rearrange/v1 task data from habitat-sim
#1
by
arth-shukla
- opened
This view is limited to 50 files because it contains too many changes.
See the raw diff here.
- rearrange/v1/minival/rearrange.json.gz +3 -0
- rearrange/v1/minival/rearrange_easy.json.gz +3 -0
- rearrange/v1/minival/rearrange_easy_robot_start.pickle +3 -0
- rearrange/v1/minival/rearrange_robot_start.pickle +3 -0
- rearrange/v1/train/all_receptacles_10k_1k.json.gz +3 -0
- rearrange/v1/train/all_receptacles_10k_1k_NavToObjTask-v0_start.pickle +3 -0
- rearrange/v1/train/all_receptacles_10k_1k_RearrangeNavToObjTask-v0_start.pickle +3 -0
- rearrange/v1/train/all_receptacles_10k_1k_RearrangePickTask-v0_start.pickle +3 -0
- rearrange/v1/train/all_receptacles_10k_1k_RearrangePlaceTask-v0_start.pickle +3 -0
- rearrange/v1/train/empty_1k_100.json.gz +3 -0
- rearrange/v1/train/in_drawer_1k_100.json.gz +3 -0
- rearrange/v1/train/in_fridge_1k_100.json.gz +3 -0
- rearrange/v1/train/prepare_groceries_10k_1k.json.gz +3 -0
- rearrange/v1/train/rearrange.json.gz +3 -0
- rearrange/v1/train/rearrange_easy.json.gz +3 -0
- rearrange/v1/train/set_table_10k_1k.json.gz +3 -0
- rearrange/v1/train/tidy_house_10k_1k.json.gz +3 -0
- rearrange/v1/val/all_receptacles_10k_1k.json.gz +3 -0
- rearrange/v1/val/all_receptacles_10k_1k_RearrangeNavToObjTask-v0_start.pickle +3 -0
- rearrange/v1/val/all_receptacles_10k_1k_RearrangePickTask-v0_start.pickle +3 -0
- rearrange/v1/val/all_receptacles_10k_1k_RearrangePlaceTask-v0_start.pickle +3 -0
- rearrange/v1/val/empty_1k_100.json.gz +3 -0
- rearrange/v1/val/in_drawer_1k_100.json.gz +3 -0
- rearrange/v1/val/in_fridge_1k_100.json.gz +3 -0
- rearrange/v1/val/prepare_groceries_10k_1k.json.gz +3 -0
- rearrange/v1/val/rearrange.json.gz +3 -0
- rearrange/v1/val/rearrange_easy.json.gz +3 -0
- rearrange/v1/val/rearrange_easy_robot_start.pickle +3 -0
- rearrange/v1/val/rearrange_robot_start.pickle +3 -0
- rearrange/v1/val/set_table_10k_1k.json.gz +3 -0
- rearrange/v1/val/tidy_house_10k_1k.json.gz +3 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_0.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_10.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_100.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1000.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1001.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1002.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1003.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1004.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1005.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1006.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1007.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1008.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1009.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_101.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1010.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1011.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1012.json +1078 -0
- rearrange/v1_extracted/train/prepare_groceries/episode_1013.json +1078 -0
rearrange/v1/minival/rearrange.json.gz
ADDED
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rearrange/v1/minival/rearrange_easy.json.gz
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rearrange/v1/minival/rearrange_easy_robot_start.pickle
ADDED
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rearrange/v1/minival/rearrange_robot_start.pickle
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rearrange/v1/train/all_receptacles_10k_1k.json.gz
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rearrange/v1/train/all_receptacles_10k_1k_NavToObjTask-v0_start.pickle
ADDED
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rearrange/v1/train/all_receptacles_10k_1k_RearrangeNavToObjTask-v0_start.pickle
ADDED
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rearrange/v1/train/all_receptacles_10k_1k_RearrangePickTask-v0_start.pickle
ADDED
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rearrange/v1/train/all_receptacles_10k_1k_RearrangePlaceTask-v0_start.pickle
ADDED
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rearrange/v1/train/empty_1k_100.json.gz
ADDED
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rearrange/v1/train/in_drawer_1k_100.json.gz
ADDED
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ADDED
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rearrange/v1/train/prepare_groceries_10k_1k.json.gz
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rearrange/v1/train/set_table_10k_1k.json.gz
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ADDED
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rearrange/v1/val/all_receptacles_10k_1k.json.gz
ADDED
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|
1 |
+
{
|
2 |
+
"episode_id": "0",
|
3 |
+
"scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_03.scene_instance.json",
|
4 |
+
"scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
|
5 |
+
"additional_obj_config_paths": [
|
6 |
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"data/objects/ycb/"
|
7 |
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],
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8 |
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"start_position": [
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9 |
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0,
|
10 |
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0,
|
11 |
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0
|
12 |
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],
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13 |
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"start_rotation": [
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14 |
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0,
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15 |
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0,
|
16 |
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0,
|
17 |
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1
|
18 |
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],
|
19 |
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"info": {
|
20 |
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"object_labels": {
|
21 |
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"005_tomato_soup_can_:0000": "obj0_target|0",
|
22 |
