2q1ZiMqLNSgoQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/53/observation/image-367d05c9.jpg?Expires=1742305470&Signature=CdeP24tLapNF4oZNHYle-z3lgOot6zTvsEON~pDmvokpmOBJYRqTJSfm5cF2ZFzGurutzWo8G3YAf3zEzyUsNs8kQpQv5thAKD38crkuRhfrl7H1KG~MG~KP6ODTpqF5C5Dzav-kxTmUNFqH5c2fVjEqvK2yIQPSLiFowL2wq-O9HphcJWiXX9jlNKRxmclmfJymOsMn9bYjyWjVP5~MmylCZWn1v0D3d5-8OBskoFsE3iS8jrWeaR50pkQ7ABorvSgU0M0R-Y6iD8HCziNuu~5Tj606UX7AtwNyxJxFuCEdmM4zQVSfQCtu8ao-2yjTCOlXWm11rVqEYkAl7gxK~A__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "3",
"bbox_2d": {
"x1": 0,
"y1": 384,
"x2": 36,
"y2": 455
},
"pose": {
"x": -416.22479248046875,
"y": 207.3349609375,
"z": 632.972900390625,
"roll": 2.9846709109891125,
"pitch": 0.044635849367118015,
"yaw": 0.4258384247395753
}
},
{
"name": "4",
"bbox_2d": {
"x1": 205,
"y1": 39,
"x2": 271,
"y2": 104
},
"pose": {
"x": -120.59599304199219,
"y": -243.21067810058594,
"z": 775.5619506835938,
"roll": -3.03815833698247,
"pitch": 0.1263274417772903,
"yaw": 2.4109018791965338
}
},
{
"name": "2",
"bbox_2d": {
"x1": 262,
"y1": 75,
"x2": 350,
"y2": 172
},
"pose": {
"x": -21.583057403564453,
"y": -163.85836791992188,
"z": 749.0094604492188,
"roll": 3.038796456717102,
"pitch": -0.12684741908432517,
"yaw": -0.735746813965431
}
},
{
"name": "7",
"bbox_2d": {
"x1": 399,
"y1": 149,
"x2": 483,
"y2": 234
},
"pose": {
"x": 149.8509521484375,
"y": -65.50110626220703,
"z": 750.7581176757812,
"roll": 2.9785067566910506,
"pitch": -0.0018234029935318852,
"yaw": 0.13988217978835923
}
},
{
"name": "1",
"bbox_2d": {
"x1": 67,
"y1": 34,
"x2": 188,
"y2": 156
},
"pose": {
"x": -243.8242645263672,
"y": -186.1426544189453,
"z": 708.48291015625,
"roll": -3.0705775947946097,
"pitch": 0.14694918606248422,
"yaw": 2.1739939126053396
}
},
{
"name": "6",
"bbox_2d": {
"x1": 295,
"y1": 220,
"x2": 353,
"y2": 273
},
"pose": {
"x": -0.000011147890290885698,
"y": 0.000040656246710568666,
"z": 694.833984375,
"roll": -3.039655660294942,
"pitch": -0.12753737176726007,
"yaw": -2.097144847179922
}
},
{
"name": "5",
"bbox_2d": {
"x1": 272,
"y1": 302,
"x2": 393,
"y2": 432
},
"pose": {
"x": 9.011268615722656,
"y": 155.64993286132812,
"z": 722.218505859375,
"roll": -3.0677100998930973,
"pitch": 0.14553423928596929,
"yaw": 2.1936852553505197
}
},
{
"name": "0",
"bbox_2d": {
"x1": 129,
"y1": 418,
"x2": 192,
"y2": 474
},
"pose": {
"x": -205.6139373779297,
"y": 245.8492889404297,
"z": 690.8175048828125,
"roll": 3.0634775682924276,
"pitch": -0.14331915180566834,
"yaw": -0.9185004166595334
}
}
]
} | image |
|
0 | 0 | 54 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/54/observation/image-35a605b7.jpg?Expires=1742305470&Signature=J~yo-Lm76yguh~WtF8sGiqlMXwgs~x4iBnDIbHTJxerw4jWCkENQHlg3-WX-TBttSheAD9SHaSQe2iENpMKYd03DIGef0qOUo4beJ4ahj6aqsUW2vIqI~nHWPMa0lzWT-95K~-VgUsIoIAN~pVEuEDOhurikoCTYb6UP5-uFn6IbuN-eO7z88dA6IFxZJL7rj2NQBGqGg4EuPY~jNMWD8iMj3SAzk3cDX9lySHtk3LOJf3YfyCZt0pvcbYopNJOJSS0wk6lsVhZzwYdJRM9bbinM3hullXeQ-BxmXWLMazRgb3oGv-xwjqZBgeJjtC6sxp166xB8fyR-NONHe-J~eg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/54/observation/image-367d05c9.jpg?Expires=1742305470&Signature=TxU2zuXJRM-2Vr6X3pzLvIUOCly3y1NRzGFhuTupNFm04dpFLEjjKOwblfMh4HYGVfBvjMB9arajmvaYbHN5vB7z8T9fZ6k-v4I4k7Wj5gVIOsdSAoIHHb7D8tdXHTfbF-V8L1bcdVzpod~C6KJtdcucXOMthPUan-jplPXkngFJ8o2wZOp5dfhqEXN4hRkL24b8b2KyIS7j6zZuzsLFW6IurGa-Ik40~RUZcFsFeJbP-Q8wiELUOVPd6B6IH23sMKgJtKgKZ6PQXYbDNMrKK4BS0E8VOE5JleHBYnMLwWY0A0KNaKR6Oy-zwakLX6myxOv~P2WIAp~PlECoIRCrhA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "3",
"bbox_2d": {
"x1": 296,
"y1": 141,
"x2": 354,
"y2": 169
},
"pose": {
"x": 47.21611022949219,
"y": -219.15936279296875,
"z": 1817.891357421875,
"roll": -1.8328520822374466,
"pitch": 0.12706108992511006,
"yaw": 2.693061236032239
}
},
{
"name": "2",
"bbox_2d": {
"x1": 298,
"y1": 218,
"x2": 347,
"y2": 275
},
"pose": {
"x": 0.0003955065621994436,
"y": 0.000055264492402784526,
"z": 1311.2052001953125,
"roll": -2.3588858829377464,
"pitch": 1.1999031934630042,
