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=1742354317&Signature=D5LNDEpeQZdv5BYsTsPwkIZYL9iEndDgazOhq3Vqg35Z-OuOymCVqMNr-q14raN~eNZiNyIacv8bRzR9XJYSx4OP~Zto7lypGk~mwCVXxxobrM0fo5EomRzM1M3oqp5LX4QJ3G16fUnxJFwPravdADhLKEnnpmsgp5o1RN33cr2qhL7TjSmpHGRmd7aCB9~tpg-zfxJAuPlOXbaypZgzRBzgE6Q1Dv3QUmkVkypuwndl4-SuKVMxvB~oM0dhi-YEZnR-hBvd0YIJIlRjImIp~ZyLabR3fJYTuvSsvVRsw5d4sduxbMRdHGAfF2O003hX36eteWRTL1ILJPqAkcV7Xg__&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=1742354317&Signature=b2KvnLkkGxi1inWPjUm~AXwgliQGNaAk75haVkZJxffho25kTcu9EKrLtbVE1ZDc1NOdLBlPryA10~ao9GSRD5jF0dnupvaf5F3~31nI-QrnsO1ObkTUShuG9~5GZMa7X3anptiYGbg5rpkivTW5L9AuZ9LUNAGYkdI4dIFoWY~k8sbGKDkfO1TIgjiH9S8qHIC-NswoNxCKolkuCXkN1~kpWuylPsCrz8mk~pk94oXEYD2EAfqIkdkfnFPCTu8WOOr2V2cIdmPsstfuggWpSh-cmiAaQd6BFNFLbpNVwDkHA6xStURDY-MoLTjQ4RPPDb7be5MtDR0BXEJm~7ZjAQ__&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=1742354317&Signature=coXD41Su0~eK9F4PQz01C09kxEYsFuL6B33DDYDP8AQ5PfFiIuM-i-7JQiAURvkSfS7yhtEUXESpMInU2GaJRhFADzZ0VDfwppD75y7a6693aIvJ66SQuWFXV7KFrWU3Tm569WnmjYj5cdBcJ3nScnoRLE-HXfzdzaBvuZk9z~8Mjk0fUNShmB85eHBzcwCLz22wntcUlo7cNaLUgrV8o4xXBPr3F~FREx-MAe139F7TLEAwcru9if3S61KbbmTqrDgWdep2ok49K-a6FPmfsCMkxa0AJxUoctanb8gDHF8HDbiJG5T-T6grpmhgYEjs8NR-qM6vkOdEGSuI-HG2nA__&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=1742354317&Signature=x9FaRN721qnHnGjX0mvTHQPY3m3EjcM6G3pmD8i5zugXe9eA-PlwSzFWpcvX4WrS5DNEDsvPRlvBdTRS2HBQuIsSqmAyQ1upWNu1Ev4jDLFCVYVl2qH3UlqvCozLC1uK4DdO5GeM~O~iIJytweAfBkXIR8xpE94FnhEB0H5YN35cBknohYimaOWV-VdCJftzmbHeDbWGcUd0rrGCCnqQFrIDS54rhROQwT-EDhVEOKwLjfgYdeHHV6S5nIPJyUHlmBHKCrs4Rh9YLw8z6wE~HZLWNf4WFuEcWBD4v2VoEDbW0mZKM84I9WPt7crF0sbtYSWyD6qviYEWCSTT9STTiA__&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=1742354317&Signature=JmAcZz04n-iQk4Jkotxhky3sQT1yR7Xz7J0OGE8Do9Usl1rxdFvA2ezyWxhfHwIMy~uZQzwbOFQ~CKl8A5uyLs9ydLvfs9ucgtJiSt6DcUIrpW4VFqobHWiY2STp1KhLUmkvmfeWjKLDCqZhzBMusIQLrODLO3ZVsEXiCGpO8UIQLgfiZWGu1KbOfZrfBST7i9a6kinJaukBmP9KkvUJ7AzwhcWln17zVNhtCveKfJFvtpfYdr2H6sCmoR7orfrDJZVInmssgz-oZW-HMKXOjnbGBHV44myZzMvqb6H9GUtzq-kkbND2LxMk6lP0613Cp--AT1~f5jIl1Ukq5DqXag__&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=1742354317&Signature=LI7Pl5QbSe1sY7H6DwAt1B7EjT59~TNr3ImPpHZfGT91mhrV00vUD-rZLbtNyYO8aF63y0pPWMUvrZoIZpt4R18Auucdpzng6-d3JdutSj5Wh~9kpVoBa-xXOAtQx~A53CrULcOfDRwLBfeGNbp72tpu1-eJH4-DLC2nTpWCCCc~esAKmvIeBi1Y8DD9ZSJi6~q~wJFkcaceukCCgHSlzSkhcJHbT2LO4HsgjILk1aEfUf68qiHzYGGCoLgM1W6PRYHDXg7moCjG1CgS7NTLQYHXqBHt~dG~uK40ihOQh~Lc1Mr74XYFZ9gqCDTznl86bi7joMga11L87ZnN~yjSNA__&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=1742354317&Signature=xGJtj5pXAbRdGjHQNl9Yg6AMU87mVEs5OPSAnTstLEfkuCJY4fjo7kUwArnmAKAPhErzVWA49GKNfHelxqcFeui7LIv0lPejR3VbVtvM5OgpqWr5qTKEgda7xAoOKvEu-euvub3QzxvKS169ldfqn9pGdKO8GzOgSVQOH3coOz3D8qSzmZHmIFF-KueObHYYf3pm02XBiaso58RIUT0WpcwVQLAVYWSM5gHLAC60vCGfMnXde1xYtYw28wypXswGncRo4N~Foe14dnI1omXeW573l0i4rXB5rR2n3Xip3WFbf-4bcsKYcKL2nSHze1KdCE5l8ZtyP2tpqysb0~RIjw__&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=1742354317&Signature=kUZFneAIfNHFmMvp~gLqE~VnD8qxyC0LajyBHihorDESAiYnX9B5QdBRUm~iTKtC1upjisyEIaPPo63N8dO8cISfBcP5pNTIgOevPj-6VMi4-P0Tt21Sx8a3HZbFygXQGWNP~V6TKLFBh-1v8Ym~GojoY3ZB9T0iGmL1S6QDw6ZlVrVmLc669FdrpkFxI5TqRbtMvgso~E9TFtWY0bEgWhQKTMA11MXEHjbXOrellgic3YtRvhnSQIk3AbY0WmiD79~hdvmyX8zVFdQWk04BWc4HwBlwCqXKzwpbIdK~QmfrmEODIboOhmIzptZjzTak3pH-ghKp7~tAqqbbErJ8mg__&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=1742354317&Signature=Qt6IhdpMJ5fkh-xBNnbA3zs9~bLueHr8WZHGeT1xO3bZguKqr-N3pbRRk4HC6lmShNomDOXnywR-5Ng8qrkQ-1cfuCrGYuYzCU6TOqbuarHn0g9TSNlfdQ8xZyqSVmK2H6jgd27LT2i7rZTldb46-TA4vWbnCLY7iJ5bmv8oD8GweLT0NEwLQOjYTyOilTFGinh5HK5gariqUbu-E0ah75pbFVCA-UQaaZu9GqT9p051tFIZnBCubHKxTV7~Yauzq~TN5KbYhGY92kBYr6DrjwaIvQ-Q4GEOAZijEpxmn6zIUHAp5a-6GqENiWcN-9-4dfSxjZLjy58cT2xm7sYWYg__&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=1742354317&Signature=Tu7AYz9LOBk7YvhNhIss3b-ZJ-HojdOa08wlm0ZdFDvKxxErU5DWtn0NLKrEK2JTEzks4FKfugYa-FaSnkVchPDJhuLSwdhNq9tTkubrwD3r~Zu-I0TKvFdLArs1Plht-XGDjESd41U500nAgIn4TPQLWwzh9eiVmnO5U882F9WqCYuowml328BrIij7dKfsOyhKlypUwjcJAlHoeqUUBnI4acuXVOBEArDKjDZCt7wbR~2YNS2vlwtx5OrZFGeQUEJ57GbWlNNL7hVSQ4SR-NQ~tIQ6UWVvMefvaBUoNNF1y-GT9cqZvYpQwRQlvHnBVey2ky4WVwufcYOflbIGZw__&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=1742354317&Signature=z5tqk5xQzbAKnllzF9FqD2P-bznwqiRlA7-n38BCWsqLj8O7N04~x4QZBa0QjjnwkdL21HAVwgh0TJAh2t15QqoAv3s78WJGX7KWmqTCMv7KsSjK7H5~wwMFen9XN4jF2jxtX0yNVwOCK~mbi6k8YQCSWP4B8vyMjzb0V4lW1Eou17mcNeLr4aKRct~MbWynUWnq5JD6tJSJf-3i5leRvWSehkAWUMU~BGypaovYcB2snathlF2MQJzQZW9CAG58yI9bUgGszYSTAgwPDNJc3CH4zV23t0Z8tG-lUfzfqY3VirW1r2dAWPneHSH1Q9GyrsHWLv61dwm97oeFWlvjdg__&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=1742354317&Signature=FyMO3i-bChpookA75U8TZR8X~uCihLo-ryq~2vzpXt9mL860eIrBTD~Mvm3BtMl1if2UPgjILj9ovAQiWRWJaZk-Vzhv74j33aoXjdMwOGmSMWqCYGFrL5JlL~XGoZ6FzJnYC6NbIr39Vdd2k67rz-8JIKZNJ-JEWl4dSTJzl0IY3NZ7AYhvLnDKzE8fT2~aSbRIPzk1zLe-ii3yEJiU6NC4iGqA53peL5y74Jq~WX6teYMdEOFcAwPJWhm-Mt1SORV62k-cAlU2SZ0l3c5aHCjBdzS1ixosuY48ExY9KeBoEhIL1rdKefSJSNYrIILfCVlKEWIxjGL0A-jxNjz4Uw__&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=1742354317&Signature=fb2wrPZpJseOQOeyJHSuaY~BZKlLMkhLPCpyatBHHndMtArd4wO7cuvbib~Bf-yEhVZTLes0dKRC8H1AfiJ4ZeB6RwA9a5j~6myF4YtcbSe1xnqE964MBRlHKQbrFcrNYPyjVKPA4GdiJpLafp2r0N7G6Lgcv3WRrTHi6lwP3Nugdjubuurcl6hDYrGBE-cuxeukECATDMjbMieURK3Xm2Lru9guafhX7KBejgmLjXCS4C-OtLcb6AmG6lgKTiCdj2yg~OH8tQTsUdTyiTyrrA7yicLpFUxCuLIG5MCr0ryL3kFsDDVgcBuLG0Kf1HS3KP-o01MDnNLbtj9aneonng__&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=1742354317&Signature=CytNJ1v8KWWVzQi2w~IYWP9Vaa290jPmDE9InqIhS~A-Rr4QSoyko~2ZkGw0JjGNDZnPIsHbO-x4-WnsgrIFz-WjICyVgvruvEyafvWQUq3TUaASRMuv8PKY6uxh5j6Yfvfa1FJj8eZleewSHWHd0dAeui9QxE04v92bJCZ6nIoE3WFBKPqgwKSDIU4GJc6-Uw8tqgnC0XpnKgpnKmmx1-9cYu6QftNq9DZU5hs8RlIszR-hLu2odNoYwZUN0Y8WbGihdeatERp6Tcp9jrPzGCeoF4FC120Sl7rjDN4KGMFzt5U2o7Yc6CiNZgkAVMnHNd~Gfhhkh~BcHPKrL89zqQ__&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=1742354317&Signature=Q2RGJHXYdJbUFvM7wzp4j0lQ8rDgk3Bo4hWsAceXCrRHfj0TCMwvavkfNaLkPLMTxoDDGaiWgz2HCBhQePfq7XyOtu7EBH0X5FbqyCsDfutMmBw7K9P16J-DO652RL0lUdAq4HkRW3w8jWRAtzV4Xp1QJjg7ShAEGP2AMTBUjcyzuCFc5h09HiUcF9EQQJczwC98zWto-xsWXB2HTYFowK8DbOXtyWeKIo9ytPbFj1Fim2qUOo00BwUTLh4bAiC7TDEY~CBpLVX1kHw31qiNCSZrEDPz3YIZJ6-zWFVyz0YjFTOd7AqwcEcdKbv~gICtW2X7jRyO5Cd03R4AiETaFw__&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=1742354317&Signature=UzO3flvHBmoOPsV-1RBOGXx13~bqi8z6rP29TTETM4SfaIvucdeu1-yTubw0RvkgsmImwnUkR-Qd-Lh0MPtalQzbM2-jT9EdfpzHNgxszead-zVqvXT-J5UCVEPM~xWjFwNYYu8E1C3H2Ksclzi5MW2x-890CsHMwsKulKyo0hyTjHmvtXY4rGKDUzFF0X8n7fQRh7INk0YVPQn1udZRTDiPIFnvsftBfi2Xl~~G3shWtlclhwSb5RgqZlZpyiT-Dd55rEC5VtLqDYEfnmQ6pJQlW47YUNqwgZJdtJjlqoffMC9W~hfRE-5yY-0SHd3OW1zRM-wTNf-8o-K93lSbNQ__&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