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@@ -2037,6 +2037,49 @@ It contains pose, bounding box, and segmentation masks for a 9 objects organized
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  ## Dataset Details
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  ### Dataset Description
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  - **Curated by:** lukas.dirnberger@tum.de
 
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  ## Dataset Details
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+ ### Subsets
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+ You can choose any specific scene with the following pattern: "{class}-{scene}-{clutter}-{lighting}". You can also use the wildcard "{}", to choose all available options.
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+ Choose from the following:
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+
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+ CLASSES:
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+ - battery_holder
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+ - buckle_socket
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+ - buckle_plug
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+ - chew_toy_big
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+ - cpsduck
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+ - cpsglue_big
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+ - group1 *consists of "cpsduck","battery_holder","chew_toy_big","cpsglue_big", "stapler"*
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+ - group2 *consists of "buckle_plug","buckle_socket","nema17_holder","nema17_holder2"*
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+ - nema_holder *consists of "nema17_holder", "nema17_holder2"*
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+ - stapler
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+
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+ SCENES:
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+ - box
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+ - array *only for group1 and group2, and only uncluttered*
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+
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+ CLUTTER:
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+ - cluttered
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+ - uncluttered
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+
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+ LIGHTING:
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+ - diffuseRight
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+ - diffuseLeft
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+ - spotRight
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+ - spotLeft
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+ - dark
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+ - normal
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+
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+
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+ Then you can load the dataset like this, for example all lighting conditions for the stapler in the box, with clutter
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+ ```
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+ from datasets import load_dataset
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+
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+ ds = load_dataset("LukasDb/dropjects_real", "stapler-box-cluttered-{}", streaming=True, trust_remote_code=True, split='test')
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+ for data in ds.with_format('tensorflow'):
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+ rgb = data['rgb'] # tf.uint8 Tensor, (h,w,3)
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+ ```
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+
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+
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  ### Dataset Description
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  - **Curated by:** lukas.dirnberger@tum.de