"yaw": 1.9741336921848918
}
},
{
"name": "7",
"bbox_2d": {
"x1": 220,
"y1": 271,
"x2": 278,
"y2": 310
},
"pose": {
"x": -174.1871337890625,
"y": 93.25997161865234,
"z": 1305.9056396484375,
"roll": -1.8543111490560102,
"pitch": 0.40612458849217564,
"yaw": 2.612437631516389
}
},
{
"name": "1",
"bbox_2d": {
"x1": 367,
"y1": 150,
"x2": 423,
"y2": 197
},
"pose": {
"x": 155.01950073242188,
"y": -138.03294372558594,
"z": 1403.108154296875,
"roll": 3.002931102555918,
"pitch": -1.3083245466316389,
"yaw": -1.841839289930176
}
},
{
"name": "6",
"bbox_2d": {
"x1": 261,
"y1": 205,
"x2": 298,
"y2": 272
},
"pose": {
"x": -123.5263900756836,
"y": -12.323161125183105,
"z": 1433.023193359375,
"roll": 1.8635257224724329,
"pitch": 0.47227914501420865,
"yaw": -0.2782988476584117
}
},
{
"name": "5",
"bbox_2d": {
"x1": 232,
"y1": 236,
"x2": 269,
"y2": 271
},
"pose": {
"x": -196.30270385742188,
"y": 40.38866424560547,
"z": 1563.3421630859375,
"roll": 2.9317940510088376,
"pitch": -1.304936240946784,
"yaw": -1.7681480494789354
}
},
{
"name": "0",
"bbox_2d": {
"x1": 284,
"y1": 205,
"x2": 295,
"y2": 215
},
"pose": {
"x": -99.57549285888672,
"y": -68.46418762207031,
"z": 1747.68115234375,
"roll": -2.8297095301351756,
"pitch": 1.2973993418211505,
"yaw": 1.4793482905178799
}
}
]
} | image |
|
0 | 0 | 55 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/55/observation/image-35a605b7.jpg?Expires=1742305470&Signature=XP~hvuCutuNMAKCatQxmoFxg958tybV2FPGxKyZW7dLOOeqIOHyuKYwM-eZClSOuiSJ2QxUclk~A80uUxAOUG4idhjY64cDx1M2BUX84br--u0RpYpLHXAWuOUdD~sCBtNvhNlXjxHKLZAsqIIDqNqT4c~3EtsGdDxFenONyvCZs4cc7~jMXb~rIUXgIJqlC6Y8p~IOkLIxmaKiDikBGRCjV1vqS52LBg4aPpUFHVeR9Mi8BR82aULqzoHgk24TOaEmK6eQK8e9Rap62xmzik2Ds4W2xVWEdVQLHyZpOjYFMKHGJL3fj5ApF3HHdTcM0RGxSbEqw5zMP3bhR6~F4Ng__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/55/observation/image-367d05c9.jpg?Expires=1742305470&Signature=UxtsYirx9EGudMG9Sx5LEkfzDqK54Dbtggl8a0nWanYhvScjGODYD5PGAP2NjBl9j0Iou71kxZX43nXXWOcVRjJMi940DjJGB88wJyzxUZNOocp4tZhK2UEmydoqzIbs1z8OIeEkqLoTXDBrE-QpA~3VLGLA~QwPyZbLIqeHixTYoTuGcFEuDcaWT2OP1G8ksvrQKqxnMuUfV6MX-TKfrY7WQbIFRPI4ZMVN2gxonOEhRu3gsHJKX~eTdrhEwY8sQARUMyHaXmY86np1xbs~D8ZtXHtmXxTgZX6k2sh13u8z9~RdPhZSGoFArBkzO3gkpBGcUuBEPsegI9DrNAKT6Q__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "2",
"bbox_2d": {
"x1": 198,
"y1": 331,
"x2": 295,
"y2": 449
},
"pose": {
"x": -80.4406967163086,
"y": 147.55418395996094,
"z": 557.259765625,
"roll": -2.415326506503953,
"pitch": -0.2514649167226874,
"yaw": 2.888458732788443
}
},
{
"name": "7",
"bbox_2d": {
"x1": 152,
"y1": 208,
"x2": 271,
"y2": 323
},
"pose": {
"x": -137.95799255371094,
"y": 26.7020320892334,
"z": 702.70166015625,
"roll": -2.8508019250249297,
"pitch": -0.7138019429638501,
"yaw": -2.5258160539940313
}
},
{
"name": "1",
"bbox_2d": {
"x1": 357,
"y1": 431,
"x2": 442,
"y2": 479
},
"pose": {
"x": 54.92402267456055,
"y": 211.96302795410156,
"z": 386.7956237792969,
"roll": 2.3853986874876196,
"pitch": 0.09540720279793609,
"yaw": -0.4256164196980755
}
},
{
"name": "6",
"bbox_2d": {
"x1": 290,
"y1": 185,
"x2": 379,
"y2": 297
},
"pose": {
"x": -0.00008322022040374577,
"y": 0.000009903164027491584,
"z": 602.064453125,
"roll": -2.6533760392643306,
"pitch": 0.6094953550417689,
"yaw": 1.7924670521440602
}
},
{
"name": "5",
"bbox_2d": {
"x1": 346,
"y1": 120,
"x2": 478,
"y2": 227
},
"pose": {
"x": 102.46060943603516,
"y": -81.13495635986328,
"z": 691.3782348632812,
"roll": 2.386855293050557,
"pitch": 0.10879959056171025,
"yaw": -0.41132330890217456
}
},
{
"name": "0",
"bbox_2d": {
"x1": 590,
"y1": 122,
"x2": 639,
"y2": 203
},
"pose": {
"x": 308.6698913574219,
"y": -83.18424987792969,
"z": 578.8638305664062,
"roll": -2.389396112604807,
"pitch": -0.12876777191173536,
"yaw": 2.7517052257206425
}
}
]
} | image |
|