=1742354317&Signature=KorFx78gm2JGkKDWfvs9z083pk2IRB1LLssoLk57RX-JfNwUNv7BjzqH~kq-Rim51nc6sf3rvzfLn0cbLNPcC42ps6bx2HoxAtFdR4rB0-yv5snoQHOcEpNizKUt9vmjNrnVxNnSp4~O~YHfJlpZKDWvRnmEmpP7ZKfzZUPsVQKHg-WKwDvHYEDgjiErZur4WA~uX0-DQ~ODJtrVWzClwNlYmLqC~4fLSCw1Tp3hqZfIPdNkiI2fkIskoFCgn2cww1b~vzxMTjtFntmWOY9HPX9vqTpWyeeo2I4GVACxr4KN~BuSdt5mekveqK0AeOg1mFdGyo49zyXc2R40hargXg__&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=1742354317&Signature=knQJpDr7qGfJWgBFSC5TJi2Fg5Bx4Q0ah8swpEftgDs7NBdwrzqp5S3rTb76AitUWThJpk6Y6syzBcjRkw1ph9cqXGaLS7mV9x4MVFglGwI9gSuIi~zYPXAvzMw6OSHGlT4iu37xpKK0Dmazs93hUDE5zV22hQNDvJ2q0hffD8gfwtJdx7RDt6XG7c-edtabohi0yQ0tbCjsIyt84jYF0NcTRlX9t-XF4RjhNjxVuIwFNPgoIOMyTgQRMzHM-qMOYcgjrDxNkm5maeCg4KJvXtcLW7dWMzdSrA4qf~E3Hbizqez6hrmX96RGRKY~RdF~WnXNzJFzAjNNQ91XR68AkQ__&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=1742354317&Signature=nihLPrl9Iqbn2RHD7V9QiE4spjowKm-S3dxD7PiFaOU4aNre113sWme5zx8RHZoH5VR7Y7Ev4bHxMDp-SZLF4-B3nvtpOvj4Vga6z6EXIvuF1qRoiybzQIpPSDy3dCA7UJDa~sl9bHer8TOYZ6e1LMbljD1l6u1h7lLuUlk1R1GMKXFgM~kSYTa42nEM7Mx6NDyuXNSJAzk1LWeLzE~5VamVqURrCIz1Mj8nO8Qing2hKLLxopcayd7BYOj5A4ryBUwLSigY6Zmic3ylkk2lcUHQNgO9Av2e~-76ykELbIDxxwolhD4FMn-nJQIcRHF7aIOyuNDHSP7DBbULdveWbg__&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=1742354317&Signature=Gs2FIrKWY9XTjFE6ABlVrbdzSHsa7zA9wpk5g5tWqiFqwNctuo306ntBHNdRxTdPTKBVB35qgA9vDjBmNh6N6MlGoqKSMKR6p92ruksjbtCpyCk-Y12X~Y-Eft0mCrtZOAJemVMdRX2~88NGWWqn9qHKJ2g46TflR8S1KHVGKoHrA1uvVPHXhygAIg-OZ2duIwBUbfbKPoQQMrtir2XfslSjHY1lkfPxyU~7ovh9wMGmP7y5rAxJsDJlUyLvSltGQOPR1hPLpDLiJzAvcvxFSHTP6TMZC1LJNWpllebDRNBloxYDlm~jypHVlbKg-kFHe4KvORiKsZ8~GhoFgfWl~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": 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=1742354317&Signature=0XlzOwAyr0lHU0s3HyjHxwPKQ0kPPjH1-pt4tvFqd88GG~ViBk5SGyKdEg1zRMloKEOLdGgfOOy21LbH4yAg9nX5RH2KvfZ-hVym1DziVGjmRh2h7DXXbxM9xp4W0k7HBzLoYYL6g2imopQONhQBEsPOKmrjtFNZzkOK7M-QJg4Aqo3jBuSm~SNnKDdKo1gHEz6FQ8~oR8tujLKF8lx635YiqxgvvD0nPX1Zbo7zeuouW3a8iietHL2Er~vHi6JtixGkaJlx-UysAS56pcaqVcYYzPpuKgAp-8E5ACCifcfHnWZOSJbE1rGL~rxLQOY4jW61OeKU3qDevEFWJOKebA__&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=1742354317&Signature=ooD40-xn0gk94-s1OLCocHQ4HuM2jDJQM-ofIwZjciAsZdWaQ7R3NQZDcRMnLK1Dq~XL8QCo~D9TJsGDP~j2q6469d8-UKziAyHTUfmD35e~510MLd5-FG~Usi4SKc5yj31uXg8QFVowM9sPNIp-AkCqpsOlTvhoonKoeXEBIXSIAiIT3MIXGtzGeDWcJHm8G9UT~FJAWGsZiRdR7JCP-U8yayhirCxnDGviglc7ZF3D1010M5cIDrre1Er1fjKGpZilm8d5vPrJce66ufnisdTqMawulsnQHe5MuSrmJT-FDNI~6L0dNj5ZSU-oDq0zVRR0fozrUAXh~I3UO7Vv8w__&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=1742354317&Signature=OkomNksFfuQ45tPiSQrXiqo-oWrPyFf2nIYJzLZtGmKfX1elFZCjXokUEuHuvBEFjwIhn1mDC30ckrduk9pdGvA0ni3SuP4~p2z2wcUOYJ5BNjOfU9MNQ2XnhLgpQvlO-S4vonL4hPDdIUpASimUULxJeJANDZCpFB4skSABKQMEJ0w1DXASgzlJwbpO3ZktGOJSKzgwuYv59gIwzpA4-fg~dvCPe1zxSZcJpd20t4xqcUc9g5aDGeR7QXJeyAUnspU0iofCBS5-IL1Tfak3Mv~8Xlz-Dv6sbrFFA116H6Z9n1J-TUCjaYF4ef6v5fkFxM10rNSoprUAdqt4vRn0gA__&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=1742354317&Signature=EaNC6qzGKTR4C6X2pDg3xGTzdCq4xfh099~SxaJLC9zy-rEcpY0PgJrnScoAVhCupDICGfZsnXHXT9ez9nimdKGiY9xPLGHD4mFUMIOOmHGzP62j8iEBYObm2gJmIDQqPUYEFm2b-LYVqDlS0F9~SA46RvzsVFAQJk9yXbC77M30J1rjkwwZfq1jsa9tqMSBW9ZC-o3o2q9XTZvJkNeqkle1wbuzqnVcwDvwUVws~Q7Lsb95exJYWBsAsdSbubHiVLxuJ2P1Z1nwgaW4GspqKrCCS9etYgEol98IQDLoqbitTBkbpjxZffz90jzB1z4c~6CNl7py6t4KaFrLxcjxZg__&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=1742354317&Signature=aSKD7LelJAB5-TgwhNvfWkVuAGCLM5rjVd8cVNNheOJtQnYIqcgpBClQH7xQiFxTkBgU23jpgGQF-NB9Xve0O8q8WXHhsS2t7pVgkPF7K8WXbhcj3pX~rBZhIbsAjNtyb0BFGjLNsjku6pqjSUUa3WHo21XNDG2WXfEJIKJt~YZQZw9~29YyaoM3OA-HDfkrYpQB5UXpZ9FQnvZFDYMK84fzhKMbHNj1fSYJyeDhzO5LUBiVcbQUY8cTzWTReKMeoesKUbeLnFlPiFJC1yyfgbKzGWBSvju2HgPuOwaqw6-8vpM00G~IDAer~5MWHzydbs6E7fJ2LXr9W7yjCd5iuA__&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=1742354317&Signature=sjqkP3c8BP-TA-XgRW3hN~OntIwPzaKZMPRW0HOdNbN86YSVl2SGBNDAe3uBRF61ecHuns4BP9ZKBTIpft02Ud9o3gbdctGBOZ405mNIFm1UUmpxz-FlnbAaKDnLZmCUM89z~XDckJGDAf7Q7CYmIKe12MxJMVB0nF~g4RdqD4qYad1StXTEKUkd3CmIIYYxI-P0xyQG6m7Rj3WqvFWu5GQBbT29rr2MzJkS65qilaF3ZS2X7KR79PaKUcFlv5rmxFLkv140jW~fIJd1zviYi2niv4Bl0nPEFkeMlNO1djvcho8EzKeCRYi0WzVsL8whMz9mBMbxUDHga8TQSHsM3g__&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=1742354317&Signature=x1j-w8EZiRRn-mR2~K90UN2i-skXdPrLgtdvmTvloCcSgTVUrleYVSTkkpE65z5ZuXQ1lrRKo7BiXTNrZIcBlMpCc2-SmIROPS2Jq9VgL7cyH6eQGkdjDEb6Ktwaujupk7uzpo-~oLxBN9B3UKgQkLlDk9TuFQv5sxDcXWHPZHBtQ~-v-84zl5JBG~kAYQlYf~avYzvqomyfvQmWtXpcOKxPIfdG4Ls6kQdBspRs-QmVJPDvohlRfjbiW24EFwk3nYBjV~GIe3x2cLcaOJ8nv06~lWJZtmduU49ySuxCgh5qv3F3MQZt84xX5H37Ti3nR5uImoePXJq7ZoP9X9DjPw__&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=1742354317&Signature=k0P8eOATfdMhlKjmG6JnWn8yVXnEy508KvR0-A8pn9ojP1bHnyHQc2I2RHCbasSheqDFEfRuMIh2ZLS8PrQc~upgZ9WOfmIMeSZy~mbceAOdKCFMOvnSQfiOD8jP3tQBsUGhnyPV5uYHugP8mytV7tTmO1adcHyFLq-yAx-yUNYkVeU-Nw6PknpmBs5gtaippDpi7YkeZrYeGDPG2FZfW5JgXLKrsxXFZ81NAI8JV9hFzs5Sb4zZMdptoL86cu3p0Mice4SfsD7~jFk5gJGIvu-1wbZ9--A51KSm-ABI~bkm7E1wpniCWAqutPaiO5SQ31FyAMuL-FDFtK~Q1EtRDQ__&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=1742354317&Signature=hCbKYBRjMxV4jxN4FRo5hXqRLSCJ7l5j-VTQotkQPujv6cUHwZhZHw4oa0aDwpQflrrMXKBUqIxRDgckW6puw~D234jdkynuWHD3sVfrIRdvHVQAZhAlgjSw16fj~NFV3X8QSqGgu7BZosAM60mZTQ~fe3ok~g1f3QTo7HAwPNoJUK3Yt9ooPWu4AQo2Br9FbXSvg6ycPoLLgQ0u5-BjkVf8Iez~Zbw7Qfjwo8Qr2ELIzvoDOjascmPkNdHB5BDTH-xuTG0KTCSxp1XizcPQnI7Q0~Zc1ekKuD3lcCrjxUXXu8r7V5alc64674K4jPIHfHe4eCgzxcLFdMCaALja4A__&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=1742354317&Signature=I52rmGAlkkmMeDES5sUvp-Wxp3mkGPb2ZND9XWdppBAuZN3iA~CkX05ZGrD7TgnaFG1apztdCTDBb8TriP4PVMmXJJ6E7~1ELrY7u~61Qq3L8czgflz5~0f-oraJKRnPoeVVlxk3BVGGLD7WWpRo5E0B5xF-DK8izLBkw4st5HmOke2mzQNtLy0q3s-~-QajB8Gjq554aI6~clmuiErxHOYZUMkBsTGFHfnEoItFD-aelbNTLNngpgJff-nuxI3gOgTf2O3rYDMLBCvqKMxXc2QDztYrZgl~SHxyORDMKF9mqlGNHwvd93DZkU6w1b-~~bDMkMsNVcv4miZdnCu6-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": 