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"004_sugar_box_:0004": "obj1_target|1",
|
23 |
+
"008_pudding_box_:0002": "obj2_target|2"
|
24 |
+
}
|
25 |
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},
|
26 |
+
"ao_states": {
|
27 |
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"fridge_:0000": {
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28 |
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"2": 1.5
|
29 |
+
}
|
30 |
+
},
|
31 |
+
"rigid_objs": [
|
32 |
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[
|
33 |
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"002_master_chef_can.object_config.json",
|
34 |
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[
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35 |
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[
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36 |
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|
37 |
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38 |
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39 |
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40 |
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41 |
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42 |
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43 |
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44 |
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45 |
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46 |
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47 |
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48 |
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49 |
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50 |
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51 |
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52 |
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55 |
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56 |
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58 |
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59 |
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60 |
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61 |
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62 |
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63 |
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64 |
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66 |
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90 |
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[
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91 |
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92 |
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93 |
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118 |
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119 |
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[
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120 |
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121 |
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122 |
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150 |
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151 |
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177 |
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[
|
178 |
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|
179 |
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[
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180 |
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[
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181 |
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182 |
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183 |
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185 |
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186 |
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189 |
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190 |
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192 |
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|
rearrange/v1_extracted/train/prepare_groceries/episode_1.json
ADDED
@@ -0,0 +1,1078 @@
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1 |
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2 |
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3 |
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4 |
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5 |
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18 |
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23 |
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24 |
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29 |
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30 |
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|
rearrange/v1_extracted/train/prepare_groceries/episode_10.json
ADDED
@@ -0,0 +1,1078 @@
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1 |
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2 |
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|
rearrange/v1_extracted/train/prepare_groceries/episode_100.json
ADDED
@@ -0,0 +1,1078 @@
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1 |
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|
rearrange/v1_extracted/train/prepare_groceries/episode_1000.json
ADDED
@@ -0,0 +1,1078 @@
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rearrange/v1_extracted/train/prepare_groceries/episode_1001.json
ADDED
@@ -0,0 +1,1078 @@
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998 |
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"name": "cab_push_point_6",
|
999 |
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|
1000 |
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|
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|
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|
1003 |
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1004 |
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|
1005 |
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|
1006 |
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"link": "drawer2_top",
|
1007 |
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|
1008 |
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|
1009 |
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{
|
1011 |
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"name": "cab_push_point_5",
|
1012 |
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1013 |