0 | 0 | 56 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/56/observation/image-35a605b7.jpg?Expires=1742305470&Signature=MFjBC1rOflcg--wfuVQxIRpfHGHFWiC683az1hKg8kntt-MYTwrl5-zpwvqI~GfIi7WiU0TNXOpfWMQkZeeZ65TtFWPHUZlkAV9a4lcOSNJgnz9~OeX7-lF5nV4qU1ZEy12~GzEZmVWMnbN83qHjEIg~A6s30yLdeW5EksQOyjOa-m945ZK-iAwc-FWCGL1GTjR03bnK6NheUzo2x8K4DkHLtOMIsi8ui0a1W1LAKg1jnkjLm7~KTxTiuZr97XP-3OCxpGfzrdwX1YV-hghJTAqR1Dsx7x0lv5qSWobFg451XcGxWBrrfwbSRtRJc9RMAz62HoevcCIkeB5uQEUdhQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/56/observation/image-367d05c9.jpg?Expires=1742305470&Signature=KQimwG6e2W9Xd5JwPzkbl0~P5qBIBvCYZxv5PfzH4h~KlreIes0bUyBlCGWrwxZ0aIM58IjZMD2Ay62w1R62zsaAE~vzy995gEP4XHjTOFJSFvi7B54HdXifQYGu3YI-E5hzOijTMWOh-4ypa13BWPDe1SphV~FVUWek0cmaUOpfU8YEtO7xIQQ6dacePVU9koXiSiMzn27HGKgj9qK-uGtEJBHWicEBaH7bV0EAxLKA9kordilg2ySeD9G1RN9M6KmXYtzis9N7ofy-NGzNm39K7bHe85Z5p-RpGPunPMs3Ais5FZWP6DLcA9G52aIMO9n2Lw7p04MkUy0tYrRYSw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "4",
"bbox_2d": {
"x1": 0,
"y1": 203,
"x2": 80,
"y2": 298
},
"pose": {
"x": -262.20703125,
"y": -0.01821666955947876,
"z": 526.7298583984375,
"roll": 2.4027695837690146,
"pitch": 0.3792764135424147,
"yaw": 1.047518637402679
}
},
{
"name": "2",
"bbox_2d": {
"x1": 117,
"y1": 155,
"x2": 222,
"y2": 256
},
"pose": {
"x": -165.60618591308594,
"y": -42.585357666015625,
"z": 601.9739379882812,
"roll": -2.4012899226264643,
"pitch": -0.37587834656504404,
"yaw": -2.0980827562747746
}
},
{
"name": "7",
"bbox_2d": {
"x1": 228,
"y1": 101,
"x2": 331,
"y2": 209
},
"pose": {
"x": -56.962928771972656,
"y": -113.36883544921875,
"z": 751.1488647460938,
"roll": -2.975124539761604,
"pitch": -0.8004964190579601,
"yaw": -1.139302403977205
}
},
{
"name": "1",
"bbox_2d": {
"x1": 0,
"y1": 253,
"x2": 159,
"y2": 441
},
"pose": {
"x": -200.63685607910156,
"y": 84.72077941894531,
"z": 417.3226623535156,
"roll": 2.350419350817659,
"pitch": 0.21567320319777392,
"yaw": 0.8699385742524508
}
},
{
"name": "6",
"bbox_2d": {
"x1": 279,
"y1": 190,
"x2": 366,
"y2": 306
},
"pose": {
"x": -0.00009083392797037959,
"y": -0.00004132981121074408,
"z": 633.7780151367188,
"roll": -2.5156324128494116,
"pitch": 0.5597487322987736,
"yaw": -3.113608318046594
}
},
{
"name": "5",
"bbox_2d": {
"x1": 357,
"y1": 254,
"x2": 472,
"y2": 372
},
"pose": {
"x": 109.67687225341797,
"y": 86.50350189208984,
"z": 708.2501220703125,
"roll": 2.353532637720953,
"pitch": 0.22954340568046613,
"yaw": 0.8840398884690471
}
},
{
"name": "0",
"bbox_2d": {
"x1": 476,
"y1": 474,
"x2": 488,
"y2": 479
},
"pose": {
"x": 160.266845703125,
"y": 270.4148864746094,
"z": 571.12548828125,
"roll": -2.3585795756469548,
"pitch": -0.25018450388278807,
"yaw": -2.236311156904868
}
}
]
} | image |
|
0 | 0 | 57 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/57/observation/image-35a605b7.jpg?Expires=1742305470&Signature=mRcgM1i45Bol4yrFAsxQcT07ZEMeVsLM8M~zKPenjNA9AFf3wm~Y2358JEtqIXySZiz80aH26JtrQVVQ9PoYVXAJw4K037eCsqdqfxaN~GBkF2KSJ51zmCtGC2rPSKSNdqqohpYFyN5eobLolwyPJiylryP8bTyeMFHj8ndYzPRniAMv9TTSRp7pDa8cDXqj7ZfVPLzzkxT7ZfrKpECCeBgYQA~N3mEIbH4L4i6ndv2dZ4~wohTU3wdQtTuyYn0BAe4tekJR-3aKEu7Nyb4aZ0ekg4R5gcESFhSykz91puROgfGIUDxEZ1EAnkiSvuJ4pqQC2FvUcsecUdI-dyCLaw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/57/observation/image-367d05c9.jpg?Expires=1742305470&Signature=GKqWbel880uPZrxqSLy2She~brFI5XzZnHj3~LJYeXdSevvuC7KEc7iZ4cnuEjt4yPoJpGL-zGqqm6V9vseruH6HtG5eHnWrtMAEtwdyItT8VoSaC8oOy9X2sy~4-d-05OM309OkrCVCb2G2ujZLlat1MxtvRIQ7Rp4D7OZm668xkeQtYvqeH8m1MkACz-45lKHDvDoww-AdYAJgPtXabpXF5JO53E8RuJhiARdNewkhJpWMv-PS7GcP9wd4vj~cvdsUrUMlQKn52pGTfqvl4exQqUxU0KfK4xY-k34MKvcnQR2XyNPoliRRCdigyO~3-McRCEELKIJMkLv1VHczPw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "3",
"bbox_2d": {
"x1": 127,
"y1": 201,
"x2": 192,
"y2": 289
},
"pose": {
"x": -342.94354248046875,
"y": 5.8642988204956055,
"z": 1249.0673828125,
"roll": -2.65046656764171,
"pitch": 1.325791461117824,
"yaw": 1.7978282478208079
}
},
{
"name": "4",
"bbox_2d": {
"x1": 418,
"y1": 193,
"x2": 454,
"y2": 233
},
"pose": {
"x": 197.15895080566406,
"y": -54.25972366333008,
"z": 1124.996337890625,
"roll": -1.8181623635935635,