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=1742354317&Signature=F4OHmLuOg5E-FpSHYQty29kdkcoFbqDgsWu6rL0z9q5DuJFFC1~-nLa-uA~FqFBYDfgjHhhn~~xknAUTn4jS5mLRBldStpX2bg8wC3yzMSaRkdozmLJ6~XCN5244ivfP4gsNed8Yl1jeuyFQ8hero0~F1Hc5Hxe-CSvCBogb2FEK6xcgtukUFiUXxRnNCmjsgNMX4LiEbS30ByHph~4yEwQccwgO8ZruCIu7FswO80vehzFgEsHdY~LwAZAiqhT5fAnVr7TzB8rvHNT~5kUD3Nf7q3Ehiuj2knce6Drgo9eruVx478CRYCeDOiBfpoPZK37VQMcOiea0opOnimIEqw__&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=1742354317&Signature=HmGPo8NDUiCfZKyaG6odZ5~u~U1Ll90Su97ZCV9Knljezqayt3hsGMFdhnQ5KtmWnrCxFvba2H1JWEx3lIFt2cJyq5Z-CuRYBagotrOlzy5GP5008x8c4A79JkdTZSpPPcKV7wzHHCcAGbw-XMtPZCcr7PRFWsxCVewWlfxm3qXxHqUBEPMAI0KnFt8yNqX7Hzu1KE1qYxR~78JT-A6nkwesd-eLM9KnBny0tGdnkRmONNyw4vIvSF14qCpjfo6gUdceCkxRL2~4BFVF9b3JwUBgjs4p8qj-0OPIEDyvc4zuKllBSowQ51u175UVUI5zEaCtR3U29NeTJp8W9Z-onw__&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=1742354317&Signature=XKbZi1kcB~Eo2PZR2kQI7Q-sUySCnrvCcH6VhVxvjeu9fQYaNoMGgBnJEmWRpOmT2hliU8IiIW23Gesku5ZyaeXV0dTYUYupaeJIWy~1DHTmqGELVb5N2lEKjfNrZ24dyqrWHvNHzhsHU~4ecQBSBt6SkaRxxsbWRLGeCgahnPaxyHM~1oCK1xfy9ZrVud98ko7lKgs3wYgEJw-e4qFZ6Rb8jN7pPXb~Zj19NODSb~P9rep7G~btczTbDRMRQcPWI0JxIQxKxtfimmPyPfgiwzcJjENPnxQW7Y4Fxk9g~T8OiTawhWsTaPZIiu1jFqcl~Q96Phoj72Ddp8imSybWiA__&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=1742354317&Signature=LTnnfXYFgMIzCsVXM93GoMzejg2C5AxJx74k8mMy6fr9YFJJ3UIx3o4CSwNQKIJ7CI2enyKsZgqRkay5seM1rX-BTnz8X6o0yVuItpEFfdYUxWWB2HTtBMyzja9cnMy39LPsE-TDqhI0becBEbrAeee7jVpWeh-Xs0vRQ9EtbbjSuFTLtOoQ1yuSsqgKU~EfiAtbamIaYtk12MqmA10HCE2jWNTvTGJ~ur7QtJFlcUuKP90XyWpAQGJLQCduddsF~1n4fIvA7HLrBKBsJ-65freYwxagaLBM6I4mNYSh8EuhEvM7Dd8NVvGFDrQP32jrpNbtc4XpPwk4XKa9Eb4jOA__&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=1742354317&Signature=WzOCt8Q6BNpT~bnv7D-rnD18L2k0V0Ynv3J6NlxNPtT4kmJKp9xl0Hz6jaKmU7X5cC8BZIbX4P~-Imx92P-4TeuB~KyoCIOpmEuiFSiN83FKTgwniJRMOko1mS44FX0SlwTDWeiLJPyUpHncAp5vMd4CsUzsWR73xdXo0tIEqXp2nPsvDWgKuXJDxEcyrE6Jx7gUskqzV-7Cu0FENJGjD1qBkBFCxuhk4G-~1VE0~3TG4w~Jx-MXE1Ph~off5XSB4mr~1C0rUdINtn~gSBeIHwkrBatjzHTdlurUJ3xgOwGAlC5gsu13CK23k1d7h8ux3jpK6PDifkgmwWcWaqwKNA__&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=1742354317&Signature=MPfsMSUsyHjdxoYby8FvtGdahL8KcdadThuhdcX47R8hAyTUy~O-P6MnZ6bPt3cIAM5K9wiVWHDl4fMK0BXPH063Bkw-2ncujAfTeijHd4msYy9frUKsnBe5BiUdWwtPmkdNmrp3bxP337lAd65fmFS7J0CRkLMeeBzf2R5HDOpZeXCl5-S38MD52qco~ky~bfirTZ~D2-9ghKojP-Z3ilZcGLPahssX81sd1Nv~i3GAXzQq4NWJhgx6h0QjyUOsWulRXzYD6gHYPxhUfs6shDn0IEA3aVk7UGkn-g3bIIPw4GPGkrrdrRgbhzf8eZJ1bGhZPbFipQeuokPT7rrUmA__&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=1742354317&Signature=EtrZL6pVQEECDEsgTBUqI-Un9VOopUJ4Z5q12ffxmgg4Ypaj7dawffd5OpDiqolfPqBPiGsSvAK~s8hnZvUwEhCX1QWzvgC4mjXsDFaCOogI6YUvJyRBAUQid5F0enMM0cxH6bGN9EZxvlc89xT82j~4SXwv3svBGDdOlLq36-t9XbLK3mStB4C17nujwZuMPp9O6npYIMmt3jpvoqAyTPbRtvSn47iuEA5RnNQvLF5ne2JSy2JUajOm0O-21kKeSFqQpPch5yX4QDXX4p8R1ByXRd1ppp1Aou~AThkgsVxb9oDAKMBujqyHu3d~I7Lz9vojRW9JUjrcFUbiOVaibw__&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=1742354317&Signature=qYm3X~I0tl8vKH9M5-Yn4kcFc4CcR9A0CIO~tmyfpAra0zplOKoOMACTccGRhn49QdD4dG9-xIl2wWvZoC7gaN7gKPvoFsnoQhBzv0AskxTuQpTJKt4NSWBF7VSBRVrr2QRyNPDHEgbc-yuG318T64cL7~Odg58Jl5gOUNf3FkT~jnHubTtTGMT~AHKVkyIe0SCUqMrtSW9o31qVCGmpOY3dHn9xgHiNF-zRXCVZ8jdApkkt2Wd~HC6bn0oN~isr4EfKQUlSf6iHxzKPVfnPQ5ZAyyAaFYwr~FY94oDRXRz~L7pFK6-DvGIcrOCvKeb53XT6P8vMWOLTxxoaUjC6bg__&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=1742354317&Signature=tuQgPKvU3K7cHyxHNQB6Hu2FhmzRydclFNQLrbAMB4Gloo~bDr7qalEPcILMeDWh5QvWULDgaHbapdMUA1Je5SivWsxjlFtVdw8yQxqlO9DYsKyWAgDZYhv3IEEvcH29o5vPzTT9LiYt1aJjIJ09xj7ICcTuVfj85yWWual7HoABc~7PY3fJIlXDhWIw3V9z4k-PaTgbNFVSry6ALwlY3YAyaeXSKIW-3ZiTRaNvYHtB-eLn-8IuIP-1gjiIinasTFov6hn71EVYI2AIjVxxMWvbLETqfb9Cg6hW3ykzObZf~QAoM47B~52ZgaFDBhWCW22Cf71JmIg32g2m9vU-Kw__&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=1742354317&Signature=eI1MSDh5MqRJxQ5I7oYj405-mFrHzGIcLdLquhVBA1GeuRSMQw12c-wYoXMZ-MUyE5~ABBmBQcPTbkh-esvKbVrQxFLdNv5sTraxFu8NSrft-mJr41bhH~EyPaZJZwSUUuGNbKnovSD0r9GH88UxTiu5Nasw5nsdPnGyhBgHAkLixDjEpMm7fYdvi7BGxdLK7s6TtXxqMp4hTFuc~EcfmhIhBB61y7da-es0MJ418XmNfDNZS~301tOCo1miFBWfJ4~0zfKaxbDFp0PENRf4uDPQPHR8dluQtLVx0Rw2QPgJxmxHBnc2jEFqrv8yB0PKTQKyGwK8VXdTk~HzvkKhnA__&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=1742354317&Signature=sRWC07M4s~zGx4ApSljgLJkzVaWgj15uI6cBFZrsmqL3jAcu5gXXDFQu64Aty-~vCMO8IMHkxstxnhtws3NItzpvUZO2J5twY4jwIns6UVVrahdLyo7wa~roWhzzI1DTkeTZ5yQowXOIkJVFP~5DmUw~tseIbsQ4kDjlDsTyZRfGIkXf486oMzgk0bcko0G3VGrcZBcjGWcvVz0v6c3PL9uiC0QW5mkS8hfbVsBgRziqMKGf6vHqxxrgEoUEwVwYJloQq0shlykpdRmt6cm4gezrUwT~XXkHQAtf4NGlZ-ZW-M5Xe0XieyHOdijKKTUVSPQaXyDqjlG9lri6aBSe9w__&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=1742354317&Signature=cEYYvBMpO1IOR68RY2hJXeynwJ8I5GMWGUeooJplCemsfTVW-Z6smrhJxZ84sXzjT01sIu5yJ7o-pzgiKtSppbMJDlpoxzlj0TNwDy7g2nt4LsdGL3iaWwx60Xmy81DxSxNwE8~7GHYvlhBwd-B0z2NxOMQA6ix5~Cu22wVW9MD3CzG5k~1dJaI4XmLR1zcQXWtfrtStYMBbz8ye1dkMZn8u15qAAVLIPhI64wFGCgES2Ge45WQ339XtQS26sJO50Uu2wEyXV990GIkuIZGbr2a3jkfpuSWxnJRA2Qi-0ZdWsvOdrqJZnUr~ONzgBf8n8wrQUE7ILN4cNQB2zvdqgQ__&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=1742354317&Signature=iRIb2~qvgyStMt0o30oaAGBULFPjLe7T4Zj22IT4tPrwcI8Ek5uksIeg7ssoKfLmd9QW38l0rGwE6e3mo4zm-WDRdwmKlZ5kqtSwEygJpr766mL~4sH3tAX48dp~iV~BmX-V1xaTIjn-bVi8GKviKCb38rNIXIuRotSS3kx8PpreJCXGNru~nkeu7ognxtmwEXVRpi2KVyvehK7qNfuHl1ahdb~UuZTbcDWbYl9jG9VzyfBZRvURhLIxXEB28j0mS2IuwU5pHqZtdNcgp8SrRKU7kk2Oy2hICCC-YweygC3iGSQ0ZasATUMdWD~pcln05E1nXo8264RhSx76n3pa4Q__&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=1742354317&Signature=cL4FE2E28tKV3~vjr82307iGMrP-vX9ArKhzbpjLNrCn6FcpjyECc8qUQoXAYHIqZBfVxMSl1DxP9o3M200-c5sc7n41nPnPpAu1raqWcB3KyfSHYsKcSdzgRDKBpBCUIq-GgAQ-fnbgYIET1aRRQMf~gFniiYgL64M7WfrlRHfFqOwNy63AtXEDqcCVW~3zhJNt6XHC3sV0vHX9g-PNZZoixYysqK85kVSE~oULrmy5Yr8OCCNSoS2hflXPFNQJZDg6T-ImkVpVTyWHvgvhfqhw6WrSdrP~MIUtpmzJ01YTkHjaXzz2V2FaUbcvtWl1XqswJClbai-u5p0ADNiwSQ__&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=1742354317&Signature=wcTAZH22gSTpb8IlBwO4-k8OVd1E4sf4CM~mqExzwd2I~RtzhThY5~lqCNOnFd~XlFEFDYru54kKFCqXrJV62e3uXCiIdzeBeEA0szjFgeRUvgeBzudp363H9twlT5gLMGRv7yhL~pY26RXTZlj2CXj6zi6jYGigbL6-FCmmNZ~BkaPMGeVoArXZQl3p5IUyJjxYX2jiMPv6evxW-Gur0oXfVTF6AXx~-9N1u0edE086HBpQ-Rb~-wxVr9Q-1TOXAikXHtg8E-5vCJR9DiG-ZqmEykugRLms43thEmNdAI6XJqo6cWS5AL3ziJmTJo~ZZAIrwsIO~wELY84IX8U15g__&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=1742354317&Signature=WV4b~DDqMea2eSYyXGn9MFNR6OLRjvpXfnLjG-1dNV3i5ujf31-Uu~RsJrV1WWcqeEiEfMn7kF3nSETut2SlihFduMzXxRkxEeTTKNBsWAJT16vR09Mmxniz7J8JbEE32PTAaWW339REX6k~1LD5~WiFPEU5RKTaS2InTirccBjtt71ovcTbJ5~cqKkXDJfCUt7RqOUqFrOZ48DqUf12Se7Vyn4GhyQPWZRfg~1m5JX6N0~CRd~RH1HFLI8rJnQYJ~1258p5ZTM6aLfrufPzF3kBugPiWE-BE~dZYWeF6Vx7tLhYwcPwndJ0qd8JvUWNKVznXy0tMvda1U5eMCPb5A__&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=1742354317&Signature=iJtAV7OyCjvqG-K0JgcT8~FbIM3EU86lHljSnYjfSzkeF1rex6ZpaWoneOUy1AI-COO05GoPDh02Jif0hCrwsl36S8bFu5rbKl-WAWSc3I1hSqwkmsBtOLZXXV2tbrY6FpechmhUKA1ilmEb9J36YacpLISa7ctXIy0mijeJdwY1ynjhz79SyV2yAqcOcW1zvMl7dkRBv4Kn77ip58xMpjSHuoeCau-VvLxYnpN4-toog4CRGcjGKWmyB9HwMkSACRMrDPGulVhxnXWi~GiHkEn8twtetCLV~XzXEui70j-irbEltfeys7SN-nLcfubnIYcW2HnlLVj4esknQuWorw__&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=1742354317&Signature=svGLLqWneSn7NHnsirtJhjOTirsR5qn5wR9TdLi~GT9erAky826SIaj0CoTBEmkjznDQJWscZVlTxzdov~kAV0kTyIYOfZGDUuh8jCK7MDge0G7UEGj6fuSSM962jq9-6nZpTiNWOi~Xgxzh9h4QwLVDiLcuVppHWsmViFJAneMSH3FfNvWl7Spn5Ikp7xlRg8Pd5MJK14ZTngn2M1Is7dcbYwRyXJjBK1WcNPWNku0sRN3fo6TVzyBgiBc-rUvzHVddSXPuyEwSzi4rStyXOQzgqwVfCZxSiRFW7QULD7-eVFUYHQxs~mj2nwzzlimlwwaUghUFlICAsho0~G7w