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=1741916902&Signature=fSZN~aNvY68ESiA1ObxJ3pPQ8f95QkpHgRUD0mS~4Rhs0nTClt74EssP9xhYoxzTi6fzsv3G2kaZU17YlVc435~4oSMavHdgBiwFZU8n-aWENT1yOe45qK3JeRjBDGUNcYAIw5uN1MlLAM5CzMd6Qtzhda5fkh3fDepVDMomgp4tcCdTCzTO~746UiTjZtNrCXjWcCIahjdGaBmloh7kq7~kmOHbULDBh54QNkAZhR5uLYAI2i3GgtqT6pQD8N7ngtFdox-juiXV7-h3ZILwdIw5VSeg9zr3n85TWVGQ3PD8WJXqurlUgM36--buu62LekV8q6IkLoMsb~BHtGVdTw__&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=1741916902&Signature=LArxpORWfkid-L0Bm2NiBzMSDcWHVZ9en~l8kW~yi1kQoP--WIlgvSRU8Dcey~IEYVWMoBAd53Aa9W9IZEL7MkJUpsMwMpp6lv7D5R7IfCnvI7HWol-CdF5KutXg2KncUbEwdgVsdGWDvvwFF6yq747Gq50Ar7xfBf~fJSRqIjwwanWvmTFlGNayZYkBlu8gWMRSkKiMOekMvJg-Mq6qJedd0~Ug-dDEchOAnZr36g4nGYs~HcABUlK6GGSfMKlrhx3A1zPyEw8E1efGy3wp1cipcww6Z~baL0Q98ZRXxonDhxejXa4uiGMoFDZKJr52mCTFK2wSzHVZZZd~BxLXdQ__&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=1741916902&Signature=J5K9BzSF2SRkL6JCLx3k8VyxAzQcrRuKwBItpTDvRe7SmCdH5xAhsU2Lw0JEbkO1y~3K5SAvuVbeaf~P69whxMq4fk5Q0z5iXEAOA5Fqe0OZJdDjUmBX7uKdDxJ9tksJqJpNBhV44HtlZ-ipo3PZjLLobO2c56xikR9fqVEwbSOpzaJSCb~3dUQMt1B96en2Tf4PDvgfpiDlV5zF1g2rIzLPyARN9609N-bs6a3v7odDssKwhdYmadJQ6QJ0OZhjyr8fSwQ-o0gRmEpK4BJcn2qEoy4DDBtZR5EFoMmpB-NmV1YwmsscZRWyh2b3PvCLKjOsfsmkO-sr6Op6mwPG6g__&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=1741916902&Signature=gM-5GPIdH4CFEluQ0MYAINaiMY9ygnHye1rO4kIqpS-zQ99I3TabFDmeG6s7Mb6mpdP42tzXgI3q8xtZidTTgSSTtOFTm0G~IS0qKzxuwEeFbx~Uqvz21zNnJbPU51jkU2sE0oD2XHeWQrlT4cCRIOPQdsbFItAcbr4BU3MV6yjZXkZ47fs4OQ3MEaHITb8bWevnxsQMnqUclzG6EEVwXvyOkoo4ODoiHP9dJsZM~MX~X2IjpDmXaWaAxZz53cNWPmbDDSwi0ZRTU62Uy-ySyJwrLwzPMzvl3esi7sjtJc1byOv~ddKp8oYILU53LO1GmNdM9lZoa5TVPWMgGrvyjQ__&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=1741916902&Signature=Wt0dB8Tw5UqZXRJv-kIggbf77mzmO-d8IgKG5SGeaYM02KEIt4TTIBiOT0QZx6wiwj03w-Xw7FhS6DiaBSasqXxYV33b7Qu5sgBhswuDQ0OpsVJuGKn5kLWZr5H1DneHlUplm9UsZGwxmfAlWhjwMNtBMmAibK5UCrs8AHx4MOiv98IyXB3HfVpvGzicbtxjDzVPbdkYGsofFXYU-a2zF6bg70uS~ietwHaGERyf8DBuQlxdhLh2C3IggKrIHsK0h2AeWXYFuTXd0ph2kEg~cpfzLbRtCFbgeuhwXJNrVOiRVm8AdtxKosOp0nwtNEdRmQOrPIbrPBjBzLqM4yZNvw__&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=1741916902&Signature=EXpnC5sYkK3pPUkfkgLaoE8THVNmDF~HCOeoIkKm1ublaJtiIyWTp3Kqn2thMASY1RtptfZSi8kNqYNUFxUv5sbwgHgAEV1OFwRDJ5d3tpFQ6rt3c2boszUiYj5OhV1MB-yYgC6huNDuqFTH40pzKXPOCm-DBKa8oh2EkVjvUqrz8NXmJk29X-6Rso~~hxOdACfaYqlyKeK5uGgWqrpYSu0KjlGccljmcJ0igoNFk1~6Fi-mb4~GqxoHzUq0iVdLsWQv6zTQI3yTT2hnqzyt4vgX0nV8XrkNKRKoU7hTyf6HsOIeW~XpB2Gm3FycVA6S~FdB4gxLq5fb5bHIkQh1og__&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=1741916902&Signature=DwvShnGhNyCmn7uVIUZ81SLvzZ19k~990kbVlrhbvnTb6Kcn-0SAvvUrJsY8uev5thYXAJR1QfXxSiv9Ij7qzw-ygy3XSyKSUaktNi4CC7P7BgV8GryX0PJSSzfP~CrD1BUa3myZp3g0CJ19Zyqp42hKGrWkFajVBDEmr6qAwnEvjNEip1oP5FSsdfxQ-C2eWBnSIFF9CebEex27RP1~YXobuUKJI9jZijeUqfOQDV1OaWzN4qCIYHyKkOKnMDkZF~5tTYkoytk6y48p05AGhHfvm3wLZTycR06GesG5-qNyHwCXcvnp7eaCruNGzY5v8ivPOhqGfDKODHY~v21Olg__&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=1741916902&Signature=xVjtTWok4JhUogcES7qzRz63eCUZrLh7x7xCDhfhgvG0JVYeHT8TLI1NpfISsW-1U-uY3ZRhii64bOagmzi5RxyHyFLmGxXld8Z8xP4Q~52SPA~C7diPHtb6jXjpyLgw8MrHq4JoLjJID8tvk6I7Br4ithIL8j5IOaz9UyLkMVuGVyMPNmGM87bzi-SzC7u~kmnuIO4E7KhfvqUhSO570FS~kIO~S742WgIlyuoZ0B7wRfVF1vlMnkCR39JbEWnY~AQy1se7i7oJY82-ZiPuUgcGqZU4C5Aqdaz6OwCRSrmAScg4KGsQyhaKwqI~5m4WynepxECi7MCs61dUbn~rYA__&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=1741916902&Signature=lO4Skifc9oT5yP3f~77hcWocApHvTGy8deTReQin4O46uimb1oUQWg0lHyNNL2GdGrLOh-lZTrUrHbLRQGIx6Wqny6AnOMebI3t~CQawhJpgmB~fjOS5vu1gBqOgaAVkl1KEuOrpiGC6OO7juX00QLLFiCOZU-qigYjEgTQlXw2tk3CTwrMeSJCyFm0VrQrAGEucEt2hthQHn3FEeC6ZdXQ-CGfz4iBL7QBsbrUnQRHaV4pMX2lSllZAB4fDPcnlQVrqgpHyblkfB9m~3yswTZDJMkquzi~UrtQPpqWSWrRFbDr7khh3IOK3FVD9vEl07gWODM-Ts6RAnYgRDemlDw__&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=1741916902&Signature=DX0coVhONsj7seOMKts6n9nT6fGePYdwPz3KyUiNr1asMEE-KmTHYeYWWvmrqZB9SnUNvm9hYKqh8jix8CRAb2ZmYRpzjeQScPAQoSWKZzCDxRDgz4DsCZcbjdtInqXoTFa7qhcWZDK6Td29tSS4nMWfSIpYldahgEB3c6aL1fvMXOQmbHDPkev4ljgvjmy1ad-s3L6VoM2CQP8v99sEtyGyxTcyzRamXnIrAi2OjTHy9DhlXkrhZX0sufNbtkJC2cL8vVC5BI2njo-1u6oXDRtYEkr9gsf5AsYQqsP3bP6SSNNd0wgUCnTZef4~BXEfl8HVNL0qOIZkSarUfA8zQw__&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=1741916902&Signature=aU9nCtkv1MCrFqHu9tC-guysqf7shV1CMP81YhZ8nJxDijct0PDkKoVWLRnkjjUV8K7peAga2UXP85Y6Py1~o9woscYCrMHpZ64sJ0d1W9QOiJpcUr~G2lNJB4MMFhQWDcmYOjklhFxjIkYDjrkqWqo~HvYDuc4YnCky9xTzg3y8Q3vzZbrHWUg~AjS16JS4jDAGUyOCxH1ALmhHdBRfZ8f3BT0338Ki0MIV-ZfRzqil1VIfzTugT~2gIZ-YiECx3CPK29Zf~szAbB415OOP~pc9k8hROA-xfnZV0Jyxyu3mSK6mII8i8KtgwtOQ7APnIde5maeDXwm70uBhyir3DQ__&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=1741916902&Signature=LVLQJgGGA~Ey87zwQub4n-0TDdOvuoBZiVg8B~1IBcNsgVllqOwEjesxZZVAJM3Jgl0HfRUuXT7XB1p9QRW06Yo6uBrmFuP-jLRTiM1wwdGXxCTVNnCb9wDZ3BCCpsgcM-fa7DqUgIyFoy4vRhx5~KS8jgdxVuezanpEdOc~RP~WzmTmjMO5ts4HkbZVJvwyzWrbHDMuCPqZyVFLp2nJtVk-r3esipEPkQ-qvuOn3ZfDZePZ7h91maQxPiqUFJ5B7liXfNaACzBBLSkB0Wv1u6BCcTaR~Wv5nckGi6-7WsW2EBhaneWPvtvTSYLGTpj1WvRbQIJ9YgAtMC0wo2DNxA__&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=1741916902&Signature=XIFhYemEj-wYfDYYdkzM5LlyyiFMvdNv5RQoe-TYOe48Xr8GPmSPblLR58YqHJ2mNEIkzdeEQosQyb20DVwkx~PglefcZXfFkZRh7gd0H2gxWEWdl2iR3AcMCMpjBX19W6VAM0-9RXI7CV3Vx4UYQJ9Vq7~R6NX9zE9Nyp-FQgKVL9HPK~lvw0QQKGs0H~Is11nzEqv9SGpaE26U4DRAvOrvABVcltAu6bnSe6sO7Aknhsc3ZqJaHutvOIUx3WsUeLQtWh4E~iOakiDRoBEtE2Xa-XO3DCzOeL7eH74N0wV5U7V-B5NVM5R4GNOatcNqqFKzQLwUQA3zN9sxS8xAJw__&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=1741916902&Signature=h37Sla7lzxFB26K0~TT3w94j-ojfKckr~rXfGK39gOa62F3MrxuLVxbDw9xmArE7HYeg4YpDgg9nAIULBaSGT5xcgpZATkrFL5BoprjnMC-xitVvo-pt95uP~2MeIWAS1wQRMURM1EJUeUMQCtBJ7VLLAbMmSmuPKABq8SvoNLW~CDhOwO5DA4P946gNAfQJiVockUtF2jl1U0w~PF7xqpfV6SMuFEPQ0Mv-y7rRfYZ0krRaeBKjsafakS0MtmKa7cI5CGN4JSZswVZMho1D0ZU60hMXs85Ul0u3-plZN67PgPUXZlIIslnp9keUe1XHT6Y1ZJuEwDS3PblNU~CmMQ__&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=1741916902&Signature=J35cYNo41XWrGQCU3r0bewWM7DPWh6Z1Npc1jlfzeqpV9nIyhrt~KdSh0mvep4e9c863ItFtx3mymKvZwgryQRnLyoj93VHY99T2W3fhsUNADvFWAyzqWxph9CiRcFjR0WJTEYOvY3~XuO2R3ktSqPh0F5T4~S~PwTkfU34OVt8xyv3q9xgwU06Q8RKaIdvR3oR0OO7Xi~LaMDW49V9byCRlqP1Afa9xhp2D~Dzv6ocxWCStP1KBCLDen0u6fyj4MbrpzbuL8-eJfXoC0pKdod18M13I9W1HxqvfkFVDs230HctKYGl3~sbzfuQbMQ-4eS4NpJXt-mhJXpi5slDCxw__&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=1741916902&Signature=NOjSXINDvK4DnFlpSUw~Y9OyXO9UqZKEe3IHccVdERmUCwJxSEBuM6ZX00YMVUTXnXhu-baQ7Z4lVSOVAeUfFKEXNXpXV~hD6UlD-hXcgtyzyoyxUFizZRCUuKbnRWQ0VwbdV-ziwolZg2UxUXtj8KIZV9AIkvrpRiXDEs7Gj6ZbZKVt2MgtJHVLiboHPuczJ3RSrA50v2YkVTuHjlFlarsETULRc5yZCA67lGChs76Fd0loc7KQ~1L6eLARAlerImX7-raTOdVYIu8Er3DUCt13mpjYrWxsxWI~EZU4-DEcIpUzanpZUrKzF0yNYqf4Tk0esR6uAlvlR2zIQ~CvMw__&