Data Lab
All 100 MessyKitchens scenes: photos from 15 viewpoints, 3D annotations, and object contacts in interactive 3D.
- 100 scenes
- 1,503 photos
- 572 placed objects
- 147 contacts
Surfaces within 2.5 mm of another object
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Ground-truth 6D poses from poses.json
| Object | Position x, y, z (mm) | Rotation x, y, z (°) | Size (mm) | Rests on |
|---|
All scenes
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About the data on this page
Everything here comes from the MessyKitchens dataset on Hugging Face (CC BY-NC 4.0), prepared for the web: photos are resized to 960 pixels, and each scene's ground-truth mesh is simplified to 150,000 triangles and compressed. For display, every scene is levelled so that its table is horizontal; the pose table lists the dataset's original poses. Use the raw-data links for full-resolution files.
Contacts are measured on the full-resolution meshes: two objects are in contact where their surfaces come within 2.5 mm of each other.