"pitch": -0.5083358876803035,
"yaw": 2.9870874500622318
}
},
{
"name": "2",
"bbox_2d": {
"x1": 396,
"y1": 189,
"x2": 434,
"y2": 246
},
"pose": {
"x": 153.17808532714844,
"y": -31.398019790649414,
"z": 1005.2113647460938,
"roll": 1.8174792749016113,
"pitch": 0.5034469076913178,
"yaw": -0.15591464895034035
}
},
{
"name": "7",
"bbox_2d": {
"x1": 378,
"y1": 232,
"x2": 465,
"y2": 306
},
"pose": {
"x": 129.76675415039062,
"y": 31.736284255981445,
"z": 819.3812866210938,
"roll": 2.4774604940989082,
"pitch": 1.2957162732031753,
"yaw": 0.6111744338134816
}
},
{
"name": "1",
"bbox_2d": {
"x1": 334,
"y1": 151,
"x2": 395,
"y2": 247
},
"pose": {
"x": 78.97278594970703,
"y": -97.36967468261719,
"z": 1209.3472900390625,
"roll": -1.795181708280829,
"pitch": -0.2791971083766242,
"yaw": 2.9275978490064904
}
},
{
"name": "6",
"bbox_2d": {
"x1": 307,
"y1": 190,
"x2": 358,
"y2": 284
},
"pose": {
"x": -0.00005830697773490101,
"y": 0.00012700038496404886,
"z": 929.047119140625,
"roll": 1.8851047565756682,
"pitch": -0.8067512001899898,
"yaw": -0.5073596373138645
}
},
{
"name": "5",
"bbox_2d": {
"x1": 198,
"y1": 275,
"x2": 270,
"y2": 339
},
"pose": {
"x": -116.6346206665039,
"y": 98.02611541748047,
"z": 886.090576171875,
"roll": -1.7964762370032494,
"pitch": -0.2982373771072155,
"yaw": 2.932144113631509
}
},
{
"name": "0",
"bbox_2d": {
"x1": 158,
"y1": 269,
"x2": 185,
"y2": 293
},
"pose": {
"x": -279.1876525878906,
"y": 93.62992858886719,
"z": 1055.62841796875,
"roll": 1.798595632364426,
"pitch": 0.32667533504888324,
"yaw": -0.2025538009394836
}
}
]
} | image |
|
0 | 0 | 58 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/58/observation/image-35a605b7.jpg?Expires=1742305470&Signature=YDsbIDPtUcrSD5V6zq4kNT7ZFizvM2uCfvlUnaRBL72cbQMJLqU19G2BO0Il4kBngTPWDDrq5TpmCWbUe2xXU5VBKOOv7QRkQMmJdJfVFcjvwuy6Od5fk5ztrJvnGlCmwji2mtMX4BX2FNpZLMJUpPHe1XsCkbwFNUIQlzWDwFRUSSVEgjeWvYuIQxtuqwN9xFqe6qvql7-UzcXyg~6EOq7xrn449elE54kkjgYEAiawirc75nD1k4ln5i--~3vWM-qNJkasZ6qNNg4Teiboe7vYBRs8A8tIAlHka1Xd0eyucWDMuAKJRUxIybaUZwTlheEStIKmi5dvOrz5IfmGhA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/58/observation/image-367d05c9.jpg?Expires=1742305470&Signature=M4bb3q3YC-~SYL8Srd0Rq~5jwnDPeMqagl9esV~zB564SKe48AQurMIRFU8a053r7pJA~qtn29InHBFCThVm92gMkaKXdGc1RjxwX1dK65QzZHVzFtMLAhOhJLNsOCX4CoHon9RRuEI6-pP46ypKfkHu-Nbwct1SnrlWkVmTrWhL1AHAoy~7PdHQeH7pL1YlGYQG1aN~xOwcnMDAU16y9wTVE9K6qdid4~vbtSJBcTyaMrf2RKYknE5nEv0BAGmPKhGVX5pCAlYyr8qzFjVK3CuqpgatFKIMaKg6e32-zj8v8s068jxBWc-Od6tfulugWlGDM6RPbEt686vZZdNWkg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "4",
"bbox_2d": {
"x1": 270,
"y1": 290,
"x2": 318,
"y2": 337
},
"pose": {
"x": -59.26551055908203,
"y": 109.81946563720703,
"z": 952.3431396484375,
"roll": 2.7720263739466815,
"pitch": 0.6868375235504175,
"yaw": 0.44307533868534416
}
},
{
"name": "2",
"bbox_2d": {
"x1": 296,
"y1": 209,
"x2": 366,
"y2": 277
},
"pose": {
"x": -0.00011101755808340386,
"y": -0.000010407327863504179,
"z": 987.4524536132812,
"roll": -2.7681808024867305,
"pitch": -0.685007225542206,
"yaw": -2.7045887346017663
}
},
{
"name": "7",
"bbox_2d": {
"x1": 333,
"y1": 127,
"x2": 394,
"y2": 196
},
"pose": {
"x": 75.54147338867188,
"y": -152.13002014160156,
"z": 1088.5303955078125,
"roll": 2.7368620565865904,
"pitch": -0.6690312452413086,
"yaw": -1.5456800359148448
}
},
{
"name": "1",
"bbox_2d": {
"x1": 280,
"y1": 296,
"x2": 377,
"y2": 368
},
"pose": {
"x": -4.697842597961426,
"y": 149.56829833984375,
"z": 816.7557983398438,
"roll": 2.614564504324542,
"pitch": 0.5840224251842244,
"yaw": 0.17911988648939134
}
},
{
"name": "6",
"bbox_2d": {
"x1": 394,
"y1": 152,
"x2": 443,
"y2": 233
},
"pose": {
"x": 143.8768768310547,
"y": -87.33162689208984,
"z": 943.6007080078125,
"roll": -2.3859141232715313,
"pitch": 0.13638452796877912,
"yaw": 2.4189591636398498
}
},
{
"name": "5",
"bbox_2d": {
"x1": 457,
"y1": 140,
"x2": 555,
"y2": 202
},
"pose": {
"x": 299.56011962890625,
"y": -113.72422790527344,
"z": 954.7442626953125,