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=1741916902&Signature=NYy4eQoiJYaiOvRR7g1YZXym9BoGWAlfXItnsgqRnGQGjzx6EDHZuQCOkEI9KEEShOFpODTmZlRX02TnWtHFv0nhx~X~pH5e8UsEHd028ntUQB-DltuDDD5w2m3acrCciFy5kOw2f41OONGGTlNc8jw3lr0gfYjwnqu6Kr3TaR4eNqmuLnEKSkCii9zKE6VvuXf0FGHmS6oazvL1akGhUUWkxgXtc8eXGPcZP9vMZnjlyw3nnQ1K1xXpThjDKNOS9q1s4ZQuffBEVxRDe-WGboOA76e3e-c7OXpGSf8GOdnGYPmH3fLSpUhLhs8KhGkznw6Pt4XglFVABCInVM0Igg__&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=1741916902&Signature=KzfUCtiY-AuGPmoS5nmzyzviP6i0b5vRkokc3w6dqHDEzoxduP4rM4MXOGtzGptwJ330J5lj3jGZb2I6xMhb52bdVjqAmUxTeqZ02PwMZuTPXe1muyuBYEs5aMKyOJCzAxSDMFuKwdJDI-8usx8QSUcbrqvyLmX32guBwnQsWN5sJnnYdRUpr2lBS9ton8RRIzn19V79uZ-oSgy2p1jhjiILB3J-50eNSXBt8IlbCsRIgXdTNtwUegr1buDCwwUsBQCBskU2LrvdVP5YcigDSorew352J0jg9j0N9k-DUdhQ8SwCqEQmv5bC4xZEi2a7kpzDoCArnD5mea1lHFhV5Q__&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=1741916902&Signature=B7Rj9~ELeuoYQWEHcr1hNIEOZp1~lt0CkBATdCW0QI8naa-E24NWkzHzInKnKPisE8-CmLepPV5njMIP0Ly7wTnNkVerZWxki-IvCWAX~0snOXeXDQvwfaizNjoGQXvPaOosj6NfDeHwTJ7of7iMWUn1WeejwMRnQ-Nry-i~s2bkrYddD82oR5obRQz6ykSFKDmLUsJIRTfldDaHKprzS9kx33SJQf7yzHIvf6Jf~pBc0UPcaK7zzcre6aRs7HWhjZLxSufavtJsiow~J8pj96HdM24yQoJEaaQSkh7TxXkxlp-FZtwpWMBtmsffh5qjeVce5RKVghkWvLYFe6BMXQ__&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=1741916902&Signature=ux2vzgx5C-0JhXo7UwjCnGA0GeeXpFP726OQdeeS-3wxn6JXLsH8T5WC3MjkM8MHRL8zPHT6W3JyIBnzxJan7Z-g9-pMxe3KQQz1hcpiRPvXAz~B22B0rfQL4m5dY9q85RYWwHa8B~XTqu9yLq8YDYmwifE5lwg6nPafEHpT6eom7jQ7fg~OHOj~889lO941keu-aHCYZHZw~dahh3vibSTnBwk3P1Agob3m-g1F~KJ9w5y7TsQvIGADjWem3uU87DTNR3OxRmQCxpRrfocvyq8nim~d7OKpJ4P4j39ukfJEsh8iBKv0IVmNL6eErNICZHgAUius3ww7zAkPacGEqA__&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=1741916902&Signature=MCwd8QmV-LjAvwmRh2ZLpcbGbHIxUBHCYpuB2f7wUSAr~JIABFJEkSG9lOyRltjmnAlOqw8a8bP2A2WSuP7FS8liKiYOvZBCkq9YxEFrFcEwJPVXUse-pXWaBUlReNoEOGv4esdhGPiM9F~W4t2VXhQ997lVbHtF5mPWG55vh8QE9DVv4ji6jvCFmdAikKrhetgMYuPl6F35cvrTUQBj1FyB44EvLBG7YNfivABJkat9xMEFLEJOkJtnxv~vWbdooVocYOBgIXV5z8VlHEVZgJvq8tAn66lBFHmAaULbwUfG6pazK3K1lVJ0LAPUucwx7WIE6oKv1NrI7bDwieP1YQ__&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=1741916902&Signature=mWd2VuM5TkZzmRi46lEYJr-1wfqbEQHMpoEyF4W1k-ef7UCZJS-P0PESSnKQEfwO3ym~WixnbJ4CmrzYPRiz1NBNAKzi~Fy6KKt-P-rXmclijBzNvxir-9m-7WXxzudbc8-uRxNpvE~HKPAz~GH07gl5ckMSoUryaXPFGAUCF5Vgv5sdYX0tzm7fj8rJNJvr1d8MCjW3NTWz7K1A-Sw7B3CfZm9kyDCCPF~kqW6nMV9rZWRix9kiqSjRDIOxltkl3r1Imh4cywDr-vX14PdLZLLhmjDqOFV-AgwXyxxC0nMSphDnldbGTFsHmCW69ouincRRbsEq6suxU7ghG721Rg__&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=1741916902&Signature=tYt9ppQiMM9l2pG4WFFOYs0p1fg0lDaGxOoAUEKOcrkaAb8s4Pa1k8Feu6s2NSJn7qB--49tIUkWEj9y5uf2dHJeC6qxqVTiwrEP5ymijYpzA98xf86rG3yk8uUmlNUl703qa1BTyo7m507f7Nl9g7340lRWWj0nC1tXPNR7dakxX4Qp1jhU~Whe8NXtDntje3UP1Y1caCGSn-cxrklbB4SC08VUnT4nbKACVN96dAqN~cmkF6zRgFKO1oIgLLLw5AgZkE7HtewDN02hryILvY9~FJUUGq0srWft6mtv31Lol~6r5ZeZG3tbgvlMLHevmRydTmfWPSB54cCUAR-XEg__&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=1741916902&Signature=cFqmfKa8KKzUeJM~hgHQWnhwf-hZf5SWh~PUuw2kIeawFSTnpFHm6Nh601SSCYY2ms2NfxLFdVFr6QGEmK6Jo~jB5X0cEGivbnmB5bboaxOhkqraFSsgTvfRldGxY4jUEY~Nf4uywF3yrYy3r91JH49xFxSni8PIPpeVsSk5XLW~hpmHXK-pcRcTnoJa4kbFy1CnjeMX5x9ZCNhx1v1Xy37wwfP786kR6TPt0pUtsyEaL1U-DC3WipTsP4z-LYhwKokTeCJK636lgW3SueLc0OAWLiTBwjCcplOd6DwaPObz05NVCBqn1NejDXasjvHnVPgwaoqSWVdg~Dk8Y3oUJw__&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=1741916902&Signature=F6eQvnd84IbU~0T9cr4~ZJXTedbEADwQZ0RUywKDQ40KHC-hsunXKznpT-DwX1vaQkEQ-XXI8FhLSur~ffbluqcTnPCEPUHBm6CjRRNclz0LLE6thLzP6twirU~Jdhes6rQCLR8rPwZSRFCawIfMJIqMq0FiZuDf~UsyyINrsmpNFIG6DSjCyT4a7GLIcJw5QFMl0VqNwBTzxDKGawR3iihdWoGmxyQb2TmwUvUP62t4BqR6YsqZaNTlrH75JwKFOrOja9bex4He9b0wKZJUpZACTqSX5A6v1ZlK2NAKuFFQfQX5JRTLbuIaeTGdLppMIphGr4NinW-gxCU~6aNNew__&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=1741916902&Signature=0KtWEzuipQ8AMuFqbA6dOkLge-4TjWTdfGsiK5Bmxmh61~~ZSkdtHAbW~oDamjm4ZrGrr-8JQR9LDvafcH0lLN02FLdXplelNNLzOO9BmlGgj~45WhjxPm23WAkyjkFXiRT64~kDxSBa3jB9Mg7~AaQuUqJ-o5ZghIYVot~pprPD7-Ipeeo~znW6kP8O9Og1VsBKmGIacM5vjSdRa74tNb0geY1Qe1EwJTNICxattzlGnHp2VooPUaa6ar6TtiV5Z8r-7AAJe4z-xEjEf~q6XmoaY108M6NhQ1HYVtxWSzQbced6ED6cdMBCzYKDtCzvjLKZUmatUSlEcwjep0Guyg__&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=1741916902&Signature=jaggmnzot~qMO7ZFB9CplfdNYzt3m~8Bo-DnJrEQ-YPMSWrELdqnhrynMz5O-gIeCt95OwJeB7-JAwNzhNgqvcqXSOg93eF~fqQGfLEs82a-Ft0xLppAANbD6LAPafiB6IO2K1KkuIjJQHnsX~wxmEm4snhyO1qc6xBWW5nYWznRNHX2h0w15IiH16wtLei7u~AtFR1QGlwu9dauAEqku5h31J8R8yIQ6UkLmrMlbLi0uZ~oHcuxQPU1p3mTjmo5EVS9onw1sLLnKzMuvEferLMAqbhUUnSRSoi~aSAxX0uu0OaD5ijoOU-GBRbeU8BfS74oL9dERcvNdTcqMBdQtw__&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=1741916902&Signature=DAag1-QLAp7tlOnmYBewmA2CogVy~uC8QH1AyoUdvwK7uLhtitYY2DTUI1xFiPW4CsPG6oIECSEcNzpIao49Jpl1UcXrtYBlIrAkUotEKOFm4-MOaMNMoIF4MOWCEN6WV1JyujKy~rvaRQKmBQIW~JB4vMhOBaa2oNvXC1ApfAgJgj8W5PThwSi3D2jVH9qvS8RRRRdFR15lbMiNZ0RyLuQWXAnBaKSBI7t6bQ8x3gpz59JTEkZKfb0-BJnfK8BiaLF3mdC1kkgj4kFBFD3rUPaBbsyaDoJhRbZs7oRUYX0YEAimpsfNFBJuC9TO5zRoQdZmzfgY-ML76H3h0dxs8A__&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=1741916902&Signature=N3xV5vZWhhY5G1DwlQAWp~Q6MqjfMc18Y5kGuI5Fzz8AX6wfv2kldJfP4FLGSDR-K4ZK~rHQqMk1V2GFOB4dn6VL-R9JvFWKX7qsxi6vU4ToX9MgYQKYgCTllgLBvDa0TeoWSE2UqF-jSHfhB7sfWrW79C-46obGVPKXlRyJJs4Xpm2rYNetyVKHTpm-oeh7eG~lx35ZVqd1vk6YAlxOjO4uJe9Hz175kfSepHtX~l9JeZojUj3iLXJcjakgRQoRxHc~uA9oefD8p-DpOttArycau7jw9m5ACSpTZi8VtU2oQhiRcY4AhN6qNlwbncV6jDSCSYgnTUX481n363Hr-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/14/observation/image-367d05c9.jpg?Expires=1741916902&Signature=HfiLFHWPgAkWzjhXyvmEQ1bx32v9uqY3jmXbaOWtYUa5uGgfe6p8XshF6YL~RlEadVbvg4E1EGmYns8dtMVyjIi-jniT2OvF8xh1iaQDhCkDG70p5JCzqiQmRV8z7cPrw-FOny5pJvtsQs29HC8UwsgBuQ~oglFSAPC5rBftAw0DMuB1ovKPyuON0qlIMRsB1C2L1Rw4hmXMUq~6V~T5xsRCdwfIfrimpN~Lm62SmZs707bA8JLnvx8KXbLJqkWuPhHShKvtLLag-r7hlB3FslTPAVNNKKkWrCgvz7mSTO4mqEUDT2jJwSJ2VqWOK0nBPioojNxILmJMEs9uCDfKpg__&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=1741916902&Signature=g~LBNynexAO7LsSunq141LXt3YeXmUi~p5RyStxSc6WMYLtFOW7vwc7~LSKbAbIplB528YLxFAtmMNudjCE6ysD09pB~Q6LNUy7pgrjf1mfWs6dc6UU~-5TtDeocHuLdBfDLfjGVCCQICmSBJfMSTp44L8O1SIa8gR7HfTHSNy2lPec93c3xcVMOPIdLN~f0NaefzBb63hUpvYfaKk~-ASfH~B3CThCAy7Ho6A3G~NDuvZgCB7HyIIR96mDtwtLxrBpoPwzyaq~qJfp7eTWczx3Y7SSbbTCTQ3i5~TVDmsQmrtkQ7BW20CrZb~WHK6kxhKwz52KU8Yd3jTmLxoBCLg__&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=1741916902&Signature=x5Dzt~9AHlz20J9lDpmXr8Y2i5KnAuwuApJsrLbM8oXn2n~Mm~epmieEov4HrZJUdEC7lwWnDlVDsANy~EAwjGFkuYwrwSj6zRkcFWGKJGZck9C9bNWTjDW0g8Nm6-F2uCFp-Uyg7y88H5ZP88fLIgP7XA7Yt7nvU2ftK-gCLozJp6pZ0nYBviMIG2GClBJtTzy5nR8hlCtYc~ywvFVHdCx9vPPdDymeM830hiTNua8etScnRXlbMqUA80gvd1MV8aJIogD3i28~nm4n9LJFK5h41n4bk3DPhLlIDGveEepviLNZv6GbsHh0cJEv4n5PWosevFMxBGdO00r8GEcElg__&