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"link": "drawer3",
|
1020 |
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"object": "kitchen_counter_:0000"
|
1021 |
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|
1022 |
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1023 |
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{
|
1024 |
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"name": "cab_push_point_4",
|
1025 |
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"type": "articulated_object",
|
1026 |
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"params": {
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1027 |
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|
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|
1033 |
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|
1034 |
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|
1035 |
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|
1036 |
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{
|
1037 |
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"name": "fridge_push_point",
|
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|
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|
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|
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|
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|
1046 |
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|
1047 |
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|
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|
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|
1078 |
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}
|
rearrange/v1_extracted/train/prepare_groceries/episode_1002.json
ADDED
@@ -0,0 +1,1078 @@
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|
|
1 |
+
{
|
2 |
+
"episode_id": "1002",
|
3 |
+
"scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_14.scene_instance.json",
|
4 |
+
"scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
|
5 |
+
"additional_obj_config_paths": [
|
6 |
+
"data/objects/ycb/"
|
7 |
+
],
|
8 |
+
"start_position": [
|
9 |
+
0,
|
10 |
+
0,
|
11 |
+
0
|
12 |
+
],
|
13 |
+
"start_rotation": [
|
14 |
+
0,
|
15 |
+
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1048 |
+
}
|
1049 |
+
],
|
1050 |
+
"target_receptacles": [
|
1051 |
+
[
|
1052 |
+
"fridge_:0000",
|
1053 |
+
0
|
1054 |
+
],
|
1055 |
+
[
|
1056 |
+
"fridge_:0000",
|
1057 |
+
0
|
1058 |
+
],
|
1059 |
+
[
|
1060 |
+
"kitchen_counter_:0000",
|
1061 |
+
0
|
1062 |
+
]
|
1063 |
+
],
|
1064 |
+
"goal_receptacles": [
|
1065 |
+
[
|
1066 |
+
"kitchen_counter_:0000",
|
1067 |
+
0
|
1068 |
+
],
|
1069 |
+
[
|
1070 |
+
"kitchen_counter_:0000",
|
1071 |
+
0
|
1072 |
+
],
|
1073 |
+
[
|
1074 |
+
"fridge_:0000",
|
1075 |
+
0
|
1076 |
+
]
|
1077 |
+
]
|
1078 |
+
}
|
rearrange/v1_extracted/train/prepare_groceries/episode_1003.json
ADDED
@@ -0,0 +1,1078 @@
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|
|
1 |
+
{
|
2 |
+
"episode_id": "1003",
|
3 |
+
"scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_10.scene_instance.json",
|
4 |
+
"scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
|
5 |
+
"additional_obj_config_paths": [
|
6 |
+
"data/objects/ycb/"
|
7 |
+
],
|
8 |
+
"start_position": [
|
9 |
+
0,
|
10 |
+
0,
|
11 |
+
0
|
12 |
+
],
|
13 |
+
"start_rotation": [
|
14 |
+
0,
|
15 |
+
0,
|
16 |
+
0,
|
17 |
+
1
|
18 |
+
],
|
19 |
+
"info": {
|
20 |
+
"object_labels": {
|
21 |
+
"004_sugar_box_:0002": "obj0_target|0",
|
22 |
+
"007_tuna_fish_can_:0002": "obj1_target|1",
|
23 |
+
"007_tuna_fish_can_:0003": "obj2_target|2"
|
24 |
+
}
|
25 |
+
},
|
26 |
+
"ao_states": {
|
27 |
+
"fridge_:0000": {
|
28 |
+
"2": 1.5
|
29 |
+
}
|
30 |
+
},
|
31 |
+
"rigid_objs": [
|
32 |
+
[
|
33 |
+
"009_gelatin_box.object_config.json",
|
34 |
+
[
|
35 |
+
[
|
36 |
+
0.07595,
|
37 |
+
0.0,
|
38 |
+
-0.99711,
|
39 |
+
1.64145
|
40 |
+
],
|
41 |
+
[
|
42 |
+
-0.0,
|
43 |
+
1.0,
|
44 |
+
0.0,
|
45 |
+
0.94922
|
46 |
+
],
|
47 |
+
[
|
48 |
+
0.99711,
|
49 |
+
0.0,
|
50 |
+
0.07595,
|
51 |
+
4.85299
|
52 |
+
],
|
53 |
+
[
|
54 |
+
0.0,
|
55 |
+
0.0,
|
56 |
+
0.0,
|
57 |
+
1.0
|
58 |
+
]
|
59 |
+
]
|
60 |
+
],
|
61 |
+
[
|
62 |
+
"003_cracker_box.object_config.json",
|
63 |
+
[
|
64 |
+
[
|
65 |
+
0.93467,
|
66 |
+
0.04493,
|
67 |
+
0.35267,
|
68 |
+
-2.29511
|
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rearrange/v1_extracted/train/prepare_groceries/episode_1004.json
ADDED
@@ -0,0 +1,1078 @@
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|
|
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|
|
|
|
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|
1 |
+
{
|
2 |
+
"episode_id": "1004",
|
3 |
+
"scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_04.scene_instance.json",
|
4 |
+
"scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
|
5 |
+
"additional_obj_config_paths": [
|
6 |
+
"data/objects/ycb/"
|
7 |
+
],
|
8 |
+
"start_position": [
|
9 |
+
0,
|
10 |
+
0,
|
11 |
+
0
|
12 |
+
],
|
13 |
+
"start_rotation": [
|
14 |
+
0,
|
15 |
+
0,
|
16 |
+
0,
|
17 |
+
1
|
18 |
+
],
|
19 |
+
"info": {
|
20 |
+
"object_labels": {
|
21 |
+
"024_bowl_:0001": "obj0_target|0",
|
22 |
+
"008_pudding_box_:0005": "obj1_target|1",
|
23 |
+
"002_master_chef_can_:0002": "obj2_target|2"
|
24 |
+
}
|
25 |
+
},
|
26 |
+
"ao_states": {
|
27 |
+
"fridge_:0000": {
|
28 |
+
"2": 1.5
|
29 |
+
}
|
30 |
+
},
|
31 |
+
"rigid_objs": [
|
32 |
+
[
|
33 |
+
"003_cracker_box.object_config.json",
|
34 |
+
[
|
35 |
+
[
|
36 |
+
0.12512,
|
37 |
+
0.00933,
|
38 |
+
-0.9921,
|
39 |
+
0.54726
|
40 |
+
],
|
41 |
+
[
|
42 |
+
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|
43 |
+
0.99737,
|
44 |
+
0.00024,
|
45 |
+
0.73351
|
46 |
+
],
|
47 |
+
[
|
48 |
+
0.98949,
|
49 |
+
0.07188,
|
50 |
+
0.12547,
|
51 |
+
4.61052
|
52 |
+
],
|
53 |
+
[
|
54 |
+
0.0,
|
55 |
+
0.0,
|
56 |
+
0.0,
|
57 |
+
1.0
|
58 |
+
]
|
59 |
+
]
|
60 |
+
],
|
61 |
+
[
|
62 |
+
"008_pudding_box.object_config.json",
|
63 |
+
[
|
64 |
+
[
|
65 |
+
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|
66 |
+
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|
67 |
+
0.9891,
|
68 |
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|
69 |
+
],
|
70 |
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[
|
71 |
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|
