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Browse files- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000003_tool_poses.json +0 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000004_tool_poses.json +0 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000008_tool_poses.json +0 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000011_tool_poses.json +0 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000019_tool_poses.json +0 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000028_tool_poses.json +0 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000029_tool_poses.json +0 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000035_tool_poses.json +2928 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000043_tool_poses.json +0 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000047_tool_poses.json +0 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000050_tool_poses.json +0 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000067_tool_poses.json +0 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000070_tool_poses.json +1739 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000073_tool_poses.json +0 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000002_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000008_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000009_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000010_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000013_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000014_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000017_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000020_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000024_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000025_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000030_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000031_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000034_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000037_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000038_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000039_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000042_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000048_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000051_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000053_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000056_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000057_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000058_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000059_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000061_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000062_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000067_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000071_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000076_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000083_tools.json +13 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000084_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000086_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000088_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000089_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000092_tools.json +22 -0
- Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000098_tools.json +31 -0
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000003_tool_poses.json
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Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000004_tool_poses.json
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Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000008_tool_poses.json
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Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000011_tool_poses.json
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Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000019_tool_poses.json
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Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000028_tool_poses.json
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Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000029_tool_poses.json
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Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000035_tool_poses.json
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| 2829 |
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| 2830 |
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| 2832 |
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| 2834 |
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| 2850 |
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| 2852 |
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| 2854 |
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|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000043_tool_poses.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000047_tool_poses.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000050_tool_poses.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000067_tool_poses.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000070_tool_poses.json
ADDED
|
@@ -0,0 +1,1739 @@
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| 1540 |
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|
| 1541 |
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|
| 1542 |
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|
| 1543 |
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|
| 1544 |
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|
| 1545 |
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|
| 1546 |
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|
| 1547 |
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|
| 1548 |
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|
| 1549 |
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| 1550 |
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|
| 1551 |
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|
| 1552 |
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|
| 1553 |
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|
| 1554 |
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|
| 1555 |
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}
|
| 1556 |
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},
|
| 1557 |
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{
|
| 1558 |
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"frame_idx": 32,
|
| 1559 |
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|
| 1560 |
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|
| 1561 |
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|
| 1562 |
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|
| 1563 |
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|
| 1564 |
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|
| 1565 |
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| 1566 |
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|
| 1567 |
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| 1568 |
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| 1569 |
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| 1570 |
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|
| 1571 |
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| 1572 |
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|
| 1573 |
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|
| 1574 |
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|
| 1575 |
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|
| 1576 |
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},
|
| 1577 |
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|
| 1578 |
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| 1579 |
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| 1580 |
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|
| 1581 |
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|
| 1582 |