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=1741916902&Signature=ik-V0DOUjKKJJ4jx0dL8P3-HeQ6ecQTZgN8nrTHdyPgicLMSKDjTKRlhOZu~n9rFRR162fxD8AifSClyhEMwrrlm~ZrmbHzBECdHSgne5npMMADX9kyIggDcRrrPVnof4mvFBB0x3g4uLWBMvJl3BVwFUHSfJe1USZ8eaMDKgcTmNRnBMsof9RGrikGxrqWFpD7Ge-NoUN6rLEyakMLz~6mw9UrH8RPiKauIPNVtFP8WP2~E9DsIodav~F7S8u4jXtLKzbRP-yZ3b6POPW3uop9WbB-c5aDsU6rqF2EE8-Rv-e8LsGayQFm21PSyVIu11mV9j0R0vj9yqG4xgzQrKg__&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=1741916902&Signature=wpgoONc5GYaRvZA-I69Oa4KMBvs1ARvYdwSIwe0j6~nBROL2OQdSHR0iBRdjvYyKEDeDNAM8JMAiDZJjOHIlt-tcWBofgPRfF2H4bMub04bXfxsEO4Sad-xxUqV1rMPXTUZRgBXohcVwbLW4~5qK0bTuohGDr19e5dfVJEUKsq4cELZEZtnbL-0b9hSc0kwdn-~kge~WZPKBmH0XvFhr1n4ZW5rKcpBHxdS3ZN17HU1-6DjU-mCs1c1CEdSnI7BCz5DT5ULqlwdFtRGr28ZmBgzhBndY5nc32IjjqIfIGVuTJDMSnYEfAjZU3FTDT2UwGEpXxUShk~NOHf3h7prW6Q__&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=1741916902&Signature=Rv1l7aghR7RTmI4gWHnzkUMG-qCSC~ZCiFzAFtWvuxEH6AxEhIOhH8CEld70hAjncthZK6IS-bSThL93UCH0N53pchy2yXK2NsmEXXa4KzKuF7tuGpV5MZpB1y0N0qVEoKGYO7N9F6x-cIWL9omxCeAxXzQUxeRXNJzVXBEvot2C3GzGWNiqYOeUGk-5OHHY2c7Az0k3Som0XW5YhJGPS8b-P4EuL-jwnJqbN3KL4q16K9P8OpDSn1MID96s1OVex6iZlRQPk96-c0H91GwJWIGSW1DESjqiOaQ27LtogrgUiHyYm13YcVGU5YHT5DuzlXvk3NiG-~4nx3CGwBSZBA__&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=1741916902&Signature=lsfaltuHNZVnGySBxOY1uUFbHAiOSzKyP2kPvpuqWwoUTQKMWUwhmRdpb-RprSfrqar6MQSHY~R8jPD-hAwBXnmOzdcpCbd998gS4wdasYvgenAqdkuTEbNLW2tyaTZ4QaZBkG-emsoQInI3xVkIyfCQUaZsdTZIhqU5qWBhEHwLWJ8z761EK3zXgMseagfw12d2SfLBO53nHQo~wdQpjixmDzDhbQCErPLDmTZ0I1ZUO4jvF0qnS-lwgYwCOOxKERdZBuVrlJCEPWIvizhrM~~nz6BuE32UxT2w5rmq4YRzFH2vPyCr2ZBZjGpd2MuGep0LZk5eSBA2vUSxLkL9Iw__&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=1741916902&Signature=SUW64X0DV35ysKMDszQ5PYEzegg0L4k1o-1cc9FdJmU3bVt-l5ssDPshJp8Egfu~nyUY6NKcJV5q1VBjrJ1u8aWX2W84CNv9BLJp0~uV~YfW3PQ1cjNn0xytD2VgJVOXygR6qTP91dJCqnvwHxov9GE32wt4vWU3WfFxtTynwQ5EjEDSybs17VwON3fp3rSa-dbuAsxQ0pKyNQaDUuLbPksTwRa9fRpc3aLU9Svon-Smvy1ZCPvyG6prPS0AgDhMdHrCBfBk-~MxYRQwyHZlb1-Fap1oNlSHwQbOfnDqcT9emO6iLhh76AFhrEEXxc0K-YvzdwMCLUb4-evpQrua1g__&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=1741916902&Signature=KbxQzdxQnuoUSNQNMOuMPSsZw1XERg8rASSQMy0etDTwKN6IhwRKia2dNcGpMIWqW9oem0L6edXDrRjJGbUEZl6Sbbbc1IqWh6byUPI~wLy5eeG~kRVUcp2ABJ7HttALFwIniLmhxxDIXPqkcljD9-2310bXret68x6ubLpSuDQ74SpGoKXeqvndOZF86LsPboWwqyO6U4NovYZ5XTchBPFIgZeURLI2tl5~UynfwmRy95dA7A97wKa9I-BkPSbhFUIwZqLvfTk7prIxE-5a2oQeQXFlTJvTzl~TujscKBALOQAbE-Mp0P4H~v7mNotPzbR5OXfatpu6COaeCzOaWg__&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=1741916902&Signature=HqKyTsfdbjHMEjm9~ID--Eu4SLi53J10s8bS~eBODmp~DtcVDhcO9jxYwoKP67C9zTCklAeP2rNd9OmZsMHlRe8yxx-ZMeeDBEvJ1RIWzuOY-Fptz6VM4HnlJGVLg8F-4TASfgxmOggt4xxKrJlUQHHQIE9dJPG8mein3o88uAtXWfJugA~1sF5XUr3CHQir1XEO2mFXfqlkbZM0vDaSkbDEN7rAjRKbr2KQOTQn-RSxHRpzmW08cd-JtEEcSnhnpRFnkBvRmWgnU-YMiItNYFY7XwxGoww3yZq5HhNqSstBfF~vbnXLu4XxQJukyyPbEhg0UcFLWiTfZxJRg037Vg__&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=1741916902&Signature=l3r3UT9biAZEuLB-E2ZXGUMh9o~5WJ9yr83d2gRuSPlnxgXDDFJW8ggT3tlgYyqNtAXPn101ENxgNym0xt0RNASsZIFkhZtTTDPZmVOnAbRzy4B3ODWzDefhVr0vxc-fhlmEmlea8Oq207n19TE0HC2n9XIyrHmTyZax7exETPVqXdIcJTi8wF~6DdFV3Qw946cJ3~jv0PccRGk~IsPlgmeIJzBH2d2eSy2MwhXXikgO8P1UOmGgGdt2L3rg-hKH-8QHhpCbiH2ItGE2Ml200IT9Z5w80xUhvwru4R1RjtZ6ycSSMRF3komKzRGLaPPjL3jRX6f0kDqYj2llgCfRjg__&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=1741916902&Signature=tL95bzSbH569IrkGvA9b6z161uCGpWWEskVYmqz8u1rCYj58GQfvfC6Km63QW4ygNaIJZydHl~CdpxMayHlj2RzVe5SHYUND1cBGlsQwcCKRA42icyRcMZVxGWJDa2U~EQ9YwwDRnwSexDMguJjra60iCm~WU99X8mInYFLBhOB0AEBvVfHa2efAL8t9WOmU0pQ0usUak4PstkBiCtTUHRE1N8nsHs4-Y3aBkjkc-A1G3kpMp2J2SkDHfZQHvuaFZRizZIDtxiCZ~J-O0IaYAbrU6Dj07G~3LG8ewgayXr7VOD8BmEovICjUrW-S63uAGsQuHhP9tz7LaHiRtBWLQg__&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=1741916902&Signature=U6rcr7obdCY2HBkI9leixKuZVE08nfC3ABc~j3EymoRNdDzZCpzpyZDkGMwIuOc4A9FgUUEDWbZO1PkQrkXHTZ1Q0KBNRnc8W5yy2fX0FS4QrjO30sKULrjYpL6Emah0UFvA5uKoWEN5kCKqt1GiYAFma4A~~DbERVEucgOTX~AZ~~B8M3pgzlM2vakDIAAQ8HMi7PeYzs6w9d2S8cTFDMkTC22IO7ZgTPX4NwVhs5SjcjqQx8~tZNMxCClxvjSFv~wdMmlR~j51ANTSKluT3FrthWebz4R72UDllxC60Rkp2j2m1Roes63gQJ1SrrFUb0dgujqd50Rtnq496iPWSA__&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=1741916902&Signature=QutWEQTi7TIgBIqNa~QM6Vzg7EkmQ5Cbxm~Pa3oNHPG80Fh03a8aK3onhxp4k41Lj0ZrJ3hSxNcvjBx0INOb7PlrKfooiu-7Dj5rGuGO0KKa5ojXETI3de4xnIlx4Fr9pFbMdYhxzl00dddIg-mLhVQa~8VRLmYD11VQkIGSqtGVRLlEbuSDhVmR78eiK9gzUFF3fqA9CEDjiIqgs4SLbpz6aXSeXItKEpo~6OGGUFdvGk58fGa3fi1kgu2rmljGXZBH4NvMai0TiW6C2aVl3ftwyxFlZDztz70lgwrxFdWUaP51F9dlIG0pg79lXAaoHsbFpKvNO5rUdxUHv6FFDQ__&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=1741916902&Signature=ms1DIHl8TQfH5tEGpHfw3NKRHoZL~UGfGFvYmfRVdMUUVEk9MUPk7Qe~WVerEaBA63qYxiefIMLVQaQ5GDYSB~LwJ4lGKLDnuzza~ddUgSDfq--mz1da8PtSWNFg-FYlkNXhq-4z0g36GB2RbdM22vzQIDbhCQ8kOc6~JtI-AaAgNeW4aKyLkO5rWn5-KGnEbTLpA~fguZBNMbFq2SNS6h8T35I2pFZXlUEhqamTER-PanZJxOCsf0sJ1q4y~~8e1RW1mj6UYokS8DEJSrJPDGd1w2ea58OcYWqBR9DXdC~2b4VvPbxF9ST~uqfZJZxOugOYx6YJxHJ3IZIuJBdtgQ__&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=1741916902&Signature=LiksjEPGP3vpPF8x4gC82KvtPuXp0-0-KrxBrSjt3FWsdyKULv3HYglloSCL0d0-8oQgF0p1kQW~lacmqCpeQc5FgiDJZMv0FcpV2IgrmbEJ22jMsVPEb4GN1JfL1puGwtYv8OygFTSbDo4yyrqJYurxMGbYzhrOnsnfYmDkAljJDpGzSSBzyJB4AiVJ8Pq~kDneQTpAHsnU2Ddf8~CPObJ8QPcv17x2ULUgE4uDsSxetfKcGTUf4MAJfL6aPp6tH-skA53qkDBnMnDo9zFEUvAnRe0xkP2bqRzX8EKNsdPBOdOWo5a9ceccC0grpDoTxp9al~QoLX5ASE~UfgB97A__&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=1741916902&Signature=BHxkl0YA74YofmPz53ahgJ0HVNojRX5aQwxF86icdEKxttuhK3fJkEWdT50kP91a5dox85tDLINeIr6LXo0IOBa6ntFjFK5IbZtOXap9QHQfbrZY28lwP7y2JCiqcxWHSo-tv~Ly75T3Z5L6mHokPBcirM-r8XSSCfA8KKYRwY919AjFZNWBU6bPs0vN1yHc06HmYsIuXUc~ylD0I~LEUJW-4OEuB0QttmU8~dks9FzPsonT6Zvl60CEE2l7Kh2BJo5cpRbSUpro3LjFIYLqBLnYrxWlQQ8ndZGHKaERgk9uFGp2O3Cx0KU372cO1UC2Iu4IOOuDUMr-aZY~kRDp~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": 