72 |
+
0.99971,
|
73 |
+
0.0233,
|
74 |
+
0.43449
|
75 |
+
],
|
76 |
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[
|
77 |
+
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|
78 |
+
-0.00235,
|
79 |
+
-0.14537,
|
80 |
+
-0.22049
|
81 |
+
],
|
82 |
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[
|
83 |
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0.0,
|
84 |
+
0.0,
|
85 |
+
0.0,
|
86 |
+
1.0
|
87 |
+
]
|
88 |
+
]
|
89 |
+
],
|
90 |
+
[
|
91 |
+
"010_potted_meat_can.object_config.json",
|
92 |
+
[
|
93 |
+
[
|
94 |
+
0.99916,
|
95 |
+
0.00042,
|
96 |
+
0.04102,
|
97 |
+
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|
98 |
+
],
|
99 |
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[
|
100 |
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|
101 |
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0.99999,
|
102 |
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0.00532,
|
103 |
+
1.29307
|
104 |
+
],
|
105 |
+
[
|
106 |
+
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|
107 |
+
-0.00534,
|
108 |
+
0.99914,
|
109 |
+
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|
110 |
+
],
|
111 |
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[
|
112 |
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0.0,
|
113 |
+
0.0,
|
114 |
+
0.0,
|
115 |
+
1.0
|
116 |
+
]
|
117 |
+
]
|
118 |
+
],
|
119 |
+
[
|
120 |
+
"010_potted_meat_can.object_config.json",
|
121 |
+
[
|
122 |
+
[
|
123 |
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-0.90244,
|
124 |
+
-3e-05,
|
125 |
+
0.43081,
|
126 |
+
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|
127 |
+
],
|
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rearrange/v1_extracted/train/prepare_groceries/episode_1005.json
ADDED
@@ -0,0 +1,1078 @@
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|
1 |
+
{
|
2 |
+
"episode_id": "1005",
|
3 |
+
"scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_10.scene_instance.json",
|
4 |
+
"scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
|
5 |
+
"additional_obj_config_paths": [
|
6 |
+
"data/objects/ycb/"
|
7 |
+
],
|
8 |
+
"start_position": [
|
9 |
+
0,
|
10 |
+
0,
|
11 |
+
0
|
12 |
+
],
|
13 |
+
"start_rotation": [
|
14 |
+
0,
|
15 |
+
0,
|
16 |
+
0,
|
17 |
+
1
|
18 |
+
],
|
19 |
+
"info": {
|
20 |
+
"object_labels": {
|
21 |
+
"010_potted_meat_can_:0004": "obj0_target|0",
|
22 |
+
"009_gelatin_box_:0004": "obj1_target|1",
|
23 |
+
"024_bowl_:0001": "obj2_target|2"
|
24 |
+
}
|
25 |
+
},
|
26 |
+
"ao_states": {
|
27 |
+
"fridge_:0000": {
|
28 |
+
"2": 1.5
|
29 |
+
}
|
30 |
+
},
|
31 |
+
"rigid_objs": [
|
32 |
+
[
|
33 |
+
"010_potted_meat_can.object_config.json",
|
34 |
+
[
|
35 |
+
[
|
36 |
+
0.146,
|
37 |
+
-0.00032,
|
38 |
+
0.98928,
|
39 |
+
3.71505
|
40 |
+
],
|
41 |
+
[
|
42 |
+
5e-05,
|
43 |
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1.0,
|
44 |
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|
45 |
+
0.4569
|
46 |
+
],
|
47 |
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[
|
48 |
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|
49 |
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0.0,
|
50 |
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|
51 |
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|
52 |
+
],
|
53 |
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[
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54 |
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|
55 |
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|
56 |
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0.0,
|
57 |
+
1.0
|
58 |
+
]
|
59 |
+
]
|
60 |
+
],
|
61 |
+
[
|
62 |
+
"007_tuna_fish_can.object_config.json",
|
63 |
+
[
|
64 |
+
[
|
65 |
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|
66 |
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|
67 |
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|
68 |
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3.31341
|
69 |
+
],
|
70 |
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[
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71 |
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|
72 |
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1.0,
|
73 |
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1e-05,
|
74 |
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|
75 |
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76 |
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[
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77 |
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|
78 |
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0.0,
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79 |
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|
80 |
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|
81 |
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|
82 |
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[
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83 |
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84 |
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0.0,
|
85 |
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0.0,
|
86 |
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1.0
|
87 |
+
]
|
88 |
+
]
|
89 |
+
],
|
90 |
+
[
|
91 |
+
"002_master_chef_can.object_config.json",
|
92 |
+
[
|
93 |
+
[
|
94 |
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|
95 |
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0.0,
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96 |
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|
97 |
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|
98 |
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],
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99 |
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[
|
100 |
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3e-05,
|
101 |
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1.0,
|
102 |
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4e-05,
|
103 |
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|
104 |
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],
|
105 |
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[
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106 |
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|
107 |
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5e-05,
|
108 |