"roll": 2.625878053731269,
"pitch": 0.5937516060226589,
"yaw": 0.19948820998538827
}
},
{
"name": "0",
"bbox_2d": {
"x1": 595,
"y1": 226,
"x2": 639,
"y2": 281
},
"pose": {
"x": 404.85076904296875,
"y": 9.462669372558594,
"z": 784.6714477539062,
"roll": -2.6433660853877363,
"pitch": -0.6079228405440786,
"yaw": -2.911173141475608
}
}
]
} | image |
|
0 | 0 | 59 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/59/observation/image-35a605b7.jpg?Expires=1742305470&Signature=irUpYW-jSXnxTv0XuknvDShRQ5xLPAqOC5U67FZh1Rds1mY45k1j8JPg0lt4RxPmdzfA0Ma1ar1psVL~2fzvsCIECnppqsjrJM1jAibqsl2yoZle8KOmPXv-Sn3k3QKxIAi3q2sU1rMhrImAmYuPq80wzP9bL2nB84iNiD7HhX1-ha9OZjxvjrnhtVvdaB6DUaXTraB7LTPZE-5-Ht-fx4upcuo~FQtaFTaZW~hILxWysLzlYXsclZBFt47j0i46zL1Y4zjKR7PHNeIZ3n6PMBdac~w-saQuAyWTupv0Zp3fwIabKSXLQX8p00K8xrS6NlEXKb58pAsgN4J0UemGnA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/59/observation/image-367d05c9.jpg?Expires=1742305470&Signature=LxzKWXiImrrwxz1zoY9EKR-DTM8mBMRALklwMCWRmuUGHDvNK1pxZzcQrVjrJ~luwg4z2zG7mCb8NYjxUs-tA9VCK0etpatOhTQjuTUXheto5VTP0eh93E5sG-PpVaFJZ94EHaAd1om4cpLpI5Ff5qdV0NcK65iDsMGWkMcGISMS8sPGfLtyvImhIWW74mLRj65j6O9zWK8nIHrAX4S8f71LclI2xWMJt6HzH3iyHyx1EpfjvhuhZ-C-nUDL1M2GfwSaLuK3KiY3V5xALVSiAc22X-XJankz2geX9YXBKPpJyeBHaTjpjI3TNrTMt0Mj3l11r6xiX5G5eQCKu2vomA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "3",
"bbox_2d": {
"x1": 402,
"y1": 207,
"x2": 452,
"y2": 244
},
"pose": {
"x": 322.76580810546875,
"y": 19.047208786010742,
"z": 1810.3502197265625,
"roll": -1.7688788974578202,
"pitch": -0.05818276593306248,
"yaw": -2.801621376294901
}
},
{
"name": "2",
"bbox_2d": {
"x1": 317,
"y1": 255,
"x2": 366,
"y2": 305
},
"pose": {
"x": 58.166969299316406,
"y": 79.92620849609375,
"z": 1327.3675537109375,
"roll": -1.995876946345964,
"pitch": 1.0742630566651452,
"yaw": 3.0911000573091423
}
},
{
"name": "7",
"bbox_2d": {
"x1": 246,
"y1": 228,
"x2": 290,
"y2": 277
},
"pose": {
"x": -128.9520263671875,
"y": 24.078466415405273,
"z": 1357.9342041015625,
"roll": -1.7737560357594047,
"pitch": 0.2257084844828268,
"yaw": -2.859315815892758
}
},
{
"name": "1",
"bbox_2d": {
"x1": 433,
"y1": 245,
"x2": 467,
"y2": 316
},
"pose": {
"x": 276.8373718261719,
"y": 101.23567199707031,
"z": 1384.4583740234375,
"roll": 2.2961521056523075,
"pitch": -1.2701525320465243,
"yaw": -0.37434509709690955
}
},
{
"name": "6",
"bbox_2d": {
"x1": 303,
"y1": 210,
"x2": 337,
"y2": 274
},
"pose": {
"x": 0.0004309949290473014,
"y": 0.00022841032478027046,
"z": 1470.4720458984375,
"roll": 1.823172360619452,
"pitch": 0.6652647035240236,
"yaw": 0.4861539247962875
}
},
{
"name": "5",
"bbox_2d": {
"x1": 278,
"y1": 226,
"x2": 316,
"y2": 259
},
"pose": {
"x": -67.6884765625,
"y": 2.4560651779174805,
"z": 1613.5457763671875,
"roll": 2.2563488709935204,
"pitch": -1.2552789948778034,
"yaw": -0.33257685183512875
}
},
{
"name": "0",
"bbox_2d": {
"x1": 357,
"y1": 233,
"x2": 367,
"y2": 242
},
"pose": {
"x": 104.15142822265625,
"y": 15.054449081420898,
"z": 1773.2275390625,
"roll": -2.203646862496319,
"pitch": 1.2322003202409575,
"yaw": 2.864662506496597
}
}
]
} | image |
|
0 | 0 | 60 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/60/observation/image-35a605b7.jpg?Expires=1742305470&Signature=nS3l2n-jClaUuP7qejNQjp3hQV2N696N8RqMLOQEeCnT-vXeKO~H1AnaQ7Ywn9gfL4zIxG38hWn~xwxqAqByN0VXLwQknAH7VoE6lSjZF73fiYRrSnAinND0NrQgD4jqLwzJQkUQ9GxBvpU3Zr2TS80N66A5wMnpoVjfFZeGMGlpnDOSNlaH0nDnS9FiLWEoIO76hd0vCpOd1~uXDt-d~AZ8-21xrdaHFkF9KWg~Xbmpx-wT36KaPvOYdFYZxXxCeiby7tqj5K5k49RhUJxLZQuqbhcW7K3212Z5Cyu8GX~1MeqcdtdsdIX3dTC9jEQDi2HtZ3WR2bEWcr6-j2ez1Q__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/60/observation/image-367d05c9.jpg?Expires=1742305470&Signature=ovrzYMpnDApe32tLXrgc0sVXELLdjnTogjYc6gtxscjCZCBr~wwg9soSl3cnQrpY2K6yuxH4jRAZuUUTMAbDP3w-xH8T-WvbDV~EkpV~dzLIkofK9NnjTThg6q4DA5gZ3JSDMiGyOqiFFcMjO2HmbGm-7xSA9uO~Yn42IA6Nbl-diYZPLJrM2wd6BgL2L8NLvl59UAesTvUdWNxU-Ty1VlFihz0HAu3QMZsqIV40xz9mLmcqUeNHs2~CPN4keqnJohGHzi-dgi7gx-chJkRw6P2PsCaDtcOsJ6B9wvb0CG8Duo2jWM7s6doOwlXL7s7pE-HEAQO8lrJJTCfMJz87uw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "3",