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=1741916902&Signature=pr8R4T5HeLX2f~-BlzSsumNUONZZf47DVaOy-lM~IuQR3SV1sXi58Vn6f8lSAmxUO-dOegAGZk8wKlXhsKH65U~QC06cy02xHCPnL2AzieH8OO5tctYlPU2IAfMcRkuk72NeIUkzGwboFb7anr0e8-ZPZw3eDQOS7maResiXpXZ1-1SC8Ml0iaQ72KiSFVL6vnl3ev65aKFiSc7Y4j3MS2uW2v6xVp8vpxOydtEDZemXJP-hltgm8pxVuzoevXaAKGpop41Rexjv4nMn0sGwVj0Vnix5-KJxuleeBCKfwTMhj1XR9IGRbx-yN64xtKJ8OpO9fzoF7Csd4xP3kDaEWA__&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=1741916902&Signature=Hc7AZfzCXP9g7nmvDE~MJ6l7AB7iz0e1mLOt3l10Pvv2-0LxUyo4lLZHL1E7cB~YHDYR8YH3YoKpkheQZsb6iZ0EpQxTndGA1~wpvRyFS3kw1n0L0clI7p8zAvLbd6jdqSKNawE8QhaN~iAjoQojvNwkCw9PVJYhynW~OUvlnS0bvbU29KdeTTe-Q5AWw8kkqRx135uIrrLKnE6vIj05a4iT5GjktHJZLuodpGXiZfHQ2~JzWlbh2OPURT3i-zEIA4K-j0djEGMnC7JrXLZtzEpHkJc4yywupO-9hy4CA--sKdsW8z0DvNPmTNIi0pI4yxzsRiUKKiDKNrxGs-bh1Q__&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=1741916902&Signature=BrDT6RJ5nkEa6bNHgOJiNAcuW8tJQ3BoiAK-jNU4DxGAZjvg2L1OEhzPExDL-6Vp3pJIfyuYrAnU4FC2YKT6q5yDAsaOLVBjUevtOWlk~zatdLYgKT9uMIeE5QhG~FkljHm~l1uy5b0BzQI4UFzUS89W~l7gkCpBS~HdaPG3DZflEXeO1FQwQ-03i~3CHdoCJ4ERCICDas~CI-SMcA8lKGLEb61RCKa0xAjIvjDjQ1Sk4Ch6k81maZ0g-vLdGAAoJDTLGWK-ySlnInzVIR6z7EzltOsUKOs-vIr8aKhpd-wZijMWiyRNiz4HSf~zCRUy-o9ubEn0IHpptFSwjVf0jw__&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=1741916902&Signature=W-FYVFBejowtkWcHl1RPr2jhD8rmRdF2J3OMnOoVhm3knLd3BtJNs5TpdsJNccTmdV6TOPRN0fVJDKX1hJapQ6-razIfhtdErYtXRdjTNA6ZU0Xd-kxLyorBdo5AA1gTjUptSiEfXXBqCVwT8CPyU2SmmEXGBoWAifj8Jc1cPyR2xJlNdt3A~xENhCSuLeOjoFKtMxJV5FPAEkzIo-ozGmXhw79x~c5tGgY-QBchVgNSlV0v98gA9cDbim1h9Nf5Oyf4Gizo8SZdcjGGaM1sYOFC6ntkj12yqXlUd3HeoIMBnw0duPwVkj3pobxmjqYv4XhFUspr9q-v-lDjobKaDQ__&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=1741916902&Signature=mQvyblnu-t2EJZSmfTBZvnn2oBf~Ty~5mpPqS4cSe6Q5I5lfmJvS0cQweOSI1Gi-chYxmdbSKmA4CsNmKFNSk6xip-SSkjowdmEHpo1xs9FOvLRhrOYecN7P62PXK3fxMgQG-m8aA990azdG2KbrQA-Q99O-0EApqGkGNGBk40GTyEFnRPFM7foVikqM5V-HvkTmAcVvdGvuHgh22QuWtE6Nhj1Y3pFzd9ZWp8JghqG2KWrnA5alzapTRya0BF0UaAIbYCWKplTnSutxCTfvoSv-mz4jOAklfVJKgwFFAoB4P0IcZAGkGkoCgUmhuDJDih6j8QcRCVRbWQuns1MQXg__&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=1741916902&Signature=Kq~nu9EOhjqe1zz12rAg1x~bNisMC8xKpwoZWdiMkdxFC8VSd~T3KI1utbbAjs6D2IJCWaokKMFGnCANTElhHogF9dTeSG4hDcUOkKGRpEMRXOty1icgc~wNbFZLDi5g-1pxnHDvqQgziCnrzMHEt8M8039CgspPFAQt4JDGIX~8fagrPjbJED1YgDY3iTzt8KUJlOfoYjXu9065LgOnQv9zG4fPeGPVvVA-qVOeQZcTtbcYg7-ES6bw0uKk-f~EKf8IaHIxPW-eiyu7LHyiFZOCsJVWvMJPzU52OioD2OdpYL8opN109~kPA8in2qzx5lXJQmITFRu8IWg9abC53A__&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=1741916902&Signature=cxmm33dFhyYfsJ~8-tcYmlLioU5NUp6WKL9aDsoQb0PFfgrW~0HveVq1gTVB8GIPenZU77LEPKRgkfDIB6jq04jtrP9-3Q~1jzEjqpTjA6FiTYXq84lUfWOmSoE01J2PdRqPOtCozRphEwx8w4dQRw1MIAyemHPj3nxLdTZSQKvVBVJbqq1uHdzOqTuKJ9QLmMnMMJ9TByRSnipKjMcx50dupn10rv~4cG0lzw43ySWj5cZNvamzWWmQThMSrKSwChffqCugHeZnUpevw4dYuGPM18s0tnA8lp-P216hmYOQsVFi-rC522E9T287sHtzbJpEBiJZe5spRBzvQZ2AmQ__&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=1741916902&Signature=bXOvoRrnnnGmyjJaQq50P-I4N8xOGLOs9qiwiVBoVsOxyqgF0sOZJaq4tvD2mbNFsSZZAKEfD7eCG8LN13n9hF4IY-x~ZHVKmBclH9k59uTcm~wPCHHwOV-Wqg-~4kWu8gF29xk4fowvpVSNF9K-cUXBckMm8qEP68~40dM54GYHV21oluAo4X9w-CJkfiQjuYfNt6LL13-lJQHxA8km-GOjochDHAIC7BjXDXs7Uu5Asr5gS7XRvm~ri~JLeYmBbcLRKaA9kQG1CnkwrI5lc8iUr88TqyGsC7xGKS7568iP-lLdMzwFBA0vd~YFuaWp2u4tq9iDeep5YKhD~nzUsg__&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=1741916902&Signature=FkJgcjA-1sQrG77~aknRZ2-SfWa7QLnhZwPRl1KEoso6ytwTxqaKv9HzOdw0KKXCGJF2pNdI3ejzRllBTka5-BmYzMrxdf9bEKhTtyJLUJDaEGH12-6bBsP84Z99wMMEI5Se3Fpr~nNIgjLtjKbkZAMakys3HwsKR7yTF3ILjeJAjjvwhbCLZZyns0boPpUFD-oQQt~gR2aPvUhtLKpSyzEw29CqJ-cj8-VhEemZZx~5oGj0lTd~uA9a-1lGM7L6yWNkr0h7eEn0ZL8NvzvouavbQkUj4M1MKWaGjbVNayou67z4EOLnu1md3~xcAbIYP56iDr0OmJCik~JG2yPNVQ__&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=1741916902&Signature=S0EDxh3EiiGlK9KV-0GelLysI8zLz19MKDVcI5Tn-fbnciCZXoJmQloueswEtQ3-M7Eqc4QvKQF-NNtJJS9UhhJ~xNvWaKGJxjNk0PWaPEI-5KI~fPUUvE1PUjtu2dAwGFKW6sBWS7AF2iIxX3C6dnTONiStVydx6UmOWvNYl6c~mmGYZzjnPJn1XjYrf5qw~bgU7lcVg790TD4W8mB57iawF5NnskTqXEH7wwwYKT~dReFqWotX5~RYsasISpu2SzDh3p62z6qL-Mb8a4F~jm~jCVM6vI~t2BQEvlIe1lpPJd66869e51bo147LxegRYOZ82VPVK7maplPyfRhVRQ__&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=1741916902&Signature=rvYbq6EqJ5kwfgidk5r-USiF4n-cLC4MSefe476Fkbr0xfpXhpl0m2SGpDrqZUb9Btu1x9ZIIDybObNpcN2kJXMbClWOS0w5Yl01~hn5rV0VVM2VE5VQP8~wfbxoRo9v5n4z9dg7xfrDZWCwd7PqH2HColakXV3FKPlDLIMHssl7Gx~b0ujupbslf9iW7QUZ-hvmKcyHQJzsVD1A8lwBJH6JmAjfer2EbUHA-r~PywWYN3~~~6XICKW4sM7qpYcDhcFkPaJMykBMPjPgjdexvxcOc6U9asgpDU-y7pNCvegu1~HcFcq13QJsLLfhRSeKAtq7UKzujOm2KcnDtYTpsg__&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=1741916902&Signature=WIb60Wb2QlSIDq~jViAxpnhoxJLcIgURhkbgeRKV5TfxeATzMq14Ae1Sckxc5rWl~vMGnIkycnX2KbxQ0XZTOhVHTAd9VcQld8NxBY-ZM3W5rq184--MY~nTyiTO5raGMylIldt~cXZnqMswqNhjPPgcsTdD~DzsIWGtozpGg2iN5i~hqCd-B-WmAuzcAWNReitLvxW~jqfZvtCMTvwkw5mIr9H1xsMSi6TY9iR8TKMj-cdkX3lA8pafLKOIWiiHOTuJ-yS9J~JXmerboANdKj0k3~8QKDyjATPV8WNZwT9wAv4Ge-zxLWxfIyrFfBwKB093GHctSNR7pCOfylzfWw__&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=1741916902&Signature=G~GKfB72~MMuiplU2KtkpcMsM4Dm7vdPjpMRwrHyoAHqazkpPJuL4RQO4CfhXnQDNNvvo16jX24WYa~3h5WAsDEns4wm7PdmXwRtb9Q8M7JPZNfkDSmqeb9wTrCBLf641rzULKJ1bVB5xXkDE7Rm97LeYHiGWBv~btNVkxITyAPLiF2ExBC2Hx7SCvxOk81W1nHQvT6Kip2O5xquWmMLOsnWzdRLWzUJ1HDXqjY2yKkHxjv1DNUcDzbaDBGIuAsIYXxhHcpQBnYJoIztEFGh4rI6n9Qg5sVuFzAW3PMcSZtEuQ~L3frEgqR7TioVKM92dAgml2F60LiY8zZO8QexrA__&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=1741916902&Signature=uVP9GuKJHri-Q3riPFbx1ls8pnLJbZI~qY6BvVt0-2kFco73f54crLwOnR0fME9hyBZvf-K7ElTrv0Lq5Se9QvInmFffEq4mv9xyyTWjFYUAQVZ7CxjnZ0fgve-BaCViYiCgUQHSGL1LklEVd9zhj8Z8UxPj-DUOnBtXAu8a2NboPcyIiWrNPUqsneeGiYebrHvQfuEmnTm6ygxdrbthhd0VpVwT~cst1gZIyRv-XzIXd2SSKUPY3eMoEwNBczwbt-giRufhEBmXQeEHAGnUg4p~xvrQGJkWD95jj3L3W5tpRlSs372bMKtlasxHHYAK6orciKCBdxEmG07FWpGSDA__&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=1741916902&Signature=daSZtebVk1YYR6fLexm~e8quAyIZRxh7wK0efi2ikuFrw4uCwWdr-caB6UdskPDJcqSh85n1STMuQe-OvM4z4k3NczB~S1LQRyFb4G~UZh2IofzST0NvYXmoysaMbOGNeu-WuVN9RnGM4ZZvEWS~0I8Q6zm7kmAjN4txrKKqyRaHMf1Zi2cQkQ7pdoKR3JyThoysSpPFRWvRptSSyKVLMGn3drVNRL0T1RqBLhi1~mTva5sYP5ELdNZTIu507JjndhO2sbRFyiKmBaM5KidsliYnMEKyaQ15GjfJe35yZ1diGnRislPSV31~RnSoDOXiytlq2oPVmLAdz01xBNfQXQ__&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=1741916902&Signature=yHKJjCCn9ybwtfi8geu6jVxf4hQYcASIpAu5lmbZnmb5gE9~RcaqvDHRiIsP884Hs4nUrkLINzqMn~vTjFTR-l9a6jSr3uqWE6LUNZZ6z6zmP6i7yXVxdzD8d69QTcO-3j2jPsfpEOoiGGf7nRb7op7e1AzXGj5MRmkAwGjLEUPeHkxEag6B5D8qiWINLjLz69s9diCAkoP51p08w~w04JZcnNz~~t86G9W1JHciZZraBWsdizRbZ8AgL4sytDmrSWxRf0UGgtWj37lbNYS1BRh73l3wArsmraDyantkHRNmtVSeEpFgzXWM84LSPJ60CyfehZyyKPmg6p4kdTlPqA__&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=1741916902&Signature=bjiwbW6fg~fuxlkrgTeE2bjFcMiLqLWyqmo1B2rxljgWxtviQeBd-BCtDyvw8tr-6a-vHmM~sQ7T9O2yaf7imlnS72Im-wutXusun89z8qL8HbWe4OeC7J1tQcLvcUphCVtyuSlng2aYMbtWySyXanC4Cp0JZKD15UIisL-sjwrPGTClbUfAsUsF9uNSP2cDP2oBfzMvMIJvpU0dI8V5yTfJdWqtqWJhFVyyx54uAkPgJZRx0i8g2MsJshM9ITYKihLw00Mxd4dLjv6nbgQhndlNIQwhMjaqSCkVlNphBYB4UqBH0vvEtomQq-DEdzZhzSMsbv4OFC8BKflbvqJGwA__&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=1741916902&Signature=kXt2prx7H9ofsWvlscfM0cDV4hvbdLn7uuGKlT8y-1AIuhaNOEoABN269tm4fTRKyRUVxFbPgRSeHnvelzii2rPDbKXXhouGRTlM671rFWI6b9wdHXvqq9Viq5GyF5uuQVYIjqRywG4pcsTswoWSfBznZ4dV92mjSpEhDqosHpsfVHC1Y97-oksjvgwjFe-M1cS-N4ff83YR2lwI23IUbw8iQuS0amjiQ6nvgZm6Keed-lmblrJ0Mas12nApPzWmXoMxurlLTefjQ8omAAPCkG4HGKOXX24rcyGNIY4NPw1ytXxdkSkF7Pl9M3n8s3TcpOkaHLbMbT9SWfD~ISI6Rw__&