4A__&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=1742354317&Signature=cUzoOVuB1Y5WEInI5RmV6JQSulbDXrX3YtVmL39SY8uy4hpBecBt42T~86dTMe~DDYjx3ct0q4Y80~WwTOcwqZHBOvLoSo~W1mn0UDScl0KZ6-MKEQv0Y0YdQyhu~DsHDye7dsN9Yi30~eUG2i6k8--nphJitTRGqdtpFSVJaUYzKKPBJ1C6QVCP3c~LvG~AYab3TB6x5S7c-M6q3qSKWHUcyP3znLQIepblrj~GWjej2pQUKV~2MzCQKHSXsLYhB8L8qWVN0J3wSXYgQim6U--dTfZP4IyJt0G5xxf7lDek0frRkE9EGzfJGC7EofVgUMJTaZ-VZ1XJV8wRXxKsQg__&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=1742354317&Signature=Rq1HHqb6pKJFRuEKWf6213veCzNWoEiMQ-JT4xPe2Jr1GrltRoPqm6Zybek4toZ8XzMUJz2l4HLhshEgWYGxOvj7vSozlvEMNPPdMaMPoeZkw7y5t1uOJsHH5rW160KTtdEcG1py0sch7u8PZJCX7PC4gvgN~3RE0dRlOS-TDh-kKwHfVSHpY6jG86OAuPeAZmzKGYqVWBSUga1bGc2LUbRx4QokZASQJ9OCF~H1JPeSfp38IqzUny0J5kFrtqoJUWm-5SYEqw9VsQ2jtY6MHqGM193b4oMNMGqEF0wFpJdIxW-x7Gyj8LUyvnXQX5jDCmYVTIiq0CqssqYvC6YW6A__&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=1742354317&Signature=Zrt-n67MIVmlIXcoJN6P6IWy6MdOujQbxvWI8ZpVzGrtzyvlSVhi2UxMPRu63xDnZ~5FOUSq~FZzocK3OyPniT5k6ThIngYMauZtH8fzOaya6CCXmy7T5x7O2x1JlP0~LbBCoAp1dou4e~ZJ3TDjpbcemSEN6wIrKpD2q30m98~9DrIH7YiXwlKR01HwQjfibkBhA7~-NS-Ovc-byCNmhmfV5MO61CUNzL26Yv25SfIuuN37ii-F8F0-OwSWwIC-52r3aeG3ciiHOMnqzOB-2~38SUL0PlU02O3icpbw-w~SJPFvZlkJndkdPjnzubICLsrGHEGkBNY7VMXp8ZBENA__&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=1742354317&Signature=FWp7HQ26tmMoXyEaF370h191PInLCrZ9ja~qZNWGn3nZKR987mLFXNrNkDVMIRvufrn9~T4CLTSNTd4KEyZ6jS5MHz2gYJsSp1J0b0SfRfmZuFRxhLN4QU9KxKgb8WeWTqLnBcn4i2YNZJFbePGe-a53dFV46Qpz4PEAjb38r9PzmlWG3mFTq8KeF~bzILfD-2gOsHfUjMlblx5tCPOHyFISMP36DF0p-rN-VHN7G1BIikuSAIAKDxAJR6-X8v1oD-NWBQjv64B~qXbFnJHa~KWmp3dOW0pfQsRlIRXhUhPVRnlYjQDRjjaTIu0LbJ91wB8ilVOabzLwLf25MrEvlQ__&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=1742354317&Signature=euilU9B-W22tVhnk94wzhmkIuOmcs5R4F6-9yZhiBO6GuQWfMKJs7A9ypeW~T~yBT-5QXPr5tqrbFRlRAh8L~zAlwjfQjSxtAzG8kVPYbLsLcfHV4bjWQ950SsWPXQHY~o1b2k7EriyCgnbcNnew1613N3Z65-b6NMg5p8E3yI7VzHYZ~sqcK4q0OFbxFguZM1Jm1E-3dxZBk-fCm-Uwnjmy5CSgoFkOrMzQwo-Fkv4ZrM55EdS9H-BdkidlPbNvo0ysJUaNQdmpfu2hTN1~OgIKoRM8tuI8nTRI6lcbihVJj~YIsW5Z9AJtLQ0S0HBk4bGMAjTBk2Ovn3NrZVUEtQ__&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=1742354317&Signature=JR4BZV1X~I7p5J-Kex5kaF5e3PwtUYYtKD6NbKoAnS-azkrUYxaC4PHQ5TwOd6AbqA0b7zKslStZPSRQoGUN8Gnoov001UMwxiw4TOldda~qxiMuKuxB0qtZoxM1c-ZtDOQug7MFm6Z~E~tNUGS-4xzkKf2Fs8bXjWloO~jGpe0fIqHkO1IM4BgEHoUQtG5XkOtRXS9xzmJ5ikggEA-eXa2nXeeS8pjMlLEcoOXtujS8dVlnYW7nAC~sqW0I21XecJlZrDDrSB7VHlQ5uMV4G3Cqekz0SIgIf2E6c7NlUtT24WWgmeq~oq9r~UGi8dJawEXYrvLYVDSMwXwJz6oBXA__&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=1742354317&Signature=X4JRUwK-NUwXpqTvrj8xA7LX8mptT0ca9bkRoD4hOAlbklqSzLi0P5fxPIsgN76SoXt0S4eAHBXrNNUb~akR5gpFb3Xu7~Xgfhs3e-AtqJInBYRKuZ39Jg09TH0Him~0~H8MBdY~iWfF8LmvPDPGGT2fqh0IxIAe8FJ8yQHNyHdLcjuoARRheegycOmgNn3KEZHzWT4LWSoUQck2ST27uoToGTBC8YHzpbIWm8fIJPDIPazvoaPz~4-M8DB94Oaukl2Bkl9TrlnuwSrcqTkTBrXdoQAGfPy5ld2BP-q4tBGHHlvz7nwlshuLXDNIop4NyOKXccNMkdBQC6I2vuIRRQ__&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=1742354317&Signature=zh9-ZbrzAbKHtGRpfZY-kuHDb7qQrs3XHYixj4bOsXDW5~cXKlNpmozQuPum5IBSm87B1eLzUhU25cXgkGDDW~N5u3UPWZ5uDFvkLUMer34Wsz1VQyVrFCcn0BBHsmfPKZIcRFT2prjg~blkde2ZQo~3UXO44BFT~tOexEWGinhHRP34oeb2Geht98Z-KXEUCM-jXS5pbJI9QpFqt6CDyheo6mxUeM9SsACZwtO3fxjIGl--BeOK1D2B4n35hiNCTlrn~G7pMv30dzr0k~wn-yftFZb2T2uDftVxV6xsNS85uq8-ZKSMGUb2Tv~6l9pGH42pk7Dn1ZJ2KmfQpjb8-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": "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=1742354317&Signature=i4PCprDMBfdNYc7Iov6ssCqbS~3SQKr5C6mneHGUO22lH~8wInvk2hyRNCVomXlISo~~YpZHmYDxv9YxXafbJKKOMGBCHn4Fhz4-BGg7~vxhQwQl4kHo03-s3ABaHspb1HVIYx29ssABlV-6AvGTeQc1cg3-UC-JpEi3~jzwyb59RAcjaX-83nhOTBNUm-ZLxzHSnH7NSIkJ32jKsZYLxT0JqYZi0DnRMddpetx0sJqzBXZiNK8lnpnpfK8Axc~sO1Q4gObw39qCLktFAO510FhCzrKnsLhtD916nYi3WTC4jlmmk3E~SamhacTGhRRdoOzNsWrBF8iFGmpRRgTHXQ__&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=1742354317&Signature=NeErUQgvRfs2JNgCOna6~z1ABl1JNDFDDWQuzcEUYLIzp67oTd~HfjiIuaHIojm4f8s9QgxGaXuHmgbSecafR~XqDt0zue~SP8kb3o2INU6kp2zg3cEQynWOL1SGsw4DCFr8d-Vt8L3Oh6ct8TrbyED591lXIE7z6G~c73fRLWX2vI92P-FLK4i0k955YxyMKmfqS4LpxDja5k-6HEk7FUhRh5eVn9u2P9R392b8tE8yBtf1LlyvGGT27NICLieTIETUy~IwlRLpiN7U33pUXkeGGyd9FBp1gf-hWBKk2ExBZLtUQYBnTCrr4qXoT3xul1YYCigiI1vJQ0yETA-IeA__&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=1742354317&Signature=0CtNX8YEi3h~7bwW7VSx14plrC4MKDuqrtU2qcRzGeKLzN4VqS68lan3OqQf0cdpg4mUBl03eLx28Oso45pOtwOljRQTMaIwcxYJeQS8oqO4nkdukt2P2tQjDHsTP--mtbebpUb8tXZnewFbDGtN~SOB8P90RD59uHEtMSfSL866kW0pt~dSoQeDV0Ao4axmL~-Bo0Gq0FWXXhsnIrbAo59uh8k9xajIqKr0Xm4lJ~OIIeqQ-zykYcOVu0aBytf0l~-uY8HrdITfOy2fHn8suwKLQeAkYYJNi2kWxgyo2HC1YfAvR9XiUC-KdAa4mbRYzPzN9xbStIbHgIxRiEL0Kw__&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=1742354317&Signature=h4RJgUc207nN3OWHVfYZkxTX~QapWFtBM6qOxa2yb0gZrhJ9XZhA~44CFfgWHvEYZ7Q7f~x5oK3G0pQpqEcYeMw4kyKkmXPbdhqB4VcilbLhl88T2D2kCoXg9~POeKNaC-m-nKF6CPhyZDTixvkUcBwuCTg6tLnRPfk27Tq5~ALHY3JLvIY0Q5fm4-qU9nodJtJIydyo28vp-QW6Tuw7Ae7eZZDzwWNqdCAelgz56IobdlS3i80YUXvDHMj0bW8Wb3yWJW9jHziIlnfkEHmF6TEy9KVqZPRSZezN8Dy~UW2F8PcL8Bic-fZ66Nu43eHqTZwgZ6E13JytC6x56DhzWg__&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=1742354317&Signature=Cm3~mX8D7u4yAoqPhIsg8WPOWDCyXlhp~QZ7C~4ZR8Imcmm2el~AYaCZ5icEtB8bQoiPN80PvKC3YRezabHSoKs~rZ2H7XCsOOBsLTR8BDD1lncguggP2iPSp79aix1Zci1r~~Zdu4TEGEPwcn6O0axGtEQ~R8gQd74Lzj2pd5GzQBilULEBpTAYSHv6pGMsELu1iYwChasdd2D~dcWJBEP~uruVZrpSj~gA71b038w88d24PYBvUv94AwPIqUxhiPrOi8tYskXu8uHDDhfRwJBpsbhaY7UgbDLHi~PWpy-gfNxWm2wYXp7-Pwvtc7GZ17x-XRsPhEikKv~hTI9Y0A__&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=1742354317&Signature=j3YsO4s6mngL5OQkEIrzGQo6Xf3-WmkVcAbacrisqhe3mOD~rp18aEJ0msoDYYmbax~Q5I8WtQ-9V2sA9-ZVRYsJ7L5WpUaJi18qekdquRUOnvd1suJCUSXGzE1x9j01tVcpKB7ZdxpeqDwrJD4hk0HZJ7JUJchj8TsBi7FaEOZvp~87qoI6ywynadZE8gVDERcwCdc4w8LCvUY0ny~46ksEmBouG9G9fdOq8gnpxFQ1Iz7LWpSXa8tjvUWNMrLM7MgCF35T8cIctWGaCuzi8hWjfN-h2W0ba9EJ6OYjP1HqygK~WqkFBQnrcjpzXQcPfD~JHn~Ga-F-9G13i~unfA__&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=1742354317&Signature=m6RBxRVYu~Q~5u4pQv6EdUT-9mJkszqd1hDhvhKjhO5n8zI1EML9siWZoZx0varvuPfWbViZsT3ayKfYc-H6krrV-gZOMXiaq7SbrFHUdAC9qDiqFL3IrYHW4Osv94djGo7dSxJhVaM1U5auQzuyFikZ9Chu05OQwbbgjdVDnHIw~wn3agmOW8jpuTNAi9iRbbGA-shR6rIocvmfK71E5RWSBkt1kuTzKLvOUx2As6rHReTq1LbieFVxcQ4bqDk-c-MyoHgRyZqAXNNXjEJi33-karW9JRRUjNROm~u3lapIdMuL4m22GrtvEmim0v6fPM619kQWk7hSSqz-pawFqQ__&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=1742354317&Signature=RT6qg-Coo-CUIbzR9ewgu8ySsL4RLOxa5nyqLiVIBPvN5YedfwrcJpCvYm2vSjiuwb--yD0QfIDgj0OLVDx08BFJepfCuxistqp-BPk-CD-hrporTvZfwzTHRaLpfdt5Q~YZv2S7n6ScbaCEt2TCORMwVb2yeke~LXkxXY57uJmGVKjPAzEcTVo1T714N-fz0nV09KSiwUPwmo9YCJ9Enousafo8~zbUBRU85NM2fFX1VOvOTZa~-YrNOn7K4gB2E~P0XmEmKWp6fbJqhN3Xdliz0h21N0C08PySRlYJWrYPxWVQMCgH0jY7n0q7kLjxNX29BzeWVPRO-D4zlcP1lA__&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=1742354317&Signature=Y5tqK0JXrUn56q9Bp-XVrAvESdTYF1MLL7b~bvue8r0drnQe5aMC0iePXTE5hpDJ1MwNcYzOMWlr1cjkl8PA782yq2nCocr5bnsvOX8T6w3UrwsgmF5WXnUfKS4BdeGmAAHnzKOfTClaJKQ0PIYdLqALNqKkW1r5qorZ8btMv40swD-VYgGpUcXQBp6a~hop-emUL62nx74g5iPUshmWyl00zTIWlTJup7RdWn-A-v8APwWrhdnl7UEiOPjbWhSSM5ZwzjRB0vny0wLSnMTbi0xtmaOchdRSHERk55hbWaIKjhWGTOHhskDOHwGOv7Or5x95zpGvUDi0cYlJxAxTMA__&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=1742354317&Signature=qRJ8PxJEB8Vpynrlw1MuGACFrFze0nC7tR8zjOyMCdqsjT5WqcUeSaMQDqAWvqyhaPGtpa-MSbaev3e1sj1fMuT7FjhCSe4fY-7mCVmcubUaIJ92GRQ~3qAHoPrIOFieWXSbHxCeMX5~QnA8vZB0chdyaNUE4Ulrm2cssiKTenpI0QYHQws6VJdM6H3ki2Ht3i-ZKL2RNUfUIdWNmYV8vddjQvM2vRkt13qBgFP0e6B57exySNFiTriTacDRIudAt3HPVXP831apDC1iOhowAHGbq-R746cuyU6Pp1NJl1V1Jjk6ziWiwuREY2IbHDy6M9mnHfFxTXLwXiOUZxjBWw__&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=1742354317&Signature=gxcHDGExIJK7Z5OZI9cdGZMXvA7TSLnGYlbeAvieoJQlZMM9M406bsfoPYcN74MibrksHVgbMUPFAuKMeh0VGXjydNslYOty-uGOo2CCIkCn2NSkzQ0n3v6079Qbj0x640RveUYEt6kPAU7ha3RE55w9Ai0wccRxBFJSV5C2FYgW9Y55WYH-wwnOUGcSwrPOsQfarwM3CnmCpljlE5yNlq7IyOzK3LyA9NzVWn2~acKKOpsQvl589Bfxbp5EYC2IHCrkzFX0TT9m39SQi095UwjJYnCJm5VfgMSA-1ghTnN-dxdZIHhUsFZoOy5xs5U2qJdp5JzAParwAcREQgRekw__&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=1742354317&Signature=WBcZm8GfmBe0-C5WBDmv6F51XrpPLekCdfZKLtheVNbCxlqw-t8tMS0qooW3fnvlmjCw2v1fEWehRh5dtsIZZK3tGOfUkJOpF4rkiTCXVqKoTBp7RIeIRZhYbCRs5Il1eyiVJEkQJe9fU9h8XupS0-qUhjQ2xKUukiEty48ebvNeVovP-bZQj8vjdoy9HpnOMRAOUjExzoWQ~iAEh~FvWqckhnqA-F4LKxIoUa8qv24UvrFyDXyHQGiJyMU1VPsQeBA7pg~qlIKXEcGlGKZlyMznE3YIAMFEbuNhHRvDtwrms-Y4gcntxRwOyOuXHndZ7qLTe~JbEEeeZYqzPlYyIQ__&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=1742354317&Signature=NbVmun4mhQ1sWRx6taCrsllAryGLd5DyYOpXTXh7OPCiKbbOQkYgrPNW2LrT1IRkb8sMgREGR1hDERqSI7Wnq~8ksjfD5yhAdyIF3JLbvD-c4Ibpfv3qeQtGiWDpD7kY4WJi6gzIK5-nuVQJI87h33SFBt0qL2opUBs4oqzDX1t~d62AevOCff6Q1LQ2QOlUzdjamDhIhlqXzNiSK9iddZ4OXZP25A5uq5WmCWxJcvHo~3MQx3amiRlCbhnJlpsOXw2fqcnu9jwtwM~e1nwmd5okyvE6bjlPOooKIU~Eud0oJ5W7-gkyNhgw6tRLmSb7~s6c23xh~hRCttZpXuKVOA__&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=1742354317&Signature=vy863OP6elnPKP70boJStSlIVLaVtZCWuFKBAhLv-9LrPRA8ONAXRFL~4GA4gyzFca15oikAI5HdSOuNZ0PMpheKWuRhiYhaav2qsJXgGDxsJUSw0ywIR4ZlXwKHmy-qTJVgXZomzOsv3HrMMxFo4jHArXe-IEqIxOVUiQnWqRGWEYPDPq2utdw41I~KxoO75k8Ejx~F3BTRvlEf6MtclRQ1hXW1T~gz1SyEsMAoNRtccDDuoOwk8lyuy~GYjLl~FRXKEm-1vZaU-WGYySNcnkJ8dNuVkIVCT1HnVPsh~Q7LiZSOx9B6eVdYPTFDUQz4ecK0tNQ4zLImHFdNi8Uqqw__&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=1742354317&Signature=JN0N9Y4LPpdsuRgNdALLHXmfA3gqeAz9w1nDfW4BnzCeBtHO5vOYb30CEGVJ6FcY6pN9dDWRNJj~K9Pzlu1ZJKlT3Oi9I8ZrefMzZnSR3WCZRDOuO2La39w7QqefnOvILKs2lWLtUVA3IFSB7rt83D9xriHbZjGKsJEMx8ZBxqWpXOb4v3g9fZgoxHuCMcxZTcVmS4MOfYiPrAyH-8Tw4tA~BqPjV3FHxhkq-6EiFO2H3A5umgfRwA5u7H9EhBlGd7WhZpJ99eHK7FLKcZCmx8TPQns9hQV1oCtf6vZ~TcsVqRiI5OGzUdh6udn9DVHJ98UbAyxO4YOxRaAXIQ6CZw__&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=1742354317&Signature=mESm~FUebJCGyMZumpv8TYk9OJLP99TvL6brh2no-OBA1KLPBAE12tR4b2YQe0Vlwhm3tjFxB8RjqRdWauHuh8-1GuBeXlV1utF0DhtdvX5WDMGMuDyl3SzgUluCVHWllqrfO0rFvIoXcAaMV9tdO3q4aRZeX1Rxci0~qjy2Btr8kOC2KjF9XmMvVR4ytblRHimtivkZ9Cuz8pi3-Lk8XiqqrepmhVi4hvZ~8bnT1W0sfWbC7gbIC09XrVPXdBYcw8oKG9znyGZFIr18LAuUDl6ganQXaGOb~2qhBlMMGCmGiCVkMogHcH4ceb10a~xy066RHhTDeLbYyQRJk5FO1g__&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=1742354317&Signature=n3ELg4p-7P1Q72wcgeH~sT-6WSFDq7xBmTywTRCCL6Jo5wWUMmqw6ECRrNV-MNDhy8b17r4Mq8xH2JVULZbEk5z10yfvB~iDMVgis8dyKqYmcC8AO5hpymonfxj2ylLkuyIY0qnn~VTYnORzSxLhltWzqudOMhSP2WQlHg8yiU3YffcNOluE6NGEGaicseNLZocu52TryYtUD3Wtp6W~SbXw0mUTmkxQ5dviVRDVkxQ9jMuzbcsPI~rqCtX5NqzpECFWqoWP90Qo6b0ss9FFRPPSpn7uGLs8JLYSvgdh~MaYk3PkzE71YCmcO7juUDrKnYu4W-21HlLgw4igpOh~lQ__&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=1742354317&Signature=gTn54KB1yg-TINamCSbpOPe995QXVrrpUvy7DrPcyt3vmek0dIyrmZG5HNEgIx4kfD7vgqo2l3WU7zFkNvZo5571APPsYy3TYs6PlFQDr3JMN0e7xlZ5yz~5Dq9JJUXrVRwrY9RGLgNgOrFnCAMuCnXO8Apv6x0AhXNHr6ADI0qjHkeyiRgVkKOLmbre~cPF5jEsvlUdl2H6Fn6Mz-~rE7bCPqaa02mESYst3F~3nQjcOgd98cNb2W9vaqSRgHaNl6dvuAhedDwtrQv83eehvol-K5tMYX6mDBuqZEMmIpuHHRKWWfAZH7AwHEOeum-dIDmuec-2CsidlBxW1zfZUw__&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=1742354317&Signature=TqtRMaPH9BOiE37phLM3EQPaSQ~OoUDG7dUUhaPl9ONinsU2WWWNWYiGEqpsoVJPy3U9mm9wemLkOkt-5EiarkiMf0ZEIqjS~UuRgIgB~nwumOeeh05GuSESnVm6hDxYEXpLaGVxr-61L0AQbg~6MXqFpxhhkrt3xS3LDs8DmFPMsY36q~1Us8Cd3G5CVd4HJhjrIrzvw1pEEdTccl9PilcKQGsKUEjVsH3Om4IxCmNwaYRrnrbVS-oznddiz24isngDB7DNFcYex~HQVtqmJUoLSRVSI-7qaKeuwIFWb8lYZPHnTczzmizj7z7497AItkoTWQNiGBe559crhJ9xNw__&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=1742354317&Signature=rWSfXui83zDCQWS6RYXqPgqr-3PY043gYp2yK2hIf123TD2bFs-bCoPyGazdcLRUqJB5ald3BdvIVrEQa~-ecpniIyYgMPMblVD4Ss-3-D1-yVhTga2jBh-crOmxtwMj3RtTkWskstPKXHBYjTwKMi7Iah0ixYdxNO3920XzJQ1wHVrhhvKybs3S~xx1ytdAc2Vx-sKN7~sbUTqlwLwuXgBhHzFea5OD9QdvMYCvln4KmLEbo~jI3h0eI6EP3ouQMbD--cgDTPds-MAxt8EHwRmDJDprvXkJo7JQQYv-Bb5ekYBl0aGNAUkJ4v-qYs8aefyqP4TLEYFcvckx6oV~6w__&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=1742354317&Signature=VmL5EnTOg5ZB5WVGXZ53yzKWCN2WN2Hz-XyJCvcVmw~6qaR7G58WhNyMlTq8I8yjx09BM5y7sxYzsndebdx9G-IF5FS9T~1-3eCadQdkg881fxm1B~gVWsN9dYjcl9K4P3tE51991nvykgFz6yxlj-Obu-ExwcD41KXQu~uNGo~ZmYdWhQIadhiLR0nxwj923DXQ9u8MYb8txn~OehXwQ6vSjAn9OxjLXJZuDyQfuBgfXfcliqjnSkywc7EgMLd6BO0s6kDvLfB-Wqv11lJA8X~P8ki8K~7JOeSELx6I8wIa21a1S1KUBQzG~QX~FR5d~bX2Oc-1jWcUmduL98lDgw__&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=1742354317&Signature=Q0VG0vWA0I7FNzqZHLcf0N2DW4zNSIKUXbkQZEyX7u1JYZTAwvc2F4RAKtN1oWDYChSR49Q55mXsMFQceT9zDZzxvMS2cqpuG0Be~BDuMhY-9qE4TR79cFOp8bUCU~VlKjop34jKCdLpF6DD8VUuw5wCA2QH6CZBj6uKsvDT42doPvcmWMWgfc-jNucOJq8HY5RKqg9Ex8gs05znkS9XEeHzoUDJ1FTW2wGZqN2Aia5FhD4-mB7md5jVuHejhhvTWJZf4SFFEi-9wKl49NhhA-~d1sRdSqsF9iRFF8z9D~fesER0P6J0i26SlhWagP1IcSMECt7gpkLNSgPpRB9MUw__&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=1742354317&Signature=zWfn6ps6R8YZHHgCFS5Y7pVcojv~vXAfwSZ-fslKJ3sZxUzy92KO5AXsKzpfuYgeuCKN7MsOjlMrW9wsyXZfdkb3zCcERBgPmdaYxv9LDod1KwQHwPne-Bw4n7B9vCm1LblQFz4vttBKDDEXc7b3aFp2jxc~mKJybzrlp0wVowHMjLAe30pScLIPRFMG~NIiDsXsx3Ink-Ps0Pz5ktchX2uccplsXZjwBmDhD9zo7XRy7974JSjd9p0kJ2aGdyToOMYhU3~qUIkHpTIpKyEsNJWsJd898qyWRVAz7hifa0cmW13zkePeb~CwFgmXemqTjvoBeikmF6cLl92pyxy3QA__&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=1742354317&Signature=Es2SVim5xK6fSZsMkgPWhK9jj6HfnCJoVCiibermzH-0uop0oINhEN1rP7GikPp8Uy8fqAL211o4CFrCP4Cj64yO264xqPLm~Exd7OuLT~-6YTWwzk4kAq46Nt3VBU07z8a~EnIDGSZCu3kUYK7FCO4AotUeF6GKoBnDBHq9deGRp~8EfVWwYQSqmbrOLmraqs81jkk8WuFH7V4OrwIquUbx~kxTkQx8nSpvUK9ciCx0h4T7JAw7EYINZsFL3hNcSckBASv87j5OCd9KgxDcgpK8bB-bGSBDXj3q0oZcTqBh869ALZaXS4IQUlTX-yag2Naq7bGKcBO1zMi-ldwctw__&