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- ur_10e/ArchitecTHOR/generation_config.json +31 -0
- ur_10e/ArchitecTHOR/split_info.json +22 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_001/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_002/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_003/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_004/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_005/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_006/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_007/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_008/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_009/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_010/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_011/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_012/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_013/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_014/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_015/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_016/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_017/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_018/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_019/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_020/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_021/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_022/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_023/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_024/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_025/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_026/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_027/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_028/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_029/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_030/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_031/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_032/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_001/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_002/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_003/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_004/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_005/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_006/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_007/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_008/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_009/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_010/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_011/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_012/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_013/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_014/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_015/scene_meta.json +174 -0
- ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_016/scene_meta.json +174 -0
ur_10e/ArchitecTHOR/generation_config.json
ADDED
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{
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"robot": "ur_10e",
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"scene_type": "ArchitecTHOR",
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"output_dir": "/mnt/data/hangxingzhang/code/HEC3R/data/ms_output_fixed_view_zeropose",
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"num_scenes": 10,
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"frames_per_scene": 6,
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"bases_per_scene": 10,
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"cameras_per_scene": 32,
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"val_fraction": 0.1,
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"test_fraction": 0.1,
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"width": 640,
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"height": 480,
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"fovy_min": null,
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"fovy_max": null,
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"r_min": null,
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"r_max": null,
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"cam_z_min": null,
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"cam_z_max": null,
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"cam_roll_max": 3.0,
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"cam_aspect_jitter": 0.05,
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"cam_principal_jitter": 0.05,
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"min_base_separation": 0.25,
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"disable_light_aug": false,
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"seed": 42,
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"build_config_idxs": null,
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"overwrite": false,
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"gpu_id": 4,
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"num_workers": 1,
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"worker_id": 0,
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"exhaust_pool": true
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}
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ur_10e/ArchitecTHOR/split_info.json
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{
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"n_total_bg": 10,
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"n_train": 6,
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"n_val": 1,
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"n_test": 3,
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"val_fraction": 0.1,
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"test_fraction": 0.1,
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"scene_type": "ArchitecTHOR",
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| 9 |
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"robot": "ur_10e",
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| 10 |
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"bases_per_scene": 10,
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| 11 |
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"cameras_per_scene": 32,
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"frames_per_scene": 6,
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"total_output_scenes": 1050,
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"skipped": 0,
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"worker_id": 0,
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"num_workers": 1,
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"deterministic_rotation": true,
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"exhaust_pool": true,
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"pool_size": 10,
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"layout": "bg_{BG:06d}/scene_b{BASE:02d}_{CAM:03d}",
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| 21 |
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"design": "1 (fixed camera + fixed base + varying arm qpos)"
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}
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_001/scene_meta.json
ADDED
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{
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"robot_uid": "ur_10e",
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"num_frames": 1,
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| 4 |
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"qpos_mode": "zero",
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| 5 |
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"rng_drain_count": 6,
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| 6 |
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"scene_idx": 4,
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| 7 |
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"base_idx": 0,
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| 8 |
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"cam_idx": 0,
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| 9 |
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"n_dof": 6,
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| 10 |
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"num_links": 8,
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| 11 |
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"joint_names": [
|
| 12 |
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"shoulder_pan_joint",
|
| 13 |
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"shoulder_lift_joint",
|
| 14 |
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"elbow_joint",
|
| 15 |
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"wrist_1_joint",
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| 16 |
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"wrist_2_joint",
|
| 17 |
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"wrist_3_joint"
|
| 18 |
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],
|
| 19 |
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"link_names": [
|
| 20 |
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"dummy_root_0",
|
| 21 |
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"base",
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| 22 |
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"shoulder_link",
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| 23 |
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"upper_arm_link",
|
| 24 |
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"forearm_link",
|
| 25 |
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"wrist_1_link",
|
| 26 |
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"wrist_2_link",
|
| 27 |
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"wrist_3_link"
|
| 28 |
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],
|
| 29 |
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"ee_link_name": "wrist_3_link",
|
| 30 |
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"image_width": 640,
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| 31 |
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"image_height": 480,
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| 32 |
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"fovy_rad": 0.9668226516078183,
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| 33 |
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"K": [
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| 34 |
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"camera_eye": [
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],
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"camera_target": [
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],
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"camera_roll_rad": -0.01765274945957044,
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"camera_pose_world_cv": [
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],
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],
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"lighting": {
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"params": {
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"ambient": [
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"directional_primary": {
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"direction": [
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],
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"color": [
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],
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"azimuth_rad": -0.3775932027859161,
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"elevation_rad": 1.1233971537890484,
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"color_temp_k": 5417.031804029998,
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"intensity": 1.1245926224937601
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},
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"directional_fill": {
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"direction": [
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"color": [
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],
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"azimuth_rad": -1.0591649675742265,
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"elevation_rad": 1.0660524225527384,
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"color_temp_k": 6127.373518109465,
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"intensity": 0.6034748022585776
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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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| 158 |
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| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 173 |
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| 174 |
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_002/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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| 1 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 18 |
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| 19 |
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| 20 |
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| 24 |
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_003/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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|
| 1 |
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|
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|
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|
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_005/scene_meta.json
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_006/scene_meta.json
ADDED
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@@ -0,0 +1,174 @@
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| 140 |
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_007/scene_meta.json
ADDED
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@@ -0,0 +1,174 @@
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_008/scene_meta.json
ADDED
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@@ -0,0 +1,174 @@
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| 1 |
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_010/scene_meta.json
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_011/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_012/scene_meta.json
ADDED
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@@ -0,0 +1,174 @@
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_013/scene_meta.json
ADDED
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@@ -0,0 +1,174 @@
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|
| 1 |
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{
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|
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| 13 |
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|
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|
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|
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|
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| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_015/scene_meta.json
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_016/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_017/scene_meta.json
ADDED
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@@ -0,0 +1,174 @@
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_018/scene_meta.json
ADDED
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_019/scene_meta.json
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_020/scene_meta.json
ADDED
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_021/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_022/scene_meta.json
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_023/scene_meta.json
ADDED
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| 173 |
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|
| 174 |
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}
|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_025/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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| 1 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 24 |
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| 26 |
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| 28 |
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_026/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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| 1 |
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_028/scene_meta.json
ADDED
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_029/scene_meta.json
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@@ -0,0 +1,174 @@
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| 150 |
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| 151 |
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| 152 |
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| 154 |
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| 155 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 174 |
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_030/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b00_031/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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|
| 1 |
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_001/scene_meta.json
ADDED
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_002/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_003/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_004/scene_meta.json
ADDED
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@@ -0,0 +1,174 @@
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|
| 1 |
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_006/scene_meta.json
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_007/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_008/scene_meta.json
ADDED
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@@ -0,0 +1,174 @@
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_009/scene_meta.json
ADDED
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@@ -0,0 +1,174 @@
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|
| 1 |
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{
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_011/scene_meta.json
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_012/scene_meta.json
ADDED
|
@@ -0,0 +1,174 @@
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_013/scene_meta.json
ADDED
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@@ -0,0 +1,174 @@
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|
ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_014/scene_meta.json
ADDED
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ur_10e/ArchitecTHOR/test/bg_000004/scene_b01_016/scene_meta.json
ADDED
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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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| 6 |
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| 7 |
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| 10 |
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| 11 |
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| 12 |
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|
| 13 |
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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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],
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 174 |
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