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=1741916902&Signature=ddSbnQDDKZNxcBbr9O2JL34LXoDxv4cVra6u1Wf7SrZ0ZnoWZh~aSZxwaEJBvR7b4Mwrj6wfqhG41JQHBFMFrYPWJQ9rwDli6~bXtY4jIm2Xsh9EaVHFdG6L15TRKMWEQej1zrbic9xuHYMbuw-KBxHIcjmWzh~y0TOseBscpvXUejb0nsAuass7KiFe-fipB1P4DmweXybVJzestFuf5N2dpmTbEujDKDgGo84n1C4Z8~pLhJgsZDEjVs0oOQYZvNkB6dDcV4hltLs82IktKr4KnwUgJsrlbvplI5vIKlrgQXCpm4LFKfckUgYnGX21VSVTSQAOBd4ztCAb2drDKg__&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=1741916902&Signature=fEXesWpIRUaNExQDzkXz4Fo7OVdyoly~~27WVpRHmF~lKxZXUhXUOtlqZpXdH~woFo9PtKPKO44UKl0R66XhaUHeZtg8i30ccHpTDzicPfeooJ-j~6t5eWcJLtHQLk0-JY9~fKFDYh96x5qPj9HeHhE534pjPYtzYacreAQpooJlNn-jUccbvFS3LKTv~UKvtXsxDMx6a00cyUO3hheKyHmQOi2Ca7PfHqPUO0mmEwgQWdld52HmS-znB294Ni6rKx9R9WwsH3qKzd-5Q69~o~15-YfrdsrKCM1yYFdI8etRMYP0aRbEDB-qXWv1GDnctDC0HIM~aq0woHrjcXID5Q__&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=1741916902&Signature=a-klSsIhRRUuEVtZobz1wC1mzMf0Sttc0mt7-74Y34RAI4RccwrGlzL~NGdkuoaoUi~qN2rTEOxBnR0e8FM-z-daQ~UxtzUfn6vSOBgJ5HxlPzO4nub2n2MxSDa6lmXw7i3Xv3rDSRqKtCNpkFWF0mu1s62WLGIPbz77ny3XMIaS2MnQpQ2AQ~PQ3lKYb2KM6HU4knVNi8qoUIdYBMnQW-aMkBB~Jqep-We52bUUoDCB2OwoxikNVZ92z8OXpek3Dlg-xAKgz5DhDhpwnOzF9VSh9S8YafeuIMjB7kL3Z2YpdsJS2Kw5XAefmPGjQKuH-2vJRUaeKdM93KvCaFMKhw__&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=1741916902&Signature=pn9geSjXYHJxjRo0bhRD2psUxpE0qDSANyH8iDGtxTD67BWsrdVCScsJv7AHQ~LACASDXMgO8U9kHzWmy6yWS-zZay3QCyk6hJDR25zP5RzxlBMEdKR0wPrz2enoA3F3C0HRmCyciJ8z6BGhZZD-pkBRJR1Rv7KD79Qc3AEOHn2GaIb1EspkymtlpDfBi-EABH3IbzWc7r41aQospMaEJF~q2omCkouZk9xDOk2F-miytVqKRp7bE7EvXynYmgC2q9Tf-9tubCjx0G3wb6VO7fn5LIHI1jVvTwy4dBaikJqOFjj6NXDCSDSYkBhSz1VG9yJiMNxDgmFaSR-YvU6uag__&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=1741916902&Signature=aNrnfYFEnFVxAXOxeRMRCHVrvIgUlkqp323uf8~hxlqPtd3291eOFH~px3RwejTnjlUhGEelr7ID323pbTbuvib7yuheQMWPG3k5Ua~dMGKiX-w2SJKZOgUDpZYyrvRBDoUV-CdOV~tZzUK-6B9QBl0o6lT3JI5nQ97VT6rS7VbwHZoQXzNL4B7sUs2qRx5Z33~-qmES5OhYwJQTjl1LD1RsQ--3WwqnMWeSdaF8tMRbTDs7zyBIQJKXc5-v-AaMHUZ2NjCF506ZNi7JDG~57jt1olzVPtWbjC9J8lo~-eX0dPcHxPBn6eX9BvYXVbOqWfzmCsGrXEoHqK6MtXDQWA__&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=1741916902&Signature=ahfm6aEBG-FxG0P12iTnBVsfrS7UgcRAsa9vEO~yXMGF0WyjKic0~qaCIgr1N2KLXsvKvi6aLnHLDsdMnhikgS~Q8EEUB24712AodAhV9fhIT8zGiGbIwXpbCa9thIXThQyvZeCWlw~GzzJjszeh9DoJasGVGWZ1hmuNwDAA35XSgQMlH9vU3RbGsRIl5r0niX9xdmNkGHhlhZIgG2f07gT~vrqSzbG83kTj5kXM9qGOdeghViXxoboPWAXTle0UlFlLwStjGk0NI43qkL1FMF4RORCXqVRALYPfFTXRIJBBHgGX36uGav-SUctWgfckXxAVCvf0Q3Yje6ZMZpmk-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": 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=1741916902&Signature=gxCS3PxiuLJAyB1OiEvYo85aydT6ilrQkwbu60WCY9gVs7GNf2WxiLq4eT0PprOxgudzSx-IK4SF22rRG00s1CSSzEGA8Nlfo2TaKyL-mOqfygjNFuGvyN0Je2vpVEVo~7pE-tQ136GrriErCIzBUzfdFBN8BDHx-o4dUfbuiXHevMxjOulFM8wKh6aNxkXE6wvax0X0N8QwEzx4oS4R5W7Kye23frAuDoA8v763Kyxmd5esnc62MZPjFa3YGcGACMz9qf8LPOe41QYgHSIV68MJ-GZlc30Wm44nMEfggI9UrxRGScS8h3Bx4zhQDF-GpQcJg8gHhCwbHptETd5UsQ__&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=1741916902&Signature=eIShUbJe6Ld8OzivNlpix73Y7nV1m-D8k~AikEoaASXA2NjrdA4sXVP0L1yFF--eS79sUySHr1z9sF6mHtnshHfr1Vc8DJjL2BjSQeCc9lNvu1gSFMb5SAE6eShVgbmUlQIxH0lBp8m87rlT5j3j1XW9MUzSpqwpuBrxavkOf-~dO2~vIj71Aqb53z4mGbqkCYxPyYLbgW5T659VH7JPCPJWNHDdZhluY1ZR~jtwKLKzyGSEcXRQua0UsAw2y8lfT~vpFWEofH7M3213gxgtqG4eJBWxAGdFIqsuGJyYRt17kB7jrUuCzYweZblPOHbX6JLqtX0azszuQ41L-Rp95Q__&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=1741916902&Signature=VovMnYIjDQ9ZbiMaHK7zcJfulrXWLH0UoZmTQX6h10mI2hE4AX-IrXs1byOrS7bv7bsNO7JTt5TzchRmp1ZG5kE1A7Gu542s5skPQSFY2rrT5Qev0H8YxgYuVroTlY25FWhhzBNjyjupwRvbTmVGEVRtvL7rV9y4tOXZRwCcFy425AcO0lPZWZPbzqSfhv2iPcLn9sCor-dXb4iP~eGiG9IXzqNSra5Q8L1lGvBEFnZpnT1zMVX1xOytRR3AC4giU2-Z16iNJ5fgwRb-xelzcPlZio02nFfFpsjmAICi4jefMD1mUz9mZmyYd291yt680Tt7xRvtY75pxpTWBEKvWQ__&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=1741916902&Signature=npfJR6~u7XOKl-dI~WmGpdBiXN900qJopnBpNvpZvt8j4VWr3NHvAvyKpWcjfA0bWTCtoWBbab54mrkqoBTINwzgjsIlGIjVW1uIkHU9c4nFkZgkujjOYGMEq0HgJ5r-JEt8jfJBjFxmWN7x0odFFeakXpZvbaV-3TsvNO3AySI0bXIPIEY1QvMYRNvufEyyINY6ic-qogKZn3FHXCkmhSyeanicAvq-tFXA0pYWOWvV9dWx79zhYoPRmBQ8wkEHaMPV18bBi-yxTZRtf5csY5txjjS2xVAEa06Z9fRjucVRXy-18l5LWmyvVcIhbxi~-J4iSXzJ07tSuUwXuRUkeQ__&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=1741916902&Signature=CQ-UsqpJyzqiytKAjMthcib2Degrc-mgCl8biNuNNT0MZzwFhHPr~zTZvQOthCm7W8oUlqi1Tq-8YoG3NI75DWzGsc6NPjeTzb1tsE-q27hbk5cz0m~vQTuKlbe7bXcXqv-CcZsx8yWM955owkCi79FFklSHbuq7Sku~ifSg3Wo6I-Ca3231nXXootxF9vMBReoD2zXYjgGpLJbeYhPm3j3DTKX3fksrVCteQFxIDds9SxCLOmjIHhmkiSrJ9XA1gRxeIIEU9wtAninTi8i4tGo3JYBauXIMKjRibOKEn-2Ia4qM33yLp7N16ZceQ-EcKC7UUo9ZN5XMJ~6eBItl7Q__&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=1741916902&Signature=dvYvMM097zurn7aEkxhwCPfAt~tz0qf3LOZaHsTblYwIrW-gXxX3rjTvbUNOCj1WXY8yXFaLUIg7kOeAaRzwKetCzQx-0InrmT-UVrL8L8DznhBlpWMPeyeoC354F8aglPmV2PTRTHQjr5AVJBkXBligjh7CJvpbSjbRIhHYSsmj27GIdjMSPk1NBaLW1cQp3MJTRWFlLlk4Stl7OfR1nOYH7BMTFqU6pB3xWsDSppNIZnx2S-Os9g9bzVe5xwyBajmqSEeu5KtOPTdQHj~4Dr2aE8hps660MIz-M2WZFDPxcKcy58qJUJoSuKJBougYzIMLZ82TKUqzAGXGpVzr3A__&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=1741916902&Signature=xicNaKvpDE2fSbzRDtVd2KENBlp5tXDz4EIeYDxLk1P4wXe4HEKFn4TO23Hy-7IdOtVyMbwUoJKQXQbSPxmb8AumMJxJIfQU-yHWBAfffDFfqUA-ea-qQn99Xd~fEBPSE6W21HPqb1q2sCNenxLbv53K6mihPKx-36AARr96fmnG0dgAxLRUfnzUrQjodI3kZ3V1vmFZVK7-Loqb47diG-~yPmRkiu2o7rB2bRFzbtUPwh3ljcO2urlD8jGX3i3TNt7CRj5-yimlQ7pHz-hikEzAEfcHm7WIO0XMcbKrTKXdlzlLtfEh4CMDcL-vgsRZSeUFrK-Sp3JKZOtuiEMz7Q__&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=1741916902&Signature=uBuAEJCz-MbI1VRcqFp0-tTp9WGtSPlHZciDxe8NoeGiMsIqJgXRXMY-YjkT9Obz1VndS1otEwiOKlIqj-FebGnF9eDEm-cUJdd3XOe1zskq2-es6lzs4kUWDxyEm0Z6Kyx7zhFcS7TyQzP1jTE3ulwRej5SEf7Ja42ZHZNd4PBfNeQaZOTApU64SjegJc9WWJvzEegoEEHOClUyIol5sydFwjYsORIrx4kIfwK1Mwo7N1uENllTQacoEwEbNR4~3lj2In3dIK7w0pWJY~nEJXt8ROHOmnO2lRfhpgC0LvY6TeF~11BmZ7~ZqeO0FZeaKVyOuSpI2E-0WX1a6c5L7Q__&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=1741916902&Signature=fMg4~fnLc1phsZpr4En3HUiEQxmbu2Bth4RSK-rbtvi-q3e4SkilckmMeNu-r2IG31Hzpxq1RMlUTfMvq95n0L9jWXMuUcQrEsOfsmA-TEYycPfdJ6qYHr82KhPqhquNTb4S0Mxmfv~jEAfDC6NeBOWbxY2QqiulzLYpyPqDP8ybTFs1KWGnFajaEqL9ZkYQPhTuQdgAxrz97-BsdEGoomFAsmPG1IlU~mBf8eSoMNvcsSCa2VBqXs8qeXdUrXsXfmJT0eQzODFLnS6ip2ieb1nMKE8S9ZHHdv7dDEv2OIp7pEJz0DTydAL1wC5y3JYuE6ohR~WE88dOhYREgXqrvw__&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=1741916902&Signature=MEAhMW3rvChB~i-CIKItBIA~OOHOAjaazrpApSAEKOEqLLXFtAQfC0jVIa3CDZ3j~zSbh69YQv~z1gD1dnrnmTiqjv2BumcwHoD103YRzJ2Epo39Ycsfaoj28g1DfsPET-lX9obo5qYEl2S~CQt~zDeiSuysgx9xfv-7-xaqKmQFmQ9Wff9AD2CXHE7aKzzcAAP8-~476-4J9yelFApqnvejJp1ZUeRhSo18LXrsKst4RraKf6WuMKbkBmUAuJduQgcfpIkmMmlCjIl8nVAvvEQkYFDRty~c4dRgF9VEFernWaH4TZXshC4vUtX6PBe4VgUdL6Q4yAXsbYQJt7uDgQ__&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=1741916902&Signature=XzpT4BtcJjbOGQpqOL7yFqt0veab5-dWoH~YiqEXfZChh7OKzyZl~GZ~LGt~VL2JZl4WP0QMhZXjo91edgw04LxvsQqeQmAJNJG0~m9dJ6gCPHLiu2a646ZsGUzn0OyA7B-~~~CHJGSSQYLwEckLnrwwhgCCyNARcoUGV9dZQ7QIlQSD8pE3oKJY9Vu50zvo7QPRXXEXELEEmU9-HXLab7ZnAWZpQGMkUVH~w6UscYEJu5zXK9iDJJ82sGYZFs8OdWFvpALipT6O7aKLoLE-6ZIBz0H6XPR3DieLMDYA6JWRxM-Ha4MefgMMeQCgFwsRtMcVdLPciy871f-ZSFg~fA__&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=1741916902&Signature=DYzd~ay~HdCexc9CbmTt2VjOFiAcQZgIEZsEeAlEfRWsARy1Y7J8nbkoXefFxI63HK71vFR-wxQOOb4ZDsPY-wcHs44J4R3kYhVGVZQPioKFXNBMGEacn5WsItJU7ejLIhqs38CTDaUbFuXSD9whSxCQJIvreDncI-sCrrUaGLWUkECQkf8uFdM~stpcdajVINM~K1s2sH~TU1tL8sdSZLPADnUYEhEcz3EcC-DrDu90bNU18AjcCcyVKjrc2W4QhoXi9jhuZYwxTVuh93pRIkalUKx83j2OteVTh8W6YzN452Lm~Zp~siQ0XOY3u8QbcXaJH8nUtX4fFhcKbybDTg__&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=1741916902&Signature=Iw0PIEaI7rRcJnm8jXlt4iXD-oVK1v2icUTX6Q4QlHzOc3ZvG01CGO3iZ9Z9JsAK3QOTFnx4peqUWfj7Pau0O6aP~cCOvRZCnQJldB8hMBkkLMNvqSNooTN1io7W84~89IF26TavWCOzxd-BBe0E5u-J~cxkiPVM~PvJzdQk4yDtzNYaBUmMpB7p4pqWm2pR2CfwgVdQ1feoc9B7hMt00mcSHb2ZsGOvKi69lqGm009x96JUNRvXq0qtColCX7IveAqc3XQnUyR6PA8z4-nQXUyVTUd8eWdGQTjddPqUxVwhKgHRB9Oyt6FPFI8BcUCAXo8rR6hyTtrmZLacfFFTog__&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=1741916902&Signature=qYXZHY5v0kK6SG0R1gfAM-gb533iSb4roKvCG2mdHKDE2puPsDgaLRA3sZ63RjynvfiVFGVApDQnBtOZ7q1l7aLqmRIkswcLBDtpTIzwy5VkZij-PSl1aop-xs-bGvm1tOF6AGSD-zGYX7sr6TmDKLYiUvVJN-mYQzy11iANUrnUrUp1TxIjy6YitKcJUx-DLMKuB0~C8tIeted~IJ9AJjoSNUrAIAPO92MfIFZ-jxd2cYfERUsq8GpAd4R9v-xfijq5BJtgdJ2h-dpHU0I5VHStgmEUg6elHIx7De-dPkxtjN~ANVXVr3tQm6h~IyrvL787lEk02g2LhCUGnttPeQ__&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=1741916902&Signature=ZBLinZxKMP51OAv2uzrOhEyovxpaWJJO1lYSRHbFvE2Z0bm3rF74qJFVhjX1U-qgBGnYgj7qn7aTTcp-eDy6uQip4cCMvOQdTl5p11TZZpxmGl6zYBMvlyzu-l-yUA1fEwxJwOZ4E8ZP0l14H81qINdSk0KZFacs8hjdRAu0zxFhvf7b6vgINf8pFB2Srvihyg4tQ4Rl58QoOhYReXINPEdSKVQLVwsZGXL61-4E4e7Ndc3sKBYQgqTNRC3hf0CORWlGWj5LzK0BjZb4miHqcL4NgynUF1aHPN1fKNDSHLwvLKe2iuPmDBAiFVqVUgsP7x-g0HQF~GNT6Bzr0gEJSg__&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=1741916902&Signature=JK7lzLX1uVEoFOlGxrTcZC7ZLNykXTfpeS9efqcRNa8slc3Yngr1lFmaLsL6F8YI3Gpe9DzoCGl7ONDQIRlTRKHEIMmxm6BAC-L91sbLMarfKhk8FemJH~z4unRLwHFGe8WTd9UX3U5gMdm-qJZCiBi3qc7IYU9R5wf48PHOO43jqQ~vfMvPV5PYJrwCtsVODr4Wgg5wnZFXWsRG2NBXwNqpNbNgY1fN5yE9EUy6gS3Lko~jXKouxXQAmCcnsHqJ9whwxkFvqXHeM~KvdLdwegVxcx83upLQggFCemzkuyOGoVOzXZLGNknvJ5zbkhj-lbS4VDBRWfmdVw~k7GFPow__&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=1741916902&Signature=L-nnhbiwjop6lh3qcJGEWVC0KNe2nSBKobW5qYxroBagd6JNC6p-~ZGHa1-BM8OX7kZ8vEbsgmIZr-LaBrFb3GWHiuYeKDOknoBZVCz8y-W0psMtLRNMvREPew1v4q4H~dEtVZsZoGI4dOiWgY6KI8e-aQIyGpXZu3v25K08uoI3kNgWj0--POLM4EQtxu-8tSk9IzYmreD9dw4x6i-51RHizrksoEHWf9o5VeqEyBGLA3u23RfUZp7AQGLCyxtAS0yySd4pY1KDM~Oeo6wCINxu4NVxV830d-Em-8e-bxllta4XS0epK3IOW~kO3sGcOSkeFSYdhJKfdu7PADnSbQ__&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=1741916902&Signature=n~abm5Lcw4H3epLJpk8yDnEdtlZyxJjdJF9A1B9yhK3wWEY22aN8ulR1-TmziDf71wnZlvp4qWrYJA2ms4oLgVM6FbnqQ24TTLdoNse7gxiC9WHyxI1e5fOoDvhEp~iIVm4TJpjpUXiTKkHf3a2BhXHtzfVx0DN7pKN45Uv1qBebKREGc4UTvO6FGg7pYZzc-nTfc8gdK6WLZy9~FwsqZUDWyjebMp~gqOMkksCq5DbIczPAJyrAAAncLjd9dTv2Lc2A39HgfRMTOt2X2CGa7MC0~r7q2jlCeXynzS7slNpJeVtH-AJjoUKo0wX3SwruvPfl3k2h0iqxvgld17zSZQ__&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=1741916902&Signature=WS062P0LtvmiJ5er2Tk-knOnmOINRaQ8ipgZXr3zR8eBm5ttV4pAZXL8kk~47KJpLTM~vrrLx82DdAFfQ04TQgOGWQkfK-aU-e6~xOFuSZQrzPh0vemFSESbqW8KHxeRu-OcqH4Re7D7uhM40hc42lqTk3ikpT2EjBQpIWa2bE3UNH4GWDmTbCaczHRfBv57NikoLAHaWdktQoGz7d9LJfchgtnTRhqpfpHbGECUXqF5f5ETHs7w6K1RVL9rGfWikQc8JxbEs2jVc1T6Ou7CeZ2DH5FnJ8xbtafWs0sZ~XNKYYTnknCAQAceuL2K70lbPnC7TM-MWWHQjsNQc~yRKA__&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=1741916902&Signature=BAj5q74DahKAdVjexkpyhSLSninI-zoKqBnrip1IxYA0VOeigviX2Rw4CnbPuUoVN~076ZkmAHaaOSBCu5mS9beTvakKvtF5-Ngl1jdAEiXOcQNnjOcWWrMwY6PaOULzZDN5tXqpimBazIPbOg0B5jtUquN14atRRI2y~JqsdYDlHsc0N047Mm2hAsRwgIZB94R7VPuHmFY5oGHZbXKCxpiXl08vh~kdu-8q7fWiGlJDqrdZwoom7W0yzwS~YyFJwPdwqW6emOd1EvDT9hMnRFolp1KhKqVqB2Kl8sEiEi3E9IHA8QNQbNSQU7KqX-VaAbpjpKhr5Zp-VQGMF9Y7Qw__&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=1741916902&Signature=fdEF9PxSdjXF12UM51MsP0yChq8AvhxXvgjUBL2i-6VJXRk7vlcU7CYUelqP5zzgu59Kukbe5X-jdwDfG9~Ol~5EzvMgX1hekhFA9caq1Y-xcDe2Nd-65aBwj~A48~KgxvwPQwHNO2zjcSbkRHKVa7GarvQXQjm3qiEzWWne1pwleHg9Zd6ZFPapZteCHpOsQ1gAOM0E2M1dZHB1TaHmHM~9gJmN-CGYyliaBR700tAAPXa5hToIRxpJgxhlNIRuECqbII-AR4PzcVK~f6qzdAe2KBDD1ZnLvU7PLcw8DwFMmB4JBocBTQqJJ8Bsmp9Q6brErkDk4qg4wI-rHxFE1A__&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=1741916902&Signature=WZLtYZEqXZ8zfR4p3hcVPYLrv6AsaHbROPD4X-JiVKL11nxN5hTsnTrzEIQLOcEHLUexNoonOK0wYZ3Gm4z-9EV53d7J02PkZEjsuVdZCMFNdq9Jy3fpxabiyFljuvGFV1wJ-iKddkK8K0grMHFy3kpADFtPK16Bw-rI00DWn6sYtGVlmvXAgrmh8eisbB~EHzEcuLlu3JJqRHuWBx6z6VXV4I8pWHTUXj3aDjl3XHpJtr00KTG4~7I5P~Zoh5Px3~6CYHBLo7LlvubW7wzg1zRLjBI7GC77NSM6ZjqQ6SCdgnzyomKifeKH45ZnwWT9O9K09Kl2ffZthT1X4nkzvQ__&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=1741916902&Signature=WD~nsRBQpBXIyUhzFRUY-Y7AeludKm~dT3fmfdZGCZki4Ycq5tgvwxgVLWHPTMKxO5CBMBGqNjXwU-I0tiIhoTcplZ0PYAof55Y2aTKQOmcztRBxPgdPpYZE8HV5kjhgyA1DmTrZBIMILopToRVy8WFyEfYeshGwBSt6UBIUHb3m7~VjcbFms~i66dk12Ex1qQ2tR8H-oX2l8lL-xYEOzaBIfP1bMAXSBiq2GpzYeO-q2PKhonArXtzNXcfnfahRnWehR9JnAmzqixC19aj16PUMCK8xhD5l7DAIAv6nMRZn3OC5zFMR~GdDTvBSf4EauqGWaXJMWDi8Cz6a5k60jw__&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=1741916902&Signature=bBKxIl~p~Jb0DMwFDdRnLgGMjN1sD2ss6dwTVfWoYAv3rkhcjBeFZzv4R-iZDebSWlIo862I4a~wCwfF6T5VLDroMQHRYQeetE0ZwgP-3eskXB98b8y8c2h2B3cp0Bo3aGPYk4rXGgwoindLrTcxB0QesHrrRvpDtPWYbNwmV30eukgYJ-Dv-OGpC0Dr~SsmgrIvBnR79E6FlVGxsIP48feFTF~nfrK40ZdKw-LQUPfBYOTG--Q3aaBHzzNHQ8mt0D-fl5rQ76df6rkAfELYWd6TuNPUwpRv8UhJ2khps8phhU~eKWGbGlIZzpaijXs7mKAYTHtqbs~XpKUyzS20nA__&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=1741916902&Signature=H405AmzawGuzlF1nf-fVtqpRpXe8kgz~haiutR4MMhrjJLfJVfUB-cmsJY0zQfG6XfnGTRtbRWOxwYxU3DxLZXERXxmjCuGX~cqqzYrRdNVLxq71s3jFVww7Ka3h5yqNPMw6BjCHaruz8Q~g4bRsA607roeKM8Cf-REBaySOIZfqkOchr9TmIlLIWb8oSYzw8y03cYLVYr~enpKsZM~yk~BDuygTFYZhWAgW6xLLHQWG2hMJQY0U8DKGf6DLgzZ5zAzss3ESMHfdrn3pAT3oAhp0BJJ-Eyfp5Agw~RjhAigJq~kvOKRgTSIxF71q8AfZGqPkwPLylW-KFIZucJ9pcg__&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=1741916902&Signature=OShoUV1E4h3ARli3DBp2YoNQxS6G9Y4DTX6S~os~Ta5qb9KrXJnbBPJA~9h0QKiZD9pIeNATM7zUoB9JxYo6tr6fbUq93TOaIRYrUvo41e0pkYeqOWdHUqfiNaGKnIXq-LO1BuqpoVjPVNVKnECPD8j1wCA8ADxLPiMqP~lWssap6rn95bDx5b6PcSwZt5vg~bnW36Yb4J0htLfaqpxFuslqHEHEj~GYk5s11ElVPB9EqcneMPnBl2pdJvlC33lvAqX20ZrMdJ0FD5UBC2iW-OvNBAk9xB~G~w8Qi-oWWoHJFKBUUHP90N9CGC3DiaduCFWrDeklUo4BDaHm6aWLEQ__&