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|
109 |
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|
110 |
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],
|
111 |
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[
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112 |
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113 |
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114 |
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115 |
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|
116 |
+
]
|
117 |
+
]
|
118 |
+
],
|
119 |
+
[
|
120 |
+
"008_pudding_box.object_config.json",
|
121 |
+
[
|
122 |
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[
|
123 |
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|
124 |
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|
125 |
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126 |
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|
127 |
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128 |
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129 |
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130 |
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131 |
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132 |
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|
133 |
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134 |
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[
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135 |
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136 |
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137 |
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|
138 |
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|
139 |
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140 |
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142 |
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143 |
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144 |
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|
145 |
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]
|
146 |
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]
|
147 |
+
],
|
148 |
+
[
|
149 |
+
"005_tomato_soup_can.object_config.json",
|
150 |
+
[
|
151 |
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[
|
152 |
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|
153 |
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|
154 |
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|
155 |
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|
156 |
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|
157 |
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[
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158 |
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|
159 |
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1.0,
|
160 |
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|
161 |
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|
162 |
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|
163 |
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[
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164 |
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|
165 |
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166 |
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167 |
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|
168 |
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|
169 |
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[
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170 |
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171 |
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172 |
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173 |
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|
174 |
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]
|
175 |
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]
|
176 |
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],
|
177 |
+
[
|
178 |
+
"010_potted_meat_can.object_config.json",
|
179 |
+
[
|
180 |
+
[
|
181 |
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|
182 |
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|
183 |
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|
184 |
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|
rearrange/v1_extracted/train/prepare_groceries/episode_1006.json
ADDED
@@ -0,0 +1,1078 @@
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1 |
+
{
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2 |
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|
3 |
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4 |
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5 |
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"additional_obj_config_paths": [
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6 |
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"data/objects/ycb/"
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7 |
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8 |
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9 |
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10 |
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11 |
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12 |
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14 |
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15 |
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16 |
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17 |
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18 |
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19 |
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20 |
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21 |
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22 |
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23 |
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24 |
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25 |
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26 |
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27 |
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28 |
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29 |
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30 |
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31 |
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32 |
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33 |