"bbox_2d": {
"x1": 482,
"y1": 289,
"x2": 629,
"y2": 479
},
"pose": {
"x": 231.1225128173828,
"y": 184.9317626953125,
"z": 545.6766967773438,
"roll": 2.2608700148113585,
"pitch": -0.5360618512362425,
"yaw": -0.7439227525039646
}
},
{
"name": "4",
"bbox_2d": {
"x1": 264,
"y1": 267,
"x2": 279,
"y2": 281
},
"pose": {
"x": -98.66071319580078,
"y": 77.79479217529297,
"z": 982.121337890625,
"roll": 2.7770717434525047,
"pitch": 0.9449466684882415,
"yaw": 0.7858452917576056
}
},
{
"name": "2",
"bbox_2d": {
"x1": 293,
"y1": 215,
"x2": 366,
"y2": 279
},
"pose": {
"x": -0.00010863400530070066,
"y": 0.000024518229110981338,
"z": 1014.0499877929688,
"roll": -2.770574635309227,
"pitch": -0.9431337455824541,
"yaw": -2.3637692750735426
}
},
{
"name": "7",
"bbox_2d": {
"x1": 367,
"y1": 159,
"x2": 428,
"y2": 221
},
"pose": {
"x": 140.23501586914062,
"y": -100.48583984375,
"z": 1110.5047607421875,
"roll": 2.4118367718692593,
"pitch": -0.7461695686084245,
"yaw": -0.9941103944035539
}
},
{
"name": "1",
"bbox_2d": {
"x1": 236,
"y1": 256,
"x2": 320,
"y2": 379
},
"pose": {
"x": -86.82878875732422,
"y": 107.7939453125,
"z": 834.129638671875,
"roll": 2.5197548377239904,
"pitch": 0.8320789825800735,
"yaw": 0.45602048429735503
}
},
{
"name": "6",
"bbox_2d": {
"x1": 404,
"y1": 170,
"x2": 443,
"y2": 266
},
"pose": {
"x": 154.46173095703125,
"y": -44.47553634643555,
"z": 947.61328125,
"roll": -2.1502048173841195,
"pitch": 0.02910766686111444,
"yaw": 2.7776231912848575
}
},
{
"name": "5",
"bbox_2d": {
"x1": 467,
"y1": 194,
"x2": 567,
"y2": 258
},
"pose": {
"x": 309.0013732910156,
"y": -18.61178970336914,
"z": 925.1063232421875,
"roll": 2.5374969925768283,
"pitch": 0.8433168108660455,
"yaw": 0.47989580211579674
}
},
{
"name": "0",
"bbox_2d": {
"x1": 569,
"y1": 292,
"x2": 593,
"y2": 319
},
"pose": {
"x": 332.67523193359375,
"y": 98.94535064697266,
"z": 723.1017456054688,
"roll": -2.565180941297944,
"pitch": -0.8595625827708815,
"yaw": -2.624897507610198
}
}
]
} | image |
|
0 | 0 | 61 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/61/observation/image-35a605b7.jpg?Expires=1742305470&Signature=uOAtLsYH6-r866SlHfWMJHtXJO3yIUmOuDTXlkvzkNjSK5DnGLgIURz6Ym-TYc-nRDftpPbqM9vFbkmpyvRHjCY33neIcpGOGB3Xe49eSomPqubAueE6RtNbaTBsD5C0~pEhemigpLboYlD1Cu6GaW1BinzxTZEGGQu1i2uxf8kuAst5Lxk3vbxoPiom7kfTalPu2hPHgT5G03-petOecawT0cCp9jGYAaVIMIw-FG3V6V0xEFdFi4UQpmrw1DR7gEbms6W9bZy1X45bXbwBn229ELoYl1VLBbnr91k7a1q9VcLHMpAwPdOFuKritDp7bNV0aNGYFv4I2lZyLvPS0w__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/61/observation/image-367d05c9.jpg?Expires=1742305470&Signature=z5TGbL-thULjJMc7f~CggjhpS~XV4iNVwhMdhPtcxTLE-N7wvOdbRjFNHsJj4GGDy~D8KhB9N5n1sqkK6fQ71xBZSB~WQmTfwKtdbKmL5o5MOe09zAtwMdqVl~QEEdcIHyECBoJYYMcaxRnfAn1dMjgOzdW1PfzYpWLuAEMYjk8f95j0dgbm2pNvrR7k40J8YAIyl9uG8jHmQUophAlqigjAsOhAQwYXp212zNbJStK0a9rHQxSBap~1Nv74VEd5DLPn2EDg7FoC~XaKjkWD6p5hr-N-tpo2JGBybe~f2eZLDB-B9JuOtGOYY5NTZev7-KVx94F5hX86oAS~MoJ1Bw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "3",
"bbox_2d": {
"x1": 498,
"y1": 230,
"x2": 574,
"y2": 328
},
"pose": {
"x": 433.9333801269531,
"y": 114.6445541381836,
"z": 1194.2513427734375,
"roll": -2.643414700429291,
"pitch": -0.9286052325456896,
"yaw": -2.0516434841344875
}
},
{
"name": "4",
"bbox_2d": {
"x1": 239,
"y1": 305,
"x2": 290,
"y2": 351
},
"pose": {
"x": -117.80132293701172,
"y": 162.38710021972656,
"z": 1130.779296875,
"roll": 2.125697312655311,
"pitch": 0.051834518680845904,
"yaw": 0.1479263994695963
}
},
{
"name": "2",
"bbox_2d": {
"x1": 252,
"y1": 256,
"x2": 287,
"y2": 308
},
"pose": {
"x": -117.8425521850586,
"y": 80.8211669921875,
"z": 1231.5380859375,
"roll": -2.125563783801587,
"pitch": -0.047550564179884174,
"yaw": -2.996324327098333
}
},
{
"name": "7",
"bbox_2d": {
"x1": 235,
"y1": 212,
"x2": 285,
"y2": 262
},
"pose": {
"x": -157.44837951660156,
"y": -13.389715194702148,