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=1741916902&Signature=qvF5a-naT4WiLIOJ37gY01Ud4yhfKNQqA9QzRoIAbNu5Icbu8Tz3vM--QnpnBkaKa8licsfS~a2ZDogMcYU0VFbLMU8n8wu2ZgsZlcsnS~Z1BU3ZNcu7EIvdQCoWa6DxSTGUEdzyXhf~Y5dv-qKQjVily2HeKINOxL0i~qeZAQHrHh7BdH3TF3UnCN5wQisfv-KbpT7nWBXPVbERSoaLN7lIFydnYG5s1U5gJK6~Q2EADSkR4Q-EqKQDiCUhK~tcRl-G0Y~IToqAUi~xtoqMmWFq-PHEpFvCJaPwTH81PESRJhKtEokTVOcMUhB7uMijU7lBybvQhipoplqWJHoE6A__&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=1741916902&Signature=bvK2brHroCHN-Hxt6ZTc8qmSkLLAOks~LhZ26GAV6dtkg5CSBVp186Cx9BaprRM-LNaU7qcgkgrTaN-v-Of62q1fkd9dNqAbVGPuKUQb0ROaPEZ7n0Lz-O0vSbDl83cZn8ptSkdTV7NOH9UfqlQ94M6fWHbJd5nMDsU8ggAgCywB06nMeNIayGjT9wMm8ShcHxxTXdxWirkHwXnWUtqXS3kcLcH~dfK40PNrh6fvnsiSfPXu32MkVjf65kqGPohcsbR3RcuHTxR4HtFzvR4FuHO1AEUl87dGWrcE4C8Lc8eMeMwirLqqGJ4w6-DmZ4bEfTWziJyRS7YL7wWFd6MF3A__&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=1741916902&Signature=U~SF6A7zqqWQ4FC87-n4Myu5m2gxgdIbgpRA1J7714D0JqKEpaPql26xmYT6kNGsEKSNclONeSGd9HMVKCosly~3rz6xKFvGegJoFWnE2TJ6bn94eIu8KoFvgkHeH7bDZA0BALVwIFiEFTj01TqrrnGCMjV3~ottpgYTj-xLLP8vJ7LerbhiDUd8vR~Wt8i7x-Zhj-cox4PEPbjtUu002A3qzXcETCtJMx1rLYwRmeyZ~d8KSttXIByZJ-p6MidsF0PkTYGDBw2BseIgZTCW-htaamt8DoJr1xdLnVOxL1eZ4t5vzqQHfFFshErd5wgIqiIg4bqoJQaN~WEecjcfvg__&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=1741916902&Signature=upv0sQTbS5GPArvjSB8cqZUCr2ltss5lTZaQV9qK-6hbwCY~U7spRXAHSBGPlWDkG7MqrE6HJGjWDC44jYMWae3m55uSm-B4waAUZmsXYXxMl3YoYfmHbbNUI9sDNrF-8wUDptYRGkzknWX4y5Atzofi0scRmCY4ozcDJdY5AJ-2nS-to~DCRzzt2KyDgmlGStUFczrJ0DHjXn0Jfpmk2lE7excuz61ARU45JSI1qXHjv3pGTeHM6JiHCide29zOYT4aMtdpVNinEE967ZPAVW9suixdXy-Wf0yRUBO6ehYTxiXFWaVgkj3MlpbUgusVSL28FTLkaLmCW6vdjAl4bQ__&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=1741916902&Signature=Zs0UdrggV1Rh2CDyt7SuUhrQgby2hkKQNH9bGpaSagwNO36r3X6YZDKm6pWX89KXuh0ddKp4n9qQVVYWXU4ulAgzCv5mWPlEPWQUy98YjIPTRXnqPrtU-LuiVaxbPL9OmG013yY0DKalJLjsnxGbswrwNMBALVl~5MRMX8jr98Fx2v8QvNtjy0ejSThG9aCAOPiSb3JNMp2aVaOAJoE0OhDjLOuEqgZBzNHAe1j0nzNIuhS0To6BRKDpBpdi~69CvOoC1p612DFcFHALckKtRb6JFkaunsIZRswsH~qEC5kNlUxpXlsTWkDRu6h9J5v~1s-s5FM1OcdDQhpUhO485w__&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=1741916902&Signature=rHOwymVpJ6xzHOZTSL5P9pQz~oj9CouFbCCizMuhWqXDKOSQ4TexjeRjmUOIksm8WT4L0yrhRaEKIjv~tptQVhCjzpGk12sU5zXgr1aHbywbiHEeEJLnAsdUbb0MBgiAPHCQmDxIfHunQWfA-orhZShJMK03b8mXZmlOqkhSLLMjyg41AhzxYoONcWXF0LcmqLxJR9mIw69K5CnRaIQdRrNOUlV5bMzhpH-d--vqKsKuLzDQ6NKhvss9jpeuiwGGCvwW84xnELMDPYZInnEx4uKM53FfKSkuwQkyCZFc4BcWZA9ZrunsmLGtWZ8sfA65~qTblCgbLTxryRDOz1xEYg__&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=1741916902&Signature=catZjwRZomdoY-DKwDW~KTvHWIfPCSt82IAfcpEI0oNOBSgTS6lPS74UNM61HEViuKHaim~Rj0wB1zqdAiVCtd92B06xHduALymSrVchIdGjGuGdQbd7am~uT~aec14RHqT84NYYrp-OVa0jnTHmY1OgngyBFf34p9NsmSgZ1vvgmfF1HT-v~KcNcJdb00FODRdGpFc7UNoImz8FXtoTmnTP3-wsTfUliIrr5MCI4AYxEhzRuvLaVkSPs4otKKxQdNklTM5LP1fGbr0rE84G4HtQT0Oij0iLmg0Eka5EFdNinzOKyn89nL-2eTE~221FaU-ECoiEM1CYJAx-BqV7qQ__&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=1741916902&Signature=GMxYE8vEOdGSqHjW5kaWlDXHjjxR2F3FXNxFZo~vgHhry1zqmVHSvRCQrBod3lnB6p-pLCyCHYzpjZ6P~5GMhUnqV1xmifp7f9jM05lKKx1KkxTvgrUmCUZH5EDKcpzjYad---FaPJPoHrhJI1Ipq86rCOaYd6QWogbEDoeGue9pSKjB3mhu7LRKYc0KTNTnXC9QJiH1Erv~4apam9q8r1ZmYE4~cSKFJBQZKDNjX4SuuklEofx-mtLIAL4cRxs0~M-7Hb9i2E-PUD~8qcec718KkWZdQGaIqCWR6ujN4ZohUZD7xHUbQoIHwOvpCV1KafGpTBHkyf5hFu9AzbUpCA__&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=1741916902&Signature=qtDTvVoP50-aGsm06NBZWRXoZhqr2r5kZp9soM7j9DhnU7y3pil30RhVI0GSYDDKZb1GomGIL3gtguw1P3bEy7XAIxbV4cHyqYcg2P5bnv6ahBNwhttYC9QN85xsXNG~nNlFQGucD2oaF0L9LDQOXEln3d04jSvL8qnsZ0HK1zts2drv~4WJljtbPTrN98BRt5sexh5nQCxWjfhbrswDos5KJ50bgnjQ-OyWCditWcMyuJdEtZXtFpyULROy5huzK3vx-es-rIprJl1~RGVNoFgG~mvUW2g5UO58cQTDqCQAb6vq5AGLtWkZ2CfU3ZA7X5tt5fyJOufrYsvWhItwFw__&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=1741916902&Signature=J5ENro8K7mM29UxCPA9jW2Pd68F1dbXgtap0nBO5m6Y5~0xeQB1QjrMx80aK06BBaFQ3XjtzWEkETDuDh27G~YdI27esL8B6r4tYZaxEDwP0~Xm1KxGVG3SIfZkTyFchhzuL1eYIoNafK2uyNeqS0qfzQ3LtAZ7rlCAgvYtGWRbL2pmbkygWO9vI0Ey357zCIxqHCZeUTRdqmQgA~5BLtHbFX~p-5zFq0jySyjAEMEh8a8Zv9QKCKGhH6A1IdMWMb~5xu-xb8uUCQeJ-J8kkZfU6yXB0Y04HbFtP7oqEFcSy3Zfvh~DDRBZCAROnq0tpvdLGKahA9bOEsKaDSu1Csw__&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=1741916902&Signature=RlAKDzEqQBKMaVKFuQ4czn8eBEitxeaRvaD6V4~tZOueKnaUvtJfsx-IBo~dM96gLZHkbM3P4jZxGHEAvev1OQx33~quw3mXfRUDpFdvS77WbcmOsT2YqDDIiDrf1oTHT5CTxQLr2Y8bWK9CwL0cshV7-d-pvolU1XGm8EIMfQmfGgLfgtpGNtjyJ7ChsAW7SvnPp0onSxA3Gm~7wNEfLtvPyMsS8gptn-JSxJ3MSI73vFqGBnoas2Szwsmi-xkrhnsAgUUnwiN5a3dD7KSzd-DFT5tbkrtCQLwRxKs4e0f26N57iChK4gjAf801GKiQPze8b7Fgk2N7zzin3NSlpA__&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=1741916902&Signature=cbuDBlySDSQ3GV3S0Atbr1AIHB8GxdW7wqjVe-UjWPUy1XXiF1iiF9TNzrLaUgkt~MbjmEEhAA4ypAIGEbQT4agZuXI-TbA-W19ARuJgD2GGFvM6CfkzWrSKqpLLss-3oUF0tZm2FXDbXES9YfWeYT4bBZOuUWNrLV8tr-cJYwPp5GRMSk0E1GzLoDA5gTbGdfSeCG6KTqikC6KdkASLGKe3b9BEVYqhclle9O49s1FZNZTeXuHAbDnmQmdYSpjvbjZDoB3AsvkV2gdfdlIf~nwS99b9IIjcXOjMNYRRuyDAB4BI3TCZEc2Es8Oi6tRU2zgdShXW8QP26w5cyNHXRw__&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=1741916902&Signature=gH2lQP-3ZKTWj7LFRyNAlJxEkomsQ-YRuhJ36X6IDouulH8NJp0SXHZNRpAzE3BdFVpYIj9tXGlhjetjl~lLWfqRZQuB-MKAEmXI8Wwlbf5XIxmPK--XlNX7~hNGOdO6nSqh5ObTW1TelYHNnAKEEM6ThnHcSOVnR5Gy23n15F5uqYO3bFKMPPdtZQeNZu7PajQAbh-vtlP-cIdtURDzSqhvyucc3jfDSewMILxRh~yOgSRG7Be66o5f0bNRuYwnsTxuJk5fktPTZc-ceazvsLjKmebAjZQKXsNyMie7qF5sLFDFDgAjVf5TURE6icYWkDwxZWdX2HnsIXBt5pvRCg__&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=1741916902&Signature=XV-0spvSMEBAmimTSbuUblSNi3ZP3WK2-U1O5hlv9Nd7I0bUGxlSeCgldoe7IjjPZhrMeHJgycjDgAZ0lfq1aCJA-h3HiixQoQDEmhJQPCDza2FdC45P9h-RjaY3UIyvrcICCzMHd01De2umeH4TUzYIxjUXKu6FrNRPeJZzfzsT-1eL6LAId89PJokdwuLAY8niF6wlLXitbIKX3YUnxvRn0Z43PCaMDdYSHgLLzI7RTfsO2zkwaD0Wm8G4va9WisWq3G3W5-GJb4hmGxji-sL0DZkaEZz6XByXqMXKZi0rgY7stoot3ZIFn45xTsw-4cGiVAH95mVanX2Lx~Yk3Q__&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=1741916902&Signature=PdHGSdSiY6EhdXx8FBo5y7M2ODjP6vn2YmYjMI836-mzM6ASss8XBde4OZloWvgJ7oWO-R~NWub3~oBUJpwjPpeX7FaZcCtwuMnL4uJUn0nv7i2dgy1-lyZXN6D5D0b1CGSjiI5e5TvyKWiLahp2VaVHtGj9ZcPQRoiiZdtuYK~gL1nP4bs2oxhnCaEpq0ZryzDR45n84~tr4gLxvKw2CepZ-KUitTe4cm8ns1x5rqfpxvWbNUQg84iTnxiRqLphQbQHuoADQak~h~lk1HOGl5locRR05vHVG0AP6NpiOP8hNGFN3dVju1T6yQxloj7Q1by9NLvM02RteQruZL9-8w__&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=1741916902&Signature=BODfIVjXaHLrLS9-7mEmqwkkQasQ~FHEg-6RdkSfaFNpDqgXCLD3CHwgb96LjvBOrT526lnhqLuv1vSp1liNpKfxzPmSdtJraNAuZu73OvpoaRktQ0CnE8jaEtM-VSbgQSSkJFdCTFdoX~SND4o~rp2F301cXM3LiF9~TuYBZzyWzMHWg0s8pqBSv8jfKRValmccUxvJzNyhwQZU0FU0v0eE9QkFfwkwhRfp84bnBLRvwybDKzGnFfntyk~GuHuSKsax~BRpiUNHFB~Vi3cGzNhtWkgwIwVDCIskzRcsx~m0PAFGZiTAR1WdqdJUMzDQembKqRM6T08vUQw1547qbQ__&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