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=1742354317&Signature=KrHfl~r9N8Q0LKt6SeaxZPGzzW0mGyrdPn4jTApDBMXbEvl7raWKBhbuZbzWvWNwTcSCfRzz2gr3~JPdjFgNWqZx80rRMPxLuCj-xFQ1Unai1iTFDBLhLmCyHzreYjBGCyQld3CK9jCr8-MifwXecrUL1PUPifZ-Pm1nlMqIKS2nEByy2~rGfZ-MjuRY8gIWyJwJBXj3tOT6LctYYmsGgsT3PeMLAe-KbLAmA4PDoYLvMtMZTI~iXKIL4CLQ7mGQTnThIo1DeQBWPvMCuqvrDoWhtME9WLsmweMxrOvUsixqNCsTHR2JH3Z12XTB76Lmu4ZUjCTnIWqOqp2Hra9N~Q__&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=1742354317&Signature=WkqEFNRVEcigaBfvLYvztBNwqVn34cCygomBWIMmIdHggMdBTgMmLS3HRl8PGecLLXfrXjKWU2fQ2gbcuCrixUr4hKN-DRTLXO4HgHz5GRot4wF8CTuuOWvyOADj74m6G5qy6x2~0W9ZpsIiDoDRx9rbfU~J~Afn~I-gv9Wrr24io9ObzIJ95QA9vE-CbpARq1Yyq5rP94QAR6dW5ptXxKlgSJfmVXT8oJ~qmJMouhIJR4aL-Kk3R1uUCleAVdkl0bRN8PGW~XB9k-roKxjK4qpglYv5PYF6PfPma04xjb1HIgvZ47cINRiWTl6TGiFj1uM5jMDWiJ2jMglzmkchPw__&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=1742354317&Signature=sLFTU3Pjt0OauBbL6MQMG2CttFuUr7Lc5w9XVF0iIzT-FTRITgEbpJogv2SOjcFt4ztFN0TT-tj~i1323MqnkjEZaD1GrsJRXVh6lgaPSwt8YRNs~0ZFtoybEhef~Ktjqa3ptRzw8b5IEsIBgAzT~IrblbdSqAX87KEqSlvzKvE8bPREqj4Px9hN1BbGy9f3iCPa7mv0CddGds-rhtt1EI6LHHq0gxIvP4JW7rLl2dint6S2zmJmmEfl8k-X522LvB08NBzi-1GPZXC6JbJOmqi9hS3e79ZqfjEk2xAbetJdFAuqTA9x~yuz--YjIwoRSRpcQtr~psQJmazRfEeT5w__&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=1742354317&Signature=bZQTyuiFzh7JkaVSGTGfv2UiuEl-VS0vzDNEsM4tOYpa84FaWpOox0UIRG7SWFCRRJKyqCWkLmxgctAHKXN22BqFRLsDfQoJiz-at-MbvmxVFQh4XNsvQWAdzYWGaM0pGUQCJm4LUEUm54aBb3Sx4HLvarb1-1~GUeszQlqWNvY52Q6otlpI24479-pbUn8cOe8tlh5XGSDsE2ZS1e74Z8WBlzsO6FeuIGuokCNcrfH~743djCVeQElBdkgHJEzDQKyFAIz2LMwczHnZ4hYbdweGex-sOP-Ay1Ygr5P4bfFuZTL2V1LHIVjIXcSaXYvb0A7214nCqfk-98SK5tvxwg__&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=1742354317&Signature=EoPS0dga~M-qs6nNNaoGn5~ztdyLZ2A1D6QRZmeBvy~pd8IxCXCeQVTLod8it6mt~ClZ25RHZyzPE73ntz5AsxMDUi7Iel1flh4L610nmVN4eUb~JlQaq03tvnDsrM3g0IOB-ZdbEJry4JVHyCRga0Etoaco4~MDrtS3gbZ~1Zb4YC1xQwcq5C4BjZ1gZ15ZmmmR98~c6GzJI9jHkcci-5-cWu95HbwTMa3rbw18SBv647~Lof0YbNBIki0Yjrdee40Na4Pi2-oI1iYrTbTxyB-bYAYBZiwJfVxVjYC~eJYTjwGNkQPbw1dM9bGbN3uJXmQsHIliU1rJF7sQ0nHBKw__&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=1742354317&Signature=yRt-SDrJcwWO2MWltO~tsNtBjA23QDLKspnVqhzMYVdL2gxISuLD29uFZ783gltL6ySO1DpcP6xgR4UkKQkH12sgd~ojO8~11UprSMWn24XW9LfG~5sLEzRp6j3Dx8ZI-yzhTCGXXbjGsUSzMu7GXR6QHbY6cKIlle5yikqG2jHdGVusCk48NmXyMzaHlbxKDcSYViuwhZiQWtpBqzdE1A4uf4ZrhtmLCz9oMEo8-E3QRcJdwd7VVHK8TF2qpSDVDRZfl6Cl2M6DHwEZNtjiBVS3dJ5E3S-6JgEfJge8a4iaZqX2nUazkOWZmgfcG6eQNwHq~ysWMfht~UgYu9lBjQ__&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=1742354317&Signature=HyHRngtasrNnJ-0p9VQxLe0IqTeHourxlTZTArJwVL1duRc7g0mcsNjEpqqbfJmIOHF~cBA~iF9HoBK4eNyJ8CK8xdHIXqRRr~o5Z8jLHeLkLs1JEF342bUZbmlqzlgiwyI2PV8gxfq5XsPHOVS0Un167T3VRJQvOAfcEj0EhOxJVxqLOmFrNvOvaLu5bnvBIoigRhTnnJT1E7uWJNSzleZHKCkqt7N2O~Vehi6SdRSZsX5s~sBtqO4v4t5JgOyRwT6fAb2SriQJG1K~BJdLP00ynk-U5k73U6g8CcUH1rxoLHMWxPdPdb7jK9noVrPxQMK1jrQ0RWv0bC-08wnlAA__&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=1742354317&Signature=toxZeS-ALQSOmjBtWgxG0LYdq6Nz~FPBhofb9amA8cGfV6TqCeUQfPvPWspI0tHxDebwajBK4p18plurRtDFkiTnJjMZ7SIaArI887rlj-qTPm6-TJVxvXzmqMs4nZfOuv9r-AetbF833QbszHY1aT35IoOK3Ygu4n4muNHXSZV2MrFNKfPZMC8jwGfcDbzuK41GP3-95pL5gLka6~ZWLS9LIhSkmk6pLNKZcjCSMbR3GQSpvz3SdHZ4qvpFxYk8dTQt82YCcXuHd7B784toYQiZ4Sxm9wR5P4Nu7UUcMMbvw4mxXYMmE55M~BKe5jUQKS0Mi2vcfLV9SnvSWhdSUw__&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=1742354317&Signature=U-E84mbHJwxbbl2nnmrX5mkZgzpdFOvrVnQz86tl8A7gT9KVSsn8sq2XYn71RfhVxSnLKCu~x-Y6ceBWQ4QZyW2N5xIKuqkrWBCtnZMJv0IECKMfNmC44c2lSh~RPOBy8c9T2AIXdVRrThwZ4vampCggNtJWLefR3eVoz4V~ZPPF1QwtrRXHNcTPVRk~u9cIbuXn51u9C7ecuPMcqWStyP0GOm8rVVdJUrlV36hKa3lseOysqf7gc2sCtLulshMDHcyFhQrTo-rTJPlj5Wn9iNFYNkgrXLqOEK6jWJEajirQ-F4u2K-Cmq-h6vLHBG~rv5HadppZmNftKQua-O6jGQ__&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=1742354317&Signature=R3Fak11arIfT63Rr17t9dKo2uvntoFdc0MEpvGCyP9AgfZVhlbR8QITSqJGou0soGZT2R1nLnc6t7Lrsv~6nQd2zMyWq6L3Ca2QU2uyDSVAds3LmCO9s7VVkWScnI31ZtAoiVmYqU2PftGlbsBmSmqKveg4GCymlG7ctRf5qIBTCiDkcnjeAAveiCBajk5Xi7c9IBcgn1Y6oAdP2tOvYesfp5dhQW8yNPsdNVHPQcm4PRPHceCMGlX2YT3xca1Df2TXgrtI2lhiQJybe2CxPDgvWZPILYoUw0WLBbUxhgNZrLtMYRX8JCdZlUXSzHq-beWIuMt8llYTakqzW2TgC8w__&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=1742354317&Signature=mEqSa1vPxBU6-Ub3HoweFHYxUShxeObJinRp6EvNGgrNTWJOgn5X33wZ1KnwgLK-T3s~rhflVE2vzKJs5n2qqLquJepRWyHLj2McYaTs1~4~gm5qxKR6WkgEvKSFnEZtQCHlGSg~b-6BXzpXdUeKJEgVhHfZf89kdEWWDaurox3UFGuSfz4pH1CggJJKjG-NiEH2BKbtxSxR5VNHnHNueCK72IEdtL0s2X0B~Dmi2VGcndVNlvFzPKkZbNtQu8yYt7fr~WDOlInNp7ziLsahhiHMcqLMG6yRfxfK5EZ904IHiwlNszdwbqgBiiyQdHOo-QSbMvYGPLrcOgMqtZ3B9g__&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=1742354317&Signature=CWzduevYpBYtjlaKcKPfjcCj65k1m3fR32N0hqTX55oUTJ97Nih2WI3WsM5Vg-ekSivHNEVlns1v1dqKVzeXDxXV2aG9WztXPeOynPMOayreq-YjlorqZuWLVFvsIs-BK7dxuFjdUtCNC2eCCjddHbWkjML1O9~VVDPCuyPCu5-jw7Oxel~zwMTrTozPWMltzGokt1NKFH3iptBkiasXijVhVYLhcAhJaZjOjlOWWW0f8vmlClYOLNxbNLD1Trt3QzM48ug7lKWaz5unDG6o5dDSec15NLf1F~9kSNKuN1d6n9RTFmmVNd0UUHrAFuHgF6gYy7hxFAox4u9EOu2w-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": "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=1742354317&Signature=pqj1ztxwhBKD-HJsl2Nzu9m2k6OAJgL8dSKgT7DGeolQDhikAFDwoFtHpGg6vrPMgvhSnWHAhrljRRzFEedZ~rZjZWdLMRpIPIc2HZB3~HJjh1pLGGXgCG24IQzhI~QBgSjGyWVgpL8JF2TzL4LYaaaJ6CzvitjQGHhvc~UzjnKhS6se4YcqWoZBCDbYMJ6AXpXc3rRaJpysD2pRZM7XqUiSXcYM7ffRh56fT9YOde3AE2gY3lmcQdB-ckYAgxAadxcpQXbx67Hjqh-Safp7m9PYrmvxZUZE544t~A5FKe7wVt0Vib-K~DtGe2iAz6Jn3-jMvPtBCp82FjGDNWp2Ug__&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=1742354317&Signature=j4JjA~3KBinM7tz4~f4WPgqNQEP6wObg0RyALBLm9ZWwVBVoaq-mgzhL2FL1VjsD~p2mshNRpJham2jW3z91CnxUdGdPXC2O3tutHcnT6-GNefXMmoqrz8qE3tjw7f4UatLJxKeAfE~eQ2ChXGiEAPxaDQe1jqrg8fXhXGIZ0rpqltoPOqq3nL4VtEmPzv0gIwB4Sdh-wfClWJlQWrBORZY2AGsKmkjahMFN3nZ0YyzMlJZaBcfbudutZO64PX~PvxuaYuD2umV9w0LHPOt-UmMai7YBHTyi3eoR09M4DdYVG4D9Q6qho7EyV-oJe2oQzZyrW1NjqgLdMgA4SNoLrw__&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=1742354317&Signature=raLclt2CXXTU~HnHiTWs2IeeJTsoBQGuUriCE9TlY-6wZBfV1YfqSf4xyI8qZl2AN68akfrFJrotp4D91bO9s47zzTuuRte3s48yO-h91Oe9I17yqWlfSJ8HoPhCuOqslQ6YYYRibHSpU64Hh0aBClZbBKm1MhlPLStCvyXSpdub6AhqiDBzJBBYPva8enxWckWOkkfbe1Cc44HKE1QSXtq8ECNv8mM60HeqM2ZO2h6cRqt50S4dHOhaLXGPZz2UyAfQ7ZciZoM2TGNN6YumkISGQeWE-ed5HZDkhEJw0z8eG8NWpZ4yRggKCZdMuZIDJBPaXyMHMnRA0IXyvVBGVQ__&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=1742354317&Signature=TinGKBXK10gtVGfKux7Jcvx9S0z2CB7OYU0-vQMv3dePZ8yKmDHuFCiO2f7kuQR7yE8bqqB5DSspGCYijK9XOBkdvJEDekqDCUA2D5V7f4jPE-9B58Lhzw2KXtm-m4HOc-lrXDb~8u3XylpT4NFlOVigX1utMElmAXdGtY0KqqG3ApMCvdHbbBE~rvnnpqmpZOrKKtIWd6mQnQOpb8aG4P0wsDl68Id95I3bkg8h3E5edYpY7uiZRg1~FkJlf5fm-FyUVwSV3mAZW4MVA0hMJmaGTYl0ChF856F~0aDvl4-~u80T7QTOTFMRCMjYCZdLKbPILUay9hb2