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|
| 1583 |
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|
| 1584 |
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| 1585 |
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|
| 1586 |
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|
| 1587 |
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},
|
| 1588 |
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|
| 1589 |
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"cx": null,
|
| 1590 |
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"cy": null,
|
| 1591 |
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"pixels": 0
|
| 1592 |
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},
|
| 1593 |
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"right_gripper": {
|
| 1594 |
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"cx": null,
|
| 1595 |
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"cy": null,
|
| 1596 |
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"pixels": 0
|
| 1597 |
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}
|
| 1598 |
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}
|
| 1599 |
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}
|
| 1600 |
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}
|
| 1601 |
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},
|
| 1602 |
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{
|
| 1603 |
+
"frame_idx": 33,
|
| 1604 |
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"tools": {
|
| 1605 |
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"scissors": {
|
| 1606 |
+
"tool": "scissors",
|
| 1607 |
+
"visible": false,
|
| 1608 |
+
"pose_visible": false,
|
| 1609 |
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"mode": "not_visible",
|
| 1610 |
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"tx": null,
|
| 1611 |
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"ty": null,
|
| 1612 |
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|
| 1613 |
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"vx": null,
|
| 1614 |
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"vy": null,
|
| 1615 |
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|
| 1616 |
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"part_visibility": {
|
| 1617 |
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"wrist": false,
|
| 1618 |
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"tool_body": false,
|
| 1619 |
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"left_gripper": false,
|
| 1620 |
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"right_gripper": false
|
| 1621 |
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},
|
| 1622 |
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"part_centroids": {
|
| 1623 |
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|
| 1624 |
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"cx": null,
|
| 1625 |
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"cy": null,
|
| 1626 |
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"pixels": 0
|
| 1627 |
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},
|
| 1628 |
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"tool_body": {
|
| 1629 |
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"cx": null,
|
| 1630 |
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"cy": null,
|
| 1631 |
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"pixels": 0
|
| 1632 |
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},
|
| 1633 |
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"left_gripper": {
|
| 1634 |
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"cx": null,
|
| 1635 |
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"cy": null,
|
| 1636 |
+
"pixels": 0
|
| 1637 |
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},
|
| 1638 |
+
"right_gripper": {
|
| 1639 |
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"cx": null,
|
| 1640 |
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"cy": null,
|
| 1641 |
+
"pixels": 0
|
| 1642 |
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}
|
| 1643 |
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}
|
| 1644 |
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}
|
| 1645 |
+
}
|
| 1646 |
+
},
|
| 1647 |
+
{
|
| 1648 |
+
"frame_idx": 34,
|
| 1649 |
+
"tools": {
|
| 1650 |
+
"scissors": {
|
| 1651 |
+
"tool": "scissors",
|
| 1652 |
+
"visible": false,
|
| 1653 |
+
"pose_visible": false,
|
| 1654 |
+
"mode": "not_visible",
|
| 1655 |
+
"tx": null,
|
| 1656 |
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"ty": null,
|
| 1657 |
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"theta": null,
|
| 1658 |
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"vx": null,
|
| 1659 |
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"vy": null,
|
| 1660 |
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"union_pixels": 0,
|
| 1661 |
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"part_visibility": {
|
| 1662 |
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"wrist": false,
|
| 1663 |
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"tool_body": false,
|
| 1664 |
+
"left_gripper": false,
|
| 1665 |
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"right_gripper": false
|
| 1666 |
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},
|
| 1667 |
+
"part_centroids": {
|
| 1668 |
+
"wrist": {
|
| 1669 |
+
"cx": null,
|
| 1670 |
+
"cy": null,
|
| 1671 |
+
"pixels": 0
|
| 1672 |
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},
|
| 1673 |
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"tool_body": {
|
| 1674 |
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"cx": null,
|
| 1675 |
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"cy": null,
|
| 1676 |
+
"pixels": 0
|
| 1677 |
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},
|
| 1678 |
+
"left_gripper": {
|
| 1679 |
+
"cx": null,
|
| 1680 |
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"cy": null,
|
| 1681 |
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"pixels": 0
|
| 1682 |
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},
|
| 1683 |
+
"right_gripper": {
|
| 1684 |
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"cx": null,
|
| 1685 |
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"cy": null,
|
| 1686 |
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"pixels": 0
|
| 1687 |
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}
|
| 1688 |
+
}
|
| 1689 |
+
}
|
| 1690 |
+
}
|
| 1691 |
+
},
|
| 1692 |
+
{
|
| 1693 |
+
"frame_idx": 35,
|
| 1694 |
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"tools": {
|
| 1695 |
+
"scissors": {
|
| 1696 |
+
"tool": "scissors",
|
| 1697 |
+
"visible": false,
|
| 1698 |
+
"pose_visible": false,
|
| 1699 |
+
"mode": "not_visible",
|
| 1700 |
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"tx": null,
|
| 1701 |
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"ty": null,
|
| 1702 |
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"theta": null,
|
| 1703 |
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"vx": null,
|
| 1704 |
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"vy": null,
|
| 1705 |
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"union_pixels": 0,
|
| 1706 |
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"part_visibility": {
|
| 1707 |
+
"wrist": false,
|
| 1708 |
+
"tool_body": false,
|
| 1709 |
+
"left_gripper": false,
|
| 1710 |
+
"right_gripper": false
|
| 1711 |
+
},
|
| 1712 |
+
"part_centroids": {
|
| 1713 |
+
"wrist": {
|
| 1714 |
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"cx": null,
|
| 1715 |
+
"cy": null,
|
| 1716 |
+
"pixels": 0
|
| 1717 |
+
},
|
| 1718 |
+
"tool_body": {
|
| 1719 |
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"cx": null,
|
| 1720 |
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"cy": null,
|
| 1721 |
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"pixels": 0
|
| 1722 |