=1741916902&Signature=wDzW35h1npNwngIYdYhL2IhMdj5yZ8GJ2GdhKdJ14jsgZArcancUeJ0c3A-syINwCT8SwuQuPyfSJsSmKvSr34VipfLp0DD4h-aVCy4alQKz~tz7wO0QvETzOdYH-J8nUwrYv7b-xkPWcKNaLx9Pd4YHpEZmsXICIW4hDTaOs72jJawbQA6atqIiURatZNVtCYU3xO3Ur~Q3TnsKaeqyD5fz5CAABgLSKQg7VcbOu71X6umGcFyV3iNLKaxoyZbYZ~U-EV-flpl~2qzYGUAHLQr-eSNdnurKNASM9d9uGKMrKl0MuZfLi~iJgbEZg623fGTwP2yLpKV-Q06Hv9cPqw__&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=1741916902&Signature=k-KEIHhoJB70KzC4X7OEJ359yfqD7m1PAlkQGY6tm6SsCtl9yyq~MciZL32MpaQnHIwnsOEsfzRdmFIo5JXW2M8w3WazIuSAxn5qPQJmC9XeWyeL4pIZHqXcvklfcKQjA6oS53CUpwK7PCHKt9eSot2BAN9i5T~Osx-fEPqPqTPaqN9nDt4L7Mw41INmNSJvUF0-a1QXMyccfXIbaZlLCqeCb64iCxqP-ZBJiFQrulDTRhrUEbVGjh6KCoUN8Sikrq1mS0UilK2AL5XR1NyIPzSWTu5FLkzt-ji7h5blJ5RkZGRQZVGTDfVmowAzTszmyxetXD9voMWmV5UxpCPDxQ__&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=1741916902&Signature=TLxbFsq4c7T-CI4euPK0oLwg4DHaEhUdfYq9Cqx80nXR8SL6Nt3caWvcuKaiwdc3sC17kInTnZbN-5ViAMSQUoTkR5SjMdM4h9isoSCFqHMKKWm24U0WeBkNE38ALq8Egl57WHmYM2P5sdaY1nP6NeZ-ElSs1eto75sv74NCWqz0ji~lw8v89tJiXADLjdo8PRi0fDq96BYkuv8Uar4sgPDlFT1v5y0r~gN11F-7DkIm4O9Ql4jwDYqv3BSf183weCd3FdW6E9b1nY03HIaBvHFr~Q3L3RwQvnRMXo7emA439i9B~tVJWUEusc9rhhHmcyb9b~9c29-ZPSB5r-3~4w__&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=1741916902&Signature=xpWqLpjT2pHuqPgeGJrQsz5irTr0ynss7v0o81GUFAbLLMHnJZPy11hRspxmHVYQ8O6VHLiB9MOS4pC17k18dHh4MegIPjvzs97RQYLAAncoekjewrQgbCXoGzaEeHuFqJCzogR~iBZ~Mw~eIYi4EtyCv-zHjdLUmuusC3XskElOyOphoH9I0Our6JvDWhwFJ8lPRwV0BdOJWEIn4lUdkuwKaVTT8T-Ul5DQTRbBQ2Yey9ba6HUPqAaEEIv9ySlljSXK9UxxBA66t995t3Ws4q3axUJgVgwnL9oWFkZ7SL0qer1E7G~bZSwDyJMoXtbjW9dAGA06NMf6uVlrpeu9kA__&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=1741916902&Signature=QLkksje1EAQpWT~vcjZMZyBGvUzgEoPiMMxzrgVj6IyLcWK9A2h5mGtx6SZgoxLRi6tJj3EqZOiMUkdc2toV6zDIUmvyQJiCJA3c8tQvDkE6EYgVa-KewE4BT0kvo9BFltYUtaQwWbAuAdVp7I3A9ztpJ-CAG1Uf~DLHNwLJ7FNfyIGXb0n5e9nf5j~VXAZYuKM1gZ1WpqZ9DtuiwGQCHImABdPiRBrClEOPgAFiQVlkLGRHs0AB~rL4X9mzZjPyCDRhbC4EMR9MQMr84PHTBJ7wQrjtPCwns70wun37SPMJY0OJnS3HZwxaRyFkWTK38evo~8k74f0dm~2Q5FBs1w__&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=1741916902&Signature=h2u3pYJC1z0eOAkHZ12F9nywmxe~YG5C9af0unzZ0UkgtQxSY3S9Fd5h8za~VNuPIffQusgu2A9RiQOFXIXdYhgbq5BJh0HJuU~erpt4Kb4EfUlw1FD0vx33pU5QNt6FvWnZ0AS9QhRl47w6IEJeMDgxo7kcdeEWTy5B5AEaOkmuLpX-1HmEe5yj6wO6cPhjCbH6Yw2QuI8J16C7ZrD0jeXnwuNZfZCmAJIJXKdElsNXRrFO0l9b2WHQDCbM4URifNWoBSGNXW9wVMYrmOKb2so5ahHtCj6QKUz8Ikk~wyFjG4FsHoikWsWhCktkgRtSU0hvvdCyOJd5mjuxq8mb6Q__&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=1741916902&Signature=qpHwyuKNAKhld7lhnOBc1YGrgJxuMpTtr1DXqPMGk1tI0x50bVNj--AG5Zwt7GgXqxOvZy2v6MYzcTbsU6kG9BP5mknpFXFg4K2fYUg2L2qILFL0~tBEXohq27BQy1GtBo8~MPaElyHD~9CZfuCZM7hH88cp-UTBI8rojsjyzLXJ4I8-vnmLfceVzzlljX0WVJ59-GERFNVW4zzB8YlE4FeS73hqoP3mR6VrlMBw8vVrF7kesVseX11HjQm9LBJjXah216rqvBGYlhOe~WxY5mL9ZHTbywnaD~2AccSfxPsQlpHhgCJEIiaCcqspw71GoPg15yP1fSqtntBcXnrkHg__&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=1741916902&Signature=uQcYHxXoyyTPLfQ5qR-bmyH28Xx1AEx9Ml6iR3NhCWc4Z4NyHlpdU2fOfR~2niUZKL7CRLx46aC5HPfg8YOcx8OWLOJlifKbja-GqCi6eBPAdOl8CrSnZUctSQjrs86a3MKHffgXvyjwBkil1tA26VWkv8oIHCLRJs1Sd7fLO27di1haFpnf3CcDeQGTUmtAc6we-3Zxa4HvsF6WFFFuoywhdisMMHuLmNsizNqaPZf3bnhjTEJvjZOrDFsYThWKI0aUXoh7rVMBYVucT60lmSBXGzj7-PIDcg6iQ6Dn0sUH1NtTHHHXGTlAranKZ5Di0OjsVe-JhSO4HBX5dnfH0Q__&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=1741916902&Signature=w0a-cQ5wz~qkfVT4R4Vavzwm-gKuN-R9uHDkRGS2xhiJWfaj6n40HsiDDSHeEmDQyh1y9PYHWDjpImCjwY6ZE14TlOMIe110blHwuJnPZAAXOAcOetC5n1fd6477NqpOoxHuEndL5hh1X7BSV-GChwX83qeVevPGKvuzImJjRjGsIyeCBHKUw1ra10Jl2dFeLSo7fITtnQQDGhkXQY58MGsqS81JPxchsmB2Bq6bs~NZOzD-VuyxiVFeLfsio1~w7GQdLxF2ZpiVAo8tVLlLkktJi54951x0i7heP1eiie7cuXtnMvd3EEU~6ODBBJB1xf9nR1prF1EBWCvP8GGpOg__&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=1741916902&Signature=kOUPLK-b~fGea6ZS~tgRJIHw-Jw1kgHJO~LmuZgqP1Pf3nL8hbEVzjDzMnoBf7TwyhIgZtR3XFuSB5GFN2D0OJN-9YpsSTUgJ6TVxMha-hzEb1CsVh8pHFrtaRJGaa3OIKRoqLleJkVpacoym7DDanjA4GtMvCqgcrIllw5NI0CJhda3ulTjQr8PMvg5q8OzR1IjCm9xPQd2Spdq9Nn9uyoM3q8zwD7lXKSnqUsdvORU5VyHODoGnvsYCWCmJuLP~jRwKgBQwYklYnN2qlX6T6XI151VjAq2qgWqlTkdCIw7KlPSLi30p4EAf0PcYx8~M1hOG2Apd6c8J0CnpZrrHQ__&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=1741916902&Signature=YndhuzdtoyLNxTgDX1VCgRNoEi90-EGLHYh9go5xte6Pdy~l7JMYUCa4k~AJzO8y9Ing3QbFTEnJXj~~S6tQ-19609BqhUxaxyl9AF5C6w0viSkxqPMYybbi5q9Crsg5uo5Ts4UiK7MtF3p~A1Qr6wVZOt-f0HfwPWFhZybKemvKd2gLRKb1lzVT1TjTkghxjvJknM~Rb3Blf2lbDKhxRJt-72ILcUNSd7SsEflNR-O9affD2LHS-mitOtKQLPxUqqnTBo0ZVoZ7IL1uScfQf6N6JzBS4QsgZWWptZcqC39RMOwhYewUlW~IoJXMd~U2CiYAtBAKMxcjTbvFW5biuw__&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=1741916902&Signature=O7D4nsGeER32XiHYZAdDavfYURTuTMaB0ju5ml~eWJgtwc-wqySwV7jr7CRF7MLaqqBREQJ~oq2S~uYRAF8OqxlGIwDTfP0~FguSMZpPVhojqYK0yYpfGYQCgPSC5Pkr5PsqGAL5qUzl55kF3dJAVpDA2BOwMmTqlDhJgnx7WDywkOEH-7NYA-Eh2e-D08j1-JPQOF1YAYxfvFcPA3zv5YM9kW2mhLw644aCqLHMZgrZ7st8NpOLcbNoZCFAtkSMYmr-IBmeCg5pVnL-i-DcNpGc02bpMYTJnhJSd4CD2fvnNz4n4kDK1uNaXZfafUdcEbtVMrfT3Yihu4qq~n4PKw__&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=1741916902&Signature=K9N6xQRXyAvDP~yR7iKsje3343qCthGvLJ~EYt5OO-bdJlO9qrDNlW3RL5TqiLNPpUhS1ThHcjmZ4jV0z~sMObFdwh3aYXUc5MLre5gc9Giu~YvqWRX8z24ucZa6bPugPNrgaBY1XFFULc7Z3J2is2QefcXsl3UdN2LQPBg~iYVzrvPdxQ6Jwd0dlmhqicnvcGdaUNZa9vRLMgE9zICQEQgjHfK4CPf2sJiXyKBtrMhwo1vzkVqUWCc31Px5uae8QdrhalDfD5nSzngkhL9YX3OgQEaxOuTO1WHXHbTURGYkKiFlKbQkzl9zVsEJ-HRndT-qP9GabXvbqxFdbAU0rw__&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=1741916902&Signature=LCczaBl6q2cQQEwv40FaYWX1SNmJm7v45AKqcYSXrbtosRca2pnF~TIhFfdLgRYkXFE6wAwXmOaCyMcXV8Fw3qN4-azjo~bs9vKfjJQOZF~L3gL0Zs2DQsoOp5Wxzq~FzVJr4ml9ByAVs-bsSHK9C6~lB3JNvIZD06Gsz4GFvrbGLXyQfb~x8jzjdwBoM8hgNEd5QYVw1b9Cmls9~rHEY~G8ZjyPrakgqFQ-jJV53yD4uHJFFFuJUQB6L9bUnr6BK1CFopi848P9TYc0b~w9PpVBpbX9zXmWETOO9qBJd3HfBVK6nNxDtcN~J82bHaj680SOTWEPBBUiY~wF2PNIbA__&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=1741916902&Signature=iyUlL8uOk5JwjEqPNg0l-i4eV7xHnxAcPdGatG87L1X1eDH33qWWkY0zuXPpAmDIq2z0abOk4TeA1uYR~7HC1ZGnDkbF4nnqYotyeNNEly~9AbXB9LGN8XMgjjn1oPLZos8HMeRexVrwoX6IgLkjCwYWAg~Hnif8Agaw~gTo56q9aKWFavEbEQGdSHmRjcgWL9GjHh97aEhYk8qheqM9V8m5Y6RXIXgPQ3kDKcGjX2BLgdxQH3F770wNLW5aeqcSxyliFAAAXucVz2DHr6~FBBTFUHMHzIE0fwGSz82jy33dqBAEV2GgpcyM0jHlxGeirdfU-0bhO1dfwh6lgN9z0Q__&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=1741916902&Signature=mRNmI~9LJ5qMC~bXdH1KQRwVVeaP3wJm5qhHDtx70t8TgVVtQJgsoyqol5Typg8CJwHO47TMeb0qX2gEiG9zTxHzaKo~yieC-Ri3CguQRC7hRQJ6Hxz1kX-9~WodnytKKYpU5Zjb-zpPmbq1firO~0W7Mcw-2WoD5Qikz8oubGa9ZeY7fMYyZvIajLP46HIledL47Ciz0yASsg98crWVHPNQ0iocRrHuDM2irOKhX0drtvbvPwuDNe363WE5-w2DotT9RuBnVBrC45uWNJjmzkgSeLCGekBE0qolANanyZj76vZ4cCx~XFsMoHUbqeEN8KxmY5ULn4fTGY9g74twVA__&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
- 141