QSlywwYNRg__&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=1742354317&Signature=VsWhNrJqlRGv9gbRp0WN33LubMaN8TUhgh1S3~40uzlMzmarAjDy~Fpcf5toX-6d9H7-KlrWjDK3UP7f4eBKiMuaLapM0BFDYi8Q-43ifmQ9im-gEbqEfG-UhjTYpXHTziqEn8psQW4tdiTkmbAk8Y2CtdJqDoomgGef-pX9Vl0x3DY2TyKbb2lHHQ8xknzaVD3JDmIXqRcDZsqQQJrjDUlMbe4BqZlO-payvFRzaEGLXU6Q44ddJg291aX7R98Ia6mB1NbELxTQNn~PkFJVRxMbE1ukhiBeBHN08Dqh7eXMgT0dSm5wbGTBzMyVU-VvCZRMowe8YCcIbJGvtM5uFA__&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=1742354317&Signature=w5SN4HD-sQE1kG2uQY0ZNS1VwiRjrfRfP3XmBDfIXIEVzQtrwwS0m7FDZt4OGFqmPJEC~4AxmBNrihggLKkYnL5eiJjNQeyN6sVGGs0cozzfWhcInpB6686D3FYgPV1JYm6kAfw6isA-UJcdvPWDOMh9BdFnbiXva13dx9bqKOVAXvlnXDSCWsICqjO8Ivvh~TigRdS6NaKYzoGmTC7urBmQSb~vYsOn96hnIc4t90XlVxDkO4J2JgDdam~75QYcVzxaUCZN3UhjYKfalTNDEs6ktcVJm3kP-wrWRqDdJc5gtWB-0F8YVAn9~8n6Q618nH2~hudSVe-~myRRPbJVvA__&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=1742354317&Signature=bond9hCngicOOsHGCKqq3U1zaPipU5yFYA9AjiElshqx8NX5yc5zZRQWWQTTFf7iU5XgHy6Tb43fYcnIXcMffqQPuHwxyUkbieV7G2TSvK5bZctJB3Qd07NibWqZK7qn1PBc5axdvCmAJtb5LAuzEOaw1xmjopdfBGNUGmB-lrhRD0XUeAr4gc0uDndIlCB2Z3OIb1YF8qHpryi9msvQgvLTcrCYCe1RpOQEVmLBxeRgi0BKPaUKRWqzPgIr2D5nwFmbfBu9o-gmZlpiK2wHiZTgQLq3TQKRsForkr4n~gZa5~T2A28uisg329omEg9QSLOhpWqyoVOhI5wDOxNxsQ__&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=1742354317&Signature=HpieC0EsbFwbmj58kP1cc3nrNdzv3V793w9-c9mgDTpAoOKMsT9Pwqh-ULhxrtdhDkaDrsxitiswDEeKL9gkvY7HQDwyOSxsjXKXzyZo3arvPiIsfbTWS~uW2g5-nwfwTiKYO3GHQdurb6VDafrUbiSuRF8KqOczYWbhcRFe3BBpBlRQBTj~fOhJnFVKGmpXPpF9JVwkOTsax20T3n2-UTuXKAixk-PyFbN4N6gqXIvQbT0MyNW4TdUU4AcEHIIjEYbjmrhUsZpQPFoXKvM5x2Y-bYeZLiyaCVW~iswOzXmdDMJ4Y5rsB1Vbk1ehpM~57TYUQLhtOuoSKj8XJtFxeA__&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=1742354317&Signature=RFaY4eAIhSt7iaEkjGsCC9nx6-hyiVUgKieS4~1MW57Z7RTNRVkcaS9ej6NvNoy9jFBF0OewrkoJjY9KtqJTeSUyjsT7PrSREiUaynt-02YXhob5BtyYNseSbBPyP3rsMU2qC8gqS6~bBoq6bxd-KX~cICnpk7PSNy71D2WUXVylSDjnEi8MEhuzKzOUsGNjRr0N0QpkV9ARXDUAeIcIln7xjtMnAKLGQFT4HdhCjoMvk8KUxIGMeOqVvWzLOGIGyzMeCB6IWLdQS6cBYg7WyBrcg09NUEHn1Mu5bi-PyZQKQ7htr-4eBVthuNn0joHNyVkpzFH0jFYrPxTOea0qpg__&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=1742354317&Signature=Vgu2XCXz8ZddXaG4ywCUXJCOgHmEz2y2CLfSWFC9Bff3HgQtpbBmukrbY5sT1gd6biFgzcr~1QWrl0cRAeLotD1Y2fLNFoQ6JhtwrjQh5Xq0pbrWFQj9r~3HSFlsT7FLyATrijwD~ezhm4xLQwOOzlWRaJbPI4e9ctnoph4phhf58Uz2hFObAsG7D6B7IUNDPuYg4xnvXhzlgDtNrquvdF~bJX~q0iMzorZCbb1VZBcOGQ7Dvevcc2dX~~SsclvIaSuTbfyXrjk-3XpMrP~p4gV0lv8YEm8FSqEfCzdMnT-14nrcT840FBFtKZYffpLxrqGtUYNvabH8pdmjGeUocA__&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=1742354317&Signature=GBGDziLC1fVADzXotYImakJA88KMV9P9ZBtZTYHiANQRJow39zmYjANxozClTXc2SmaaE5ZjIwxhQZisggO9po-uyPGrD1PJxYhx4iXjQTeNW1TKjAeyikU4hzIEF38evYEzXDl0NPltXwUHujoJ7Uynt9AuURm0fjnJlBO9xc~gjr-ZNRKIvG~6x-0n4hJ1SlUkBx6n1dPqFFlqgVm7p1i6DeHp8sLS1cn1gRqb93sH85cgcGytNUlis6210EqccC14pjmGog5ZP7Bmeljxm5KDGMhk~mNW-OALNVn2t6QL7jdHVXDhzpelRkiHhSqVkwxCN3pfXKWtH4igRAhn1A__&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=1742354317&Signature=R-a7vmh7GKhyx42Hwix9nlKccIcmkfWKUnctdEF9NVKiucyGsA0QYjP-N8kd7LF~N3EtCudlHyZxyMxQkVCs8fSjOmKBxj5ERnU9IaO-nzNKW1mhE60dW9vvSz2sstnhrZDsw7-YfRztKs07l7yt7FDXMnittWk2QScaVP7jsOdzz1taeHM1cyW~AwEMrBxREJFKkQfjbRGrR77Wnld0S~Qu09BDX~GbJLSWzS4VMiTXChrZrffQDLBlSzlEzrp~FhDCX1CHyDe8gh2joVYuIahHbo7jQRu879cG5ziJyXSi4f1BVUrTVwBt9xiOMbXdAndZ8-sq03SsCQDXRB-Hpg__&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=1742354317&Signature=BSqv8fY1xthw3kaeNvY~XH7hdDBY8SYvSktzj1xuq5rmHXEfat9NvEOr3EpK0~N9NktFJCm7jeXetkOeuy2PCRqG~XhFxKdXI-b0M9G-U8TnxBNM4zYfBFkYEghjXO5Rq2std8hHUOanW2J-GZQ~n1Xs6ghRKlEl0ywAW8POHzxVkbnktNE9b-IazsoA3foldyUiw2eDk~BHWS0SbsT2TmGUNCRMgOnq4P9LVgct~BqY2UPNP5~jh0~evN-OMTx-me1qXg004b0D15vgM0SGLKJeaWKVSgV4FueFj1MWm5xHWNgac8MJT4NksYE9dj1PfHDqz3EI8PxJCxE~httyFw__&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=1742354317&Signature=T4-4AmXXVTLVhw8v4wKNDzTzS5Lw7G--kmxATqumHTeqyUT6udInczkqirRoBM7cMenrp2qh2ZahK5OJNfxrvmz~w6Q-Az64VbzWUEdPh~8KcA5C5vY5Z3OjzwAhIbF9Pv2NJSlM0ZayJlCtMKrbT3nCzRX6RiWQeAYAtm0ONKp9uSAZNrRWXtfoKFZsQvI9Ibu7xzj-OGaZUHfr3aL-ZZpoSsGGKWzvZDvKvQraSHYPMTgbMVgVyNrtp1XmGeB0YKXgNct2X2edS~3mbpVtMtsS~ItkiBq4HHz7-PZkv9BxwfWKRtcv50~AshdswYPIsTdIs48qfCxRTQc2ug6SbA__&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=1742354317&Signature=pelQfYeFi-Q5Okqd8kEI58st60xR2crTIiIJl3FrZQrbw8~2Qy1UZfJTa4KaMJUweoVi643asOOWwlMp5VPVMnBf~fj-RCwqCHTqCdrbz9tA1pkwnUS~tzeVJMGxdJJ26bXq4hrPrtCe8rkobuCp1YiSooNyVe9XVUJSMeKxhExHPltGe4OCb7grqbs6P0w4aX5AUdUHfurvbZtugbB5mSn~sD~F5a6ad4CEEiFkIyYu1jzypTcOgmfxs9PShYO8TytTGV~kQuuDr8BMSg0ErFqsxqaD4vnqTRp3C6mVRnSTqNImZ~q0T3XUB7PMLOHRaBu2hqEeTCnHZiozkkA5NA__&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=1742354317&Signature=x5ses8jT-q~UEJ4nJdV6YJdRUkFU1QccB~3WOHQLDNJy~~uDvfANaaH9SHWIzeS9i1U02dHJd~sRPjzKfknHO9caXFgLyjb8WT26MwyZpjheHP3N5B0pS1mO8rCFV5qQzh1JHlxNfQa3V5fI6kZukYiT6JT~Xl804nPy6Y6QwhG0UYjmRoW4yh3R5CrOIVCNDyl9XuJeSwKIcM9ZEv3LVwdGluqPXSHy~Ep7QlQjNRyKVkQk~AZp7v4-bgxi~R5b4ycXEmsXhJtmXxkNm6PzX8smbGDp70V6RwHAsPL5sTOjhVj2vsPluXHS92vl4DbWW136qI0GiD6Ia11NxFvqyg__&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=1742354317&Signature=haoKtvAVVhtb3JU7TkLKX4UWzt5PgdBpZejWcAsmz~2r32iRNn-UZwnfOu4FKy~caNtg0ebioNyCBKmEIElE4yB8KGpYreUQIFq5Xnl1Zvjhi38SMu0FuQy8g9ypQFNFwJLAsvVgjZd7LBFYB2oRw1LBxht40IjNgKAzkSmwHzVFYs45qWNl62K2cT2BiQ9LMu5tUQWHWBxPUtbz3kTW7Nh~vj9srr9ic72bVfShoFdAEnnEhTz1LntK7Dkc2n5ILYLp4Bre6TwC~jGnw0ufufUlxg0jFzDKlRXeW24R2rLVNX-yuOvE2BPLpRaSUS9Fl-1F6RkQly2Yj~PclpNj-g__&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=1742354317&Signature=Pagx783IibrV4cO3HJPuOGrl4Ulu3ttR6o5LWKrJyRo1N3uMWFvR1fwBduptxhMmaLsMl4l4ktjDsEJboaXwB4pQpYQsstfKbtGn8PJ1M9xd1AtACmPE8kX56BV2MLe7mPcyPxo4p2eXYGJRxrqqgGx0BD62wRKoQPNBfpQhz2Rc-38sBz3pRfUY2Cmi2Zm2bEdGPN0A-ZVS-sgW-s7JP8AZmE5ACqPxJEShSsWhVTjAqQqeTAKubdbVNKYTlwFZrLtRoizHSs52mHOUxurPvL80ZsxGpcXyXCM-tuSUIzDm07Jg7-SsrqHVNG9pekH1uSzb-uBfyVtkkT8GvEqdCQ__&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=1742354317&Signature=BVSECV51JB3TRDRg0rz1bvvMVrlHGG3~snrsr9lO60gq0NOoT8PYsxZZj0LrVUoOQze4IR11ftuUZHbh1QVO-QLxZdys2KJ4-0IG7d2nGFgzaothdFRQLECLXXhimoNHPqE70~wDW1PPLFSu0qpFCELU1RxFSCFmhON7iAi4O~OLbsWfrU8ZAPbD5cXT48qjMf4CiQ8goLaPNkzFUIc8-oTdM4rZAlIOy7TeK0P1rD~mHncZojLWMviSpyF5At~FbmgbSQ4BrGjokMtlauXLVOhV7gzxV-GaekiAd1M1L5kjeBuFKUP2InWJ35mhoQcvHZYPDilmlvdnflgOaamCzQ__&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=1742354317&Signature=zNT7Sl5RTBiEktNK~8g8EiAyrDDoIW0FUvXSU8cqSM~agZDuTkkal3FAflkbR~taYTZGe71DPtupkLDquKwBUNiFT8zN0sQ8vCyb1hZ~~XlvEGesL~2xaPt-Fc3sHA2keLDNsXLEm1N-ROdd1BAAVOqCjy39-yUjytwpLbuxErQXJoGCmof9srk6h8hlbi5~vr4tWiTH6sPcbauIfXqqDsKpSa4Sz3brpdVpYPL6n0NfSwKqGfKhh3ds-IuRYo5-bWDonVRi2P0QkPzIIaVPVX1ldQt-vzW04ui15KcVXvvQpWH3LQvSvDABJ9xGR66kZUUGaUTDVBaZXQO9hj9UGw__&