"z": 1400.7198486328125,
"roll": -2.378719855232272,
"pitch": -0.7555693960415955,
"yaw": -2.403521189717005
}
},
{
"name": "1",
"bbox_2d": {
"x1": 304,
"y1": 278,
"x2": 362,
"y2": 377
},
"pose": {
"x": 18.935163497924805,
"y": 154.6387939453125,
"z": 1066.0904541015625,
"roll": 2.1317453853092894,
"pitch": -0.14828909498104217,
"yaw": 0.023261576937171662
}
},
{
"name": "6",
"bbox_2d": {
"x1": 306,
"y1": 209,
"x2": 339,
"y2": 277
},
"pose": {
"x": -0.00008186657214537263,
"y": 0.00017181015573441982,
"z": 1330.6920166015625,
"roll": -2.723634743756106,
"pitch": 0.9573255030976224,
"yaw": 2.184201865323462
}
},
{
"name": "5",
"bbox_2d": {
"x1": 335,
"y1": 221,
"x2": 395,
"y2": 258
},
"pose": {
"x": 100.92166137695312,
"y": -2.8922784328460693,
"z": 1452.61181640625,
"roll": 2.130282417830327,
"pitch": -0.1317419671406111,
"yaw": 0.03374315018597322
}
},
{
"name": "0",
"bbox_2d": {
"x1": 445,
"y1": 250,
"x2": 468,
"y2": 285
},
"pose": {
"x": 312.41363525390625,
"y": 59.056522369384766,
"z": 1371.251953125,
"roll": -2.1284273944602585,
"pitch": 0.10699184169658321,
"yaw": -3.092272380382154
}
}
]
} | image |
|
0 | 0 | 62 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/62/observation/image-35a605b7.jpg?Expires=1742305470&Signature=U-ILnJCqDiEyhAcNuvC8XEsPYgh3bq243UqbTfgPruc6sLOz9lEmhPJCUOJGw1hf8Z-8H3eJD-ORPiZR~gfZpZT-nO49MKnnikAmbJxhhro6aZ3EW28Wsgaohs~6Y3GS2IGi6RWpbPiSmfuYNHUbtrxKK2x8FNNL5wYrCfgXRHLiUhH8Qa8VCIyiPHXkuwJIyCukpNwtpSvnAsjHayZc87YYMeNZIxh4OgIJE1q3LArrRkCqwrOe9B9s3KoLZtZf3yN4tDSs7TOS-Tk5XxA1j7x0rJsqwAvklsQwG2DNOE6CqjcylFLivH9XvoVeNLJot2~xnUTt6qQA53pEvqNwFQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/62/observation/image-367d05c9.jpg?Expires=1742305470&Signature=gLODFuw-P0vgsCoESHD7cimjCHb5ZGraYRDPVkMl047V8qmK1p4-d3x21OZt5fu~4T5DkSqVxtzwHMDPCUR59kV7ELTeh06eIGIBgsGyRjU3Y0yLOm21-WNYKIpwk74g4VA0DNpzbM~KV2p3piDKb3Pp0MYmWvk-lCYi-Sov9gTBQ2J7LpjQ3QAqDzQAqa3rudwSrxY71pn-mz2n-vP~-1ChRoRFKVJxyLzoZTq~EYfYyL8X-JHALt-cc7CSjyIOhIjyzKT5YNxBCHvKk0x7esdWycQDpd0suu7gedSEDI7r~N3OuI3ffFVc32VVZyExMje-OkKPA4dmoNsYWpbKPA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "4",
"bbox_2d": {
"x1": 119,
"y1": 251,
"x2": 174,
"y2": 317
},
"pose": {
"x": -270.4682922363281,
"y": 50.69920349121094,
"z": 838.9603881835938,
"roll": 3.0905202914098893,
"pitch": 0.5253608496835697,
"yaw": 1.1803414532247012
}
},
{
"name": "2",
"bbox_2d": {
"x1": 171,
"y1": 205,
"x2": 266,
"y2": 268
},
"pose": {
"x": -159.4432830810547,
"y": -16.222394943237305,
"z": 839.53076171875,
"roll": -3.0876025194202343,
"pitch": -0.5250961936623377,
"yaw": -1.9670708140050719
}
},
{
"name": "7",
"bbox_2d": {
"x1": 283,
"y1": 117,
"x2": 362,
"y2": 204
},
"pose": {
"x": -3.0772132873535156,
"y": -125.94978332519531,
"z": 890.2888793945312,
"roll": 2.749441289871135,
"pitch": -0.3625624021868346,
"yaw": -0.9977613991686434
}
},
{
"name": "1",
"bbox_2d": {
"x1": 74,
"y1": 305,
"x2": 185,
"y2": 411
},
"pose": {
"x": -265.07037353515625,
"y": 146.69439697265625,
"z": 721.9249267578125,
"roll": 2.9584741857922676,
"pitch": 0.4976508727754402,
"yaw": 0.9118370803770047
}
},
{
"name": "6",
"bbox_2d": {
"x1": 309,
"y1": 206,
"x2": 347,
"y2": 290
},
"pose": {
"x": 0.00003023106364707928,
"y": -0.00003579746771720238,
"z": 771.9656372070312,
"roll": -2.617640846407857,
"pitch": -0.06509736991356031,
"yaw": 2.964818289007794
}
},
{
"name": "5",
"bbox_2d": {
"x1": 381,
"y1": 230,
"x2": 493,
"y2": 342
},
"pose": {
"x": 147.41932678222656,
"y": 57.57242965698242,
"z": 775.2736206054688,
"roll": 2.9689611534188174,
"pitch": 0.5011070779883784,
"yaw": 0.9337358712216334
}
},
{
"name": "0",
"bbox_2d": {
"x1": 426,
"y1": 433,
"x2": 486,
"y2": 479
},
"pose": {
"x": 148.70191955566406,
"y": 256.77191162109375,
"z": 650.7593994140625,
"roll": -2.9848216998898796,
"pitch": -0.5058929908131924,
"yaw": -2.174987480299797
}
}
]
} | image |
|
0 | 0 | 63 | {