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34 |
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37 |
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63 |
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|
rearrange/v1_extracted/train/prepare_groceries/episode_1007.json
ADDED
@@ -0,0 +1,1078 @@
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1 |
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{
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2 |
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3 |
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4 |
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5 |
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6 |
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7 |
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8 |
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10 |
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11 |
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14 |
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16 |
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17 |
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18 |
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19 |
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20 |
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21 |
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22 |
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23 |
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24 |
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25 |
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26 |
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27 |
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29 |
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30 |
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31 |
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32 |
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33 |
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1020 |
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1078 |
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}
|
rearrange/v1_extracted/train/prepare_groceries/episode_1008.json
ADDED
@@ -0,0 +1,1078 @@
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rearrange/v1_extracted/train/prepare_groceries/episode_1009.json
ADDED
@@ -0,0 +1,1078 @@
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rearrange/v1_extracted/train/prepare_groceries/episode_101.json
ADDED
@@ -0,0 +1,1078 @@
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999 |
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"type": "articulated_object",
|
1000 |
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"params": {
|
1001 |
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|
1002 |
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|
1003 |
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|
1004 |
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|
1005 |
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],
|
1006 |
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"link": "drawer2_top",
|
1007 |
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"object": "kitchen_counter_:0000"
|
1008 |
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}
|
1009 |
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|
1010 |
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{
|
1011 |
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"name": "cab_push_point_5",
|
1012 |
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"type": "articulated_object",
|
1013 |
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"params": {
|
1014 |
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"offset": [
|
1015 |
+
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|
1016 |
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|
1017 |
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|
1018 |
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],
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1019 |
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"link": "drawer3",
|
1020 |
+
"object": "kitchen_counter_:0000"
|
1021 |
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}
|
1022 |
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|
1023 |
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{
|
1024 |
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"name": "cab_push_point_4",
|
1025 |
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"type": "articulated_object",
|
1026 |
+
"params": {
|
1027 |
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"offset": [
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1028 |
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|
1029 |
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|
1030 |
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|
1031 |
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|
1032 |
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"link": "drawer4",
|
1033 |
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"object": "kitchen_counter_:0000"
|
1034 |
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}
|
1035 |
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|
1036 |
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{
|
1037 |
+
"name": "fridge_push_point",
|
1038 |
+
"type": "articulated_object",
|
1039 |
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"params": {
|
1040 |
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"offset": [
|
1041 |
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|
1042 |
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|
1043 |
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|
1044 |
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|
1045 |
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"link": "top_door",
|
1046 |
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"object": "fridge_:0000"
|
1047 |
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}
|
1048 |
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|
1049 |
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|
1050 |
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"target_receptacles": [
|
1051 |
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[
|
1052 |
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|