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},
|
| 1723 |
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"left_gripper": {
|
| 1724 |
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"cx": null,
|
| 1725 |
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"cy": null,
|
| 1726 |
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"pixels": 0
|
| 1727 |
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},
|
| 1728 |
+
"right_gripper": {
|
| 1729 |
+
"cx": null,
|
| 1730 |
+
"cy": null,
|
| 1731 |
+
"pixels": 0
|
| 1732 |
+
}
|
| 1733 |
+
}
|
| 1734 |
+
}
|
| 1735 |
+
}
|
| 1736 |
+
}
|
| 1737 |
+
],
|
| 1738 |
+
"saved_at_unix": 1769897642.9547036
|
| 1739 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tool_poses_json/episode_000073_tool_poses.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000002_tools.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "hook",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000008_tools.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "scissors",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000009_tools.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "scissors",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000010_tools.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "scissors",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000013_tools.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "scissors",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000014_tools.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "scissors",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000017_tools.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "clip_applier",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000020_tools.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "scissors",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000024_tools.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "scissors",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000025_tools.json
ADDED
|
@@ -0,0 +1,13 @@
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|
| 1 |
+
{
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| 2 |
+
"tools": [
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| 3 |
+
{
|
| 4 |
+
"name": "scissors",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000030_tools.json
ADDED
|
@@ -0,0 +1,22 @@
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| 1 |
+
{
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| 2 |
+
"tools": [
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| 3 |
+
{
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| 4 |
+
"name": "grasper",
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| 5 |
+
"parts": [
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| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "hook",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000031_tools.json
ADDED
|
@@ -0,0 +1,22 @@
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| 1 |
+
{
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| 2 |
+
"tools": [
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| 3 |
+
{
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| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "scissors",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000034_tools.json
ADDED
|
@@ -0,0 +1,22 @@
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| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "clip_applier",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000037_tools.json
ADDED
|
@@ -0,0 +1,22 @@
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|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "hook",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000038_tools.json
ADDED
|
@@ -0,0 +1,13 @@
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|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "hook",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000039_tools.json
ADDED
|
@@ -0,0 +1,13 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "hook",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000042_tools.json
ADDED
|
@@ -0,0 +1,13 @@
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|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "hook",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000048_tools.json
ADDED
|
@@ -0,0 +1,22 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "hook",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000051_tools.json
ADDED
|
@@ -0,0 +1,13 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "scissors",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000053_tools.json
ADDED
|
@@ -0,0 +1,13 @@
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|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "hook",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000056_tools.json
ADDED
|
@@ -0,0 +1,13 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "scissors",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000057_tools.json
ADDED
|
@@ -0,0 +1,22 @@
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|
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|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "scissors",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000058_tools.json
ADDED
|
@@ -0,0 +1,13 @@
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "hook",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000059_tools.json
ADDED
|
@@ -0,0 +1,22 @@
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "hook",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000061_tools.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
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|
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|
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|
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "hook",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000062_tools.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "scissors",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000067_tools.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "scissors",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000071_tools.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "scissors",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000076_tools.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "hook",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000083_tools.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "scissors",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
]
|
| 13 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000084_tools.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "scissors",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000086_tools.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "hook",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000088_tools.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "hook",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000089_tools.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "scissors",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000092_tools.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "hook",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
]
|
| 22 |
+
}
|
Surgical/utenn/surgical_video_datasets_round2_with_part_seg/raw/tools_json/episode_000098_tools.json
ADDED
|
@@ -0,0 +1,31 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tools": [
|
| 3 |
+
{
|
| 4 |
+
"name": "grasper",
|
| 5 |
+
"parts": [
|
| 6 |
+
"tool_body",
|
| 7 |
+
"wrist",
|
| 8 |
+
"left_gripper",
|
| 9 |
+
"right_gripper"
|
| 10 |
+
]
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"name": "grasper2",
|
| 14 |
+
"parts": [
|
| 15 |
+
"tool_body",
|
| 16 |
+
"wrist",
|
| 17 |
+
"left_gripper",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"name": "scissors",
|
| 23 |
+
"parts": [
|
| 24 |
+
"tool_body",
|
| 25 |
+
"wrist",
|
| 26 |
+
"left_gripper",
|
| 27 |
+
"right_gripper"
|
| 28 |
+
]
|
| 29 |
+
}
|
| 30 |
+
]
|
| 31 |
+
}
|