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=1742354317&Signature=i91GGc7Qn9PcyMO-ApRlp9T9SP5bzLZKJfW6pDZtWqkZo6y-gj9nGR3MndUstcxTvUTt3gDmc1~AQp9H31cSmievFssu0YSenGbNOTUsIRY7KgsMDF1v3vYZpVF30po7JqzA-SdFVCmcElInjcv1QWswqgGRCTNi7NyJ0vx9Ud6l4181xA2B66vEvAXpn~e9j221c0L~GtxRMeAVT-i~S7Da9Qa~1nE-E1abprRLQCL9nLA1glBYK3wlBB7Eo7cwvT6rsz5Iemr6oNBN6zPt-nF4rTidetWkiz37XWNMpzH4bUoMy08XGmaTNyvs5ukrEAyT9xO1QXS865neA-yKPw__&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=1742354317&Signature=MbdNrjPwffu3u5l3E1aC4WL4xgDLYzfficKFFsiaFsse19Ut-nBpI3NTDkcde-Es67lKcNH7ZOIRIUBSIbWnJb4dKVdAsOFc0Eld0FaqMkZL~1naD6H6By03cUNf~7dPvicEhZ9mgRC876nLEYSwWXKZgkTXvB3A~PR-C~9wUuEd2Iu1pAs0~wcdT5MWvkeUV1YLrNFIcAyLXMYOqn~kUG6TJEewK3da9ziXd6eUcfg3x6Q6-dH1LUFbcSJsRmjCxYK3GcKgOHNXadbQSGtxoJzvlcARIMmkJLeQDD9wXJ72uRZV5R5MmdPiNuhaoRb1JC9aYVF-gT76Ihq9q1cL9A__&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=1742354317&Signature=KTAWQ2uo8XFXO91gWsX52a6K9ueLHW7vgXTklAm25LcLuPguejv~NWPp~qOs~hEODVnqKA4bmp2fqe1gXqyojgKPFLrLLQ0Pq3eSbTVEXO6wjfJI3eeTAOsmqwPqS-p3F2lKIIK~5ZLCJ0VqG4stt7AcEbCoOfqL5MlvFNKdps~HCsw3LekPEddOcDMwo8nhFmEZ8qU4pd05J1Fh5XfTMX1XAxiDUVPhvmyWNhcd6rPkDw190~Z8j9Eus1RXygEuTy~7VrAz9yDcs6-Gklcbw6jVwJo2TMp0IxyQ4AydmMlaoAxS~b~UFHzPILe9~BAoVTFe8Fmn0o86GHC3jBKfMA__&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=1742354317&Signature=YjW6Ci9bQBVjYZQSlj5YvK3WOMte88Y9VlYgjCoGGHzllbieigm3ytf94lCUY2AKigVGsTw-j9-yvC3F2smhMuA7if1n6Xw6xUtHMvPhHK5CwTZHnGMZGbMhHVClvoaIuuPM5Cc~avG4HU8yZa4FKnMeWM06FXNToJrBfAA26wzTD0xdWL2HtAHP6pxuGUKJFKamfMDwB7hRh~JN3r6A9SwPIAvEbw77nBt-3-1Q-rdGtDJ04ck6fz~ckXERb~riOXccn4l9RuTMqg-v9qDfjLvjBqaMwQhUC6rd0dyeOZH~XD9E5MqNW3TSHuOElikzicSeMzsIkVyLOLIyz8hefw__&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=1742354317&Signature=no1pk2~1OKTpvhMzdQmDR3fMwO~WAUPOY9qd6Wz5KiqKwik~5b3~n3qntAWoQh0NxPsU0prTbY-UVr2chDuvtK15xcraSg-vxN1mrcClerPyQsP99oEPnf9jD5De5NyI5lZqibyh9Dj-pnrZ6mjwsftyf20TU4AZHfP3EBtJx0ddTELEJivXqXqTnV66qPOIp56vdhkg0yYQw2MveAiUmIdSUsCtpRiHRG~n1xKXdq95AF3VjsFELuOFe~GjJFyOI3vzWcE68bZCpO1WtMktwYpsS99VLy2SDbsJCbLIcQiuGKS06Oeo8YeDHftZW9xtH0g7PG1aOToVQzYkUMN9uw__&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=1742354317&Signature=TOq-8mnDb2sphj4GHZxFImG0izT5-YVUdJJHsfIOC5sXzWmi1Xn89RG99MapzZNfXErjIE51RnFJuvx43mCrNQlFMEEdOyNy~knCs7IdEsCDi8rPefMTaYakND-Qcvlip0eM5O3oxPIu-7ED819CweFCW3ayjPFORaQmPJU1g9Dj4jWAdPwLFI6tpe~GIzVITIPbKiJ52dUTR~5I1sHuFWSF5TwXDZxdleJOUgc9T0gTbTRbag4TkaYfhWz3GpYalY9FRuuj79N4I8k~Lr6eBKryfACaKqUnW-dGJILnaZJ4iF~fhG52RgnCDdIkmrLIViK-g~dEqE64FPi7PO0htw__&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=1742354317&Signature=o2PtVpu75HYdBJifTG9~PamBuzCEou1EqF2DUY0OHkyyqisXjsInUlKgIkCm9cGpPd0Ecq6nS3j6hLDyNYH5mJZlTNv08G6h84KDA1SoJJZRQe1NZnkxtvshzDbAAjmIt61XLZCaERQbRSEUw6Zh~nnfMgCF9r01-dAQSv~y8ux9wvYnYSw-c245dEuWNU4Jt7-6zDCCMHExd-PYVNiXtZ4zklTpcJDBuwjguxdZd0Tuf9OSJ7kDGfR5ybRe3DLPwRbp~YipFfHmjyK7mbgjihwNqH~IL-4S0gAZbZrWtp1nVpCxMdFM5wEgFZRmWo6ocWa6zZXOoj201Sz6yjap4Q__&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=1742354317&Signature=x1U~VmeqxaV9FqCaR-bsS7ePuMZ462jLzEJfSujZToH6XBT9LMaUEnhZw2sII~L05xfOgjo0LY2Dz-vc~p3L4U4RQgP9Vex9rAMM1R37foqRGjV8WIryOK-5AgUu4m2VG8Q~UtD9DLAQLYWDCYCSvXrpIzl04ecf6CKdomIv9qZ3c-q0ri9Nvux8Sf1eQril5~RcZjPbG3f743fNWFcZWzONFBVKhbhu1SxmTxqiypGPSx1CAVy5x7C077n-2IJH2M8Z5IirF2gjTIW1Seq9--3qlW9vSFqKLs4-FPylsv93hlDZMdhmrk9emO91DNE9pbScD1m4Yc--vKOmuveovA__&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=1742354317&Signature=I8o881iEo0HnoVpo7HbeAUbyEj7Asy7DJ5ZrKjT4AfRnqVf-RikRSDGSIviYm3WWuDoI58wXQiNP3NIQeErRuTcB-nfhuqF8GFRpLQWLqvyV7YEC3PSbiy7zUsC18ZQQRwYfhiHI4GM02HJj7BGxpes0zAHZLq0w9HDn9KRls4inJvsxmB8-T6UsDWKDhL32~KqkPyP6rEPg4Z85cZ8eZtLvgzMI~~A~TeSKcvibcTd~CmyHut0G-ukTA5SGyY~-DG0IrFI8PbI-H1Ex6KXw-wf4EFnmDfbEGnlf8kBXbpGDyiSVEhHcF0gjgij9ZZa6B~TpLvZRwzipMz2GHYDEfQ__&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=1742354317&Signature=ciuv1tHXZE8ybiUqN2GMyS3BoIqfWoOPvm716Bk1FWDaR2GkrNnsQPjtta3m9S~0r95gaYb0ncosQizGIRGpM28LeFUobp7c1auPZ3Y1geOQlT157Mu1-13ZG64FyNpg5n2x4spYIbpc5hXZE2sC4XJZ0BT82NBi02oIrzvj9mg0MFyCkOhUXzwDRTF6SDtkSIyeeO7spnWNbXJqww4tIobq7yBB1DXaxpHoJVJCUc~RWDsUBbQPjOa6KVn5ioA5mUcimV6p6GG1Ov-bC2wlg5FYUx2u7vo2AjrHf671tTpy2JjDKPnuRAgBCIN3Tvdx1jLtb1VEf1PK1zacJk9xnA__&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=1742354317&Signature=ndxmrJqyP9afD-acuB2bfCMt0boufDsKDQ4-D2Wp-3Fp8yFmQOgevt7yvp1EpasWsHp4HgF8H020dBUNNgIGa04R4IsQaWEXwv-nVS-BIVzIhQyHF1j5N3tHgh1Slmp3PBDkGlvJHSDnvXyGnOkri3min~of3jQJm6LwPa~1DrUtIBQzNOmk6FOYOj~cCRx2kdcfj8RXnJU3NnRrMldXUyQSYKYguBlV~YMhHP4nZr9FxWeqFgCDQyzzdicDChe2CHyuXTiUKnEAnmFo0SW35FInz0QJuDSsYxv9HgInKROwScI8GMJBX14lHvJ5rG~YsoDT4qri-NYBepxZlwATPQ__&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=1742354317&Signature=mJCuDycdQ1LWIEEVG4l9wdgJZC~z361Os3LF8-~HUu3cfC56tbn7U4XqvaNuuuBrer5aoSwqvofYalI4Vn0j8Abq6AOMV4mCpGJNjyEwNjGK1t-6utr~t-u5kOYwcu9GxYLDObI-dGuuX2y-G9-iQqsldW9IbhhjyjJTWEXuqxPDe0a1lZURiD8RoTs6MDgY8EEDVvkKMTje6cTRuXnKnmHUf5HVfUeFR10m5yb4~-VBzOcuAXnrGwHB114d3VrHh8uW4NgnIwYN~wZs7TzLVLcUn01J4BbA5J16AUD-bZUS9weolHf~RCxSha8bKTBa2rJoOB7Ii6bQrIBXN~r7cg__&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=1742354317&Signature=IPHVLbjUeZUNeGNF~bT5TNlnpRihn2LVcHA9P8aPscuo1onXRkjhWCqRAgtvDhPw9M9ZiSNEbbXE7tesHgZs3RFR5v3mJDcl3UxgLBhDS~euyE4tNGApRqJJHlRSSOge5fsEkUY40rJerB~BtQwrL5g7VXUQWZJMAbyZ~tdRzp5RPjJ8MfIxnluS1BLKqI-~G7AEmw49P5sP6nGsfGKePf7GXiLClPl2AKlOs36AB9KNrqHcBtru~r7vnT9flNZeiISMUmga7QoW-nxBtmfmyCAbaTCEZuBSnSOxEkSSD4lU4e7aojprwYQeK87nOinyfNKYqzBrdYgILtrehWnIuQ__&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=1742354317&Signature=o1EUpICMVcZ9Emmz4yXrmXDmhwQ2gZoGyV8wyIgGUNLWrNJGE4ND3IVoPGmxceEv1P8MKiN7l11SrIB0GsUW8ZzpvEbFxrpXC9a6Lu92r1ZGAUNv8DLfHy43qf6Gi2ZnbqdjKal6XABHRYYSaeCLa3iFmvpt8JE1EHsRJCE3~OwlNRAqkEz3flTfy0Nu4XUSYjC3nNQg01UNmyZOP76~epxlr1iI04yOFUxeQ8USlzfhV~0JxRfpln7ph7EbViHHKP3fwl50eLi-8Jwsx4lIshgK9B8fLCouxQ5~RZJOwrMtu7NTl018ms2FeQZzHc3M48vqfyPB2HjCzYWD29tz6A__&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=1742354317&Signature=u5YdaZDeQc6VcHxEO9ZLtcK8VxaSWT9bswVTniyGuF5lJqzPI5oZyNsOPYCY7rBFouhEglW-UqmumFN8N3oS2CTX0brijYzdSz1YXyq1MdC0bT4tq0I8DtgBSeTxtRsmrWYiZD2HilDyhs9XNcJRzsBPrNNYoTme~bdJ-ETB63p38Q2ijG6PBCNcMqd8SAhOFUVaRKrfLDJpccO3X4AIEE9GKuQg7b5ALjt7e2~WcwueXjvvEK9J1tv2M0DK2b0EiFp42YR5lYKpEVX-4sAoTu0m5PDY1~2NGMz3jUwzc~JigxIawdcChg9vo4kx9M1E1BcmDPzgsyvFghfDub5qMQ__&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=1742354317&Signature=ISTilAxMPvb-Lll0fMfGvMOEC4JNA0MQ6ehhOHFGXdhWPRXt1flz1zHP-2bvgqLzY4fzfyK6zIQrdOONGWn5LUFGa2zEX2Xn14Gc88Qdi0qFnA32IHBJfWmJH4HQ0GuFKJvT7gl3WddkCVNSO7SNRCiTv2ZgWjy3niHmS8rlyt9JDrVGybiAPRC8emBTwtTFKDhhnVXZi5E8MnRN9PwVMpycYEGMzmMEuM74byjjRVRU6WQval9bqHN06pbzZrXu1fY6ffIv94bidJfYXNNtQB8cgggQFFEON8DBOqMiKI2bXuo8v9dGS71qJ6vyzqKW1PHufh0WUpCBAmqA4I8Oww__&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