1053 |
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|
1054 |
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1055 |
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[
|
1056 |
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|
1057 |
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|
1058 |
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1059 |
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[
|
1060 |
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|
1061 |
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|
1062 |
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|
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|
1068 |
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1069 |
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[
|
1070 |
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1071 |
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|
1072 |
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[
|
1074 |
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|
1075 |
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1076 |
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|
1077 |
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]
|
1078 |
+
}
|
rearrange/v1_extracted/train/prepare_groceries/episode_1010.json
ADDED
@@ -0,0 +1,1078 @@
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|
1 |
+
{
|
2 |
+
"episode_id": "1010",
|
3 |
+
"scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_17.scene_instance.json",
|
4 |
+
"scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
|
5 |
+
"additional_obj_config_paths": [
|
6 |
+
"data/objects/ycb/"
|
7 |
+
],
|
8 |
+
"start_position": [
|
9 |
+
0,
|
10 |
+
0,
|
11 |
+
0
|
12 |
+
],
|
13 |
+
"start_rotation": [
|
14 |
+
0,
|
15 |
+
0,
|
16 |
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|
1052 |
+
"fridge_:0000",
|
1053 |
+
0
|
1054 |
+
],
|
1055 |
+
[
|
1056 |
+
"fridge_:0000",
|
1057 |
+
0
|
1058 |
+
],
|
1059 |
+
[
|
1060 |
+
"kitchen_counter_:0000",
|
1061 |
+
0
|
1062 |
+
]
|
1063 |
+
],
|
1064 |
+
"goal_receptacles": [
|
1065 |
+
[
|
1066 |
+
"kitchen_counter_:0000",
|
1067 |
+
0
|
1068 |
+
],
|
1069 |
+
[
|
1070 |
+
"kitchen_counter_:0000",
|
1071 |
+
0
|
1072 |
+
],
|
1073 |
+
[
|
1074 |
+
"fridge_:0000",
|
1075 |
+
0
|
1076 |
+
]
|
1077 |
+
]
|
1078 |
+
}
|
rearrange/v1_extracted/train/prepare_groceries/episode_1011.json
ADDED
@@ -0,0 +1,1078 @@
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|
|
1 |
+
{
|
2 |
+
"episode_id": "1011",
|
3 |
+
"scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_01.scene_instance.json",
|
4 |
+
"scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
|
5 |
+
"additional_obj_config_paths": [
|
6 |
+
"data/objects/ycb/"
|
7 |
+
],
|
8 |
+
"start_position": [
|
9 |
+
0,
|
10 |
+
0,
|
11 |
+
0
|
12 |
+
],
|
13 |
+
"start_rotation": [
|
14 |
+
0,
|
15 |
+
0,
|
16 |
+
0,
|
17 |
+
1
|
18 |
+
],
|
19 |
+
"info": {
|
20 |
+
"object_labels": {
|
21 |
+
"024_bowl_:0003": "obj0_target|0",
|
22 |
+
"009_gelatin_box_:0003": "obj1_target|1",
|
23 |
+
"002_master_chef_can_:0006": "obj2_target|2"
|
24 |
+
}
|
25 |
+
},
|
26 |
+
"ao_states": {
|
27 |
+
"fridge_:0000": {
|
28 |
+
"2": 1.5
|
29 |
+
}
|
30 |
+
},
|
31 |
+
"rigid_objs": [
|
32 |
+
[
|
33 |
+
"008_pudding_box.object_config.json",
|
34 |
+
[
|
35 |
+
[
|
36 |
+
0.93342,
|
37 |
+
0.01394,
|
38 |
+
-0.3585,
|
39 |
+
-2.42195
|
40 |
+
],
|
41 |
+
[
|
42 |
+
-0.00591,
|
43 |
+
0.99971,
|
44 |
+
0.02349,
|
45 |
+
0.87927
|
46 |
+
],
|
47 |
+
[
|
48 |
+
0.35872,
|
49 |
+
-0.01981,
|
50 |
+
0.93323,
|
51 |
+
2.3372
|
52 |
+
],
|
53 |
+
[
|
54 |
+
0.0,
|
55 |
+
0.0,
|
56 |
+
0.0,
|
57 |
+
1.0
|
58 |
+
]
|
59 |
+
]
|
60 |
+
],
|
61 |
+
[
|
62 |
+
"009_gelatin_box.object_config.json",
|
63 |
+
[
|
64 |
+
[
|
65 |
+
-0.86737,
|
66 |
+
0.0,
|
67 |
+
0.49766,
|
68 |
+
3.54449
|
69 |
+
],
|
70 |
+
[
|
71 |
+
0.0,
|
72 |
+
1.0,
|
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rearrange/v1_extracted/train/prepare_groceries/episode_1012.json
ADDED
@@ -0,0 +1,1078 @@
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|
1 |
+
{
|
2 |
+
"episode_id": "1012",
|
3 |
+
"scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_16.scene_instance.json",
|
4 |
+
"scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
|
5 |
+
"additional_obj_config_paths": [
|
6 |
+
"data/objects/ycb/"
|
7 |
+
],
|
8 |
+
"start_position": [
|
9 |
+
0,
|
10 |
+
0,
|
11 |
+
0
|
12 |
+
],
|
13 |
+
"start_rotation": [
|
14 |
+
0,
|
15 |
+
0,
|
16 |
+
0,
|
17 |
+
1
|
18 |
+
],
|
19 |
+
"info": {
|
20 |
+
"object_labels": {
|
21 |
+
"002_master_chef_can_:0004": "obj0_target|0",
|
22 |
+
"010_potted_meat_can_:0002": "obj1_target|1",
|
23 |
+
"002_master_chef_can_:0005": "obj2_target|2"
|
24 |
+
}
|
25 |
+
},
|
26 |
+
"ao_states": {
|
27 |
+
"fridge_:0000": {
|
28 |
+
"2": 1.5
|
29 |
+
}
|
30 |
+
},
|
31 |
+
"rigid_objs": [
|
32 |
+
[
|
33 |
+
"008_pudding_box.object_config.json",
|
34 |
+
[
|
35 |
+
[
|
36 |
+
0.97986,
|
37 |
+
0.02182,
|
38 |
+
-0.1985,
|
39 |
+
-2.03934
|
40 |
+
],
|
41 |
+
[
|
42 |
+
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|
43 |
+
0.99964,
|
44 |
+
0.0194,
|
45 |
+
0.43521
|
46 |
+
],
|
47 |
+
[
|
48 |
+
0.19886,
|
49 |
+
-0.01537,
|
50 |
+
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|
51 |
+
0.20761
|
52 |
+
],
|
53 |
+
[
|
54 |
+
0.0,
|
55 |
+
0.0,
|
56 |
+
0.0,
|
57 |
+
1.0
|
58 |
+
]
|
59 |
+
]
|
60 |
+
],
|
61 |
+
[
|
62 |
+
"004_sugar_box.object_config.json",
|
63 |
+
[
|
64 |
+
[
|
65 |
+
0.97412,
|
66 |
+
-0.02676,
|
67 |
+
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|
68 |
+
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|
69 |
+
],
|
70 |
+
[
|
71 |
+
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|
72 |
+
0.9994,
|
73 |
+
0.01523,
|
74 |
+
0.79513
|
75 |
+
],
|
76 |
+
[
|
77 |
+
0.22391,
|
78 |
+
-0.02179,
|
79 |
+
0.97437,
|
80 |
+
6.64684
|
81 |
+
],
|
82 |
+
[
|
83 |
+
0.0,
|
84 |
+
0.0,
|
85 |
+
0.0,
|
86 |
+
1.0
|
87 |
+
]
|
88 |
+
]
|
89 |
+
],
|
90 |
+
[
|
91 |
+
"008_pudding_box.object_config.json",
|
92 |
+
[
|
93 |
+
[
|
94 |
+
0.70942,
|
95 |
+
-0.01237,
|
96 |
+
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|
97 |
+
1.71175
|
98 |
+
],
|
99 |
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[
|
100 |
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-0.0059,
|
101 |
+