"image": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/63/observation/image-35a605b7.jpg?Expires=1742305470&Signature=rwjihZMIPtCYm9aBm~C0zGJgTm-xi~iTNhtqE0QDjOiZZT~Q1L5evAkDA7lRewK3G93cCNYYrsTOwWL1004rK7ZVtiscwFebeQePSAYYmXMPKgDpe8e56coWOI7iFZekknIhEmisEqjN~j~1wgFAjt41NncBCd-9ersVyOnEW82IG8FYLLjumoXRz74zRhZ6VBjg2povt0Q2hYsAni4FWqZ4IWHDvUT39jzqYFn-PXusZYpUi6L6iyAzEWoI3sTwDhtJ7IMzxltdzztCrzKpnJ9Wyy0txRq9nv6p2qkEZCTVMcfdVMjwvelrAWC-djQF7KIYR4-JiPiFrwgBxoYstw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"camera": {
"intrinsic": {
"fx": 572.4114,
"fy": 573.57043,
"cx": 325.2611,
"cy": 242.04899
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"extrinsic": {
"rotation": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
],
"translation": [
0,
0,
0
]
},
"depth_scale": 1
},
"depth": {
"bytes": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/bop-lmo-episode/--/f53d0b617f086e62493e4f04cdb656377a7a6855/--/default/train/63/observation/image-367d05c9.jpg?Expires=1742305470&Signature=kbs9nwD~k~VZwlOW6t~n9rw4KMNU2q53~WnIlVuPZzyKJoF3nE-vstZPu7PQvw-xOBkF11jzcNrHIdE0bbUsFKHUakUl1f2~CQFOFQzxzvYFbynHo~z7LybgOBQy~TGkEAqhazY8CYd0xGSFzHa3VrLzLzAden50lPVRZ3J3zud~s9HYUciNcJBieoxoTLPB48xx3fxkqJTj6mx0UVG4Paan3csm8sK-uPd6eCGnspHMeJSLHCrAygkGMO-meIwIwrqhXehlPw4Nrbmblorgcx-K2Mdj4jgQYUH1E2nPUpFMIN91gE3llOVFpVfNnaLYwWZBqv2utAdwN9bnASnUMA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
}
},
"extras": {
"categories": [
{
"supercategory": "object",
"id": 0,
"name": "ape"
},
{
"supercategory": "object",
"id": 1,
"name": "can"
},
{
"supercategory": "object",
"id": 2,
"name": "cat"
},
{
"supercategory": "object",
"id": 3,
"name": "driller"
},
{
"supercategory": "object",
"id": 4,
"name": "duck"
},
{
"supercategory": "object",
"id": 5,
"name": "eggbox"
},
{
"supercategory": "object",
"id": 6,
"name": "glue"
},
{
"supercategory": "object",
"id": 7,
"name": "holepuncher"
}
]
}
} | {
"objects": [
{
"name": "3",
"bbox_2d": {
"x1": 388,
"y1": 414,
"x2": 482,
"y2": 479
},
"pose": {
"x": 172.99960327148438,
"y": 404.1891174316406,
"z": 972.4921875,
"roll": 3.0762622560479196,
"pitch": -0.4493768827065761,
"yaw": -0.9912938034210454
}
},
{
"name": "4",
"bbox_2d": {
"x1": 164,
"y1": 266,
"x2": 207,
"y2": 315
},
"pose": {
"x": -267.0416564941406,
"y": 83.94810485839844,
"z": 1093.0269775390625,
"roll": 2.7451223403985323,
"pitch": 0.22685222392339807,
"yaw": 0.9230191531880578
}
},
{
"name": "2",
"bbox_2d": {
"x1": 212,
"y1": 222,
"x2": 266,
"y2": 270
},
"pose": {
"x": -173.828125,
"y": 2.0697824954986572,
"z": 1130.6109619140625,
"roll": -2.744053399491603,
"pitch": -0.2249040041313864,
"yaw": -2.2233443799509036
}
},
{
"name": "7",
"bbox_2d": {
"x1": 266,
"y1": 149,
"x2": 322,
"y2": 210
},
"pose": {
"x": -64.99522399902344,
"y": -131.8748779296875,
"z": 1226.94921875,
"roll": -3.0664057625115833,
"pitch": -0.4479356050469598,
"yaw": -1.3129791790053784
}
},
{
"name": "1",
"bbox_2d": {
"x1": 163,
"y1": 314,
"x2": 248,
"y2": 387
},
"pose": {
"x": -203.52464294433594,
"y": 185.82376098632812,
"z": 1000.6773681640625,
"roll": 2.7059379409791533,
"pitch": 0.13124738704303954,
"yaw": 0.7040967412466754
}
},
{
"name": "6",
"bbox_2d": {
"x1": 307,
"y1": 222,
"x2": 336,
"y2": 273
},
"pose": {
"x": 0.000034544522350188345,
"y": -0.000145698431879282,
"z": 1136.076171875,
"roll": -2.8186622938342456,
"pitch": 0.32456972286056507,
"yaw": 2.810301016487639
}
},
{
"name": "5",
"bbox_2d": {
"x1": 354,
"y1": 223,
"x2": 427,
"y2": 294
},
"pose": {
"x": 137.53953552246094,
"y": 35.729835510253906,
"z": 1205.820556640625,
"roll": 2.708350728612011,
"pitch": 0.13946912901694003,
"yaw": 0.721978292415279
}
},
{
"name": "0",
"bbox_2d": {
"x1": 415,
"y1": 346,
"x2": 447,
"y2": 384
},
"pose": {
"x": 210.92393493652344,
"y": 240.61679077148438,
"z": 1117.37841796875,
"roll": -2.712237624626027,
"pitch": -0.15167051497850798,
"yaw": -2.392818868183116
}
}
]
} | image |
End of preview. Expand
in Data Studio
README.md exists but content is empty.
- Downloads last month
- 138