0.99971,
|
102 |
+
0.02349,
|
103 |
+
0.43438
|
104 |
+
],
|
105 |
+
[
|
106 |
+
-0.70476,
|
107 |
+
-0.02082,
|
108 |
+
0.70914,
|
109 |
+
-0.5605
|
110 |
+
],
|
111 |
+
[
|
112 |
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0.0,
|
113 |
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0.0,
|
114 |
+
0.0,
|
115 |
+
1.0
|
116 |
+
]
|
117 |
+
]
|
118 |
+
],
|
119 |
+
[
|
120 |
+
"002_master_chef_can.object_config.json",
|
121 |
+
[
|
122 |
+
[
|
123 |
+
-0.91226,
|
124 |
+
-0.00409,
|
125 |
+
0.40958,
|
126 |
+
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|
127 |
+
],
|
128 |
+
[
|
129 |
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|
130 |
+
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|
131 |
+
0.0067,
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rearrange/v1_extracted/train/prepare_groceries/episode_1013.json
ADDED
@@ -0,0 +1,1078 @@
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|
1 |
+
{
|
2 |
+
"episode_id": "1013",
|
3 |
+
"scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_20.scene_instance.json",
|
4 |
+
"scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
|
5 |
+
"additional_obj_config_paths": [
|
6 |
+
"data/objects/ycb/"
|
7 |
+
],
|
8 |
+
"start_position": [
|
9 |
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0,
|
10 |
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0,
|
11 |
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0
|
12 |
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],
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13 |
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"start_rotation": [
|
14 |
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0,
|
15 |
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0,
|
16 |
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0,
|
17 |
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1
|
18 |
+
],
|
19 |
+
"info": {
|
20 |
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"object_labels": {
|
21 |
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"002_master_chef_can_:0003": "obj0_target|0",
|
22 |
+
"002_master_chef_can_:0004": "obj1_target|1",
|
23 |
+
"009_gelatin_box_:0006": "obj2_target|2"
|
24 |
+
}
|
25 |
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},
|
26 |
+
"ao_states": {
|
27 |
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"fridge_:0000": {
|
28 |
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"2": 1.5
|
29 |
+
}
|
30 |
+
},
|
31 |
+
"rigid_objs": [
|
32 |
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[
|
33 |
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"009_gelatin_box.object_config.json",
|
34 |
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[
|
35 |
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[
|
36 |
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|
37 |
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38 |
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|
40 |
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41 |
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42 |
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44 |
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45 |
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|
46 |
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47 |
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48 |
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49 |
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50 |
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51 |
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52 |
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53 |
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55 |
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56 |
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57 |
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|
58 |
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59 |
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60 |
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61 |
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62 |
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63 |
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64 |
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65 |
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66 |
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67 |
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69 |
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70 |
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71 |
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73 |
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74 |
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75 |
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79 |
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81 |
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88 |
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89 |
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90 |
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[
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91 |
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92 |
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[
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93 |
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[
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94 |
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95 |
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108 |
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118 |
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119 |
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[
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120 |
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121 |
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148 |
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149 |
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150 |
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151 |
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153 |
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178 |
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|
179 |
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180 |
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