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- so100/RoboTHOR/generation_config.json +31 -0
- so100/RoboTHOR/split_info.json +22 -0
- so100/RoboTHOR/test/bg_000016/scene_b00_004/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b00_008/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b00_010/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b00_015/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b00_024/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b01_005/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b01_016/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b01_017/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b01_019/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b02_001/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b02_003/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b02_004/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b02_006/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b02_008/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b02_013/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b02_014/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b02_015/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b02_018/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b02_023/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b03_002/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b03_005/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b03_008/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b03_009/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b03_010/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b03_012/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b03_018/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b03_024/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b04_004/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b04_008/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b04_009/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b04_014/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b04_016/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b04_017/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b04_018/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b04_020/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b04_021/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b04_023/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b05_001/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b05_005/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b05_016/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000016/scene_b05_019/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000031/scene_b00_001/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000031/scene_b00_002/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000031/scene_b00_003/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000031/scene_b00_004/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000031/scene_b00_005/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000031/scene_b00_006/scene_meta.json +175 -0
- so100/RoboTHOR/test/bg_000031/scene_b00_007/scene_meta.json +175 -0
so100/RoboTHOR/generation_config.json
ADDED
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{
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"robot": "so100",
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"scene_type": "RoboTHOR",
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"output_dir": "/mnt/data/hangxingzhang/code/HEC3R/data/ms_output_fixed_view_zeropose",
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"num_scenes": 75,
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"frames_per_scene": 6,
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"bases_per_scene": 6,
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"cameras_per_scene": 24,
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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": 0,
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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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so100/RoboTHOR/split_info.json
ADDED
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{
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"n_total_bg": 59,
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"n_train": 50,
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"n_val": 4,
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"n_test": 5,
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"val_fraction": 0.1,
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| 7 |
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"test_fraction": 0.1,
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| 8 |
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"scene_type": "RoboTHOR",
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| 9 |
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"robot": "so100",
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| 10 |
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"bases_per_scene": 6,
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| 11 |
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"cameras_per_scene": 24,
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| 12 |
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"frames_per_scene": 6,
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| 13 |
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"total_output_scenes": 4785,
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| 14 |
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"skipped": 16,
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| 15 |
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"worker_id": 0,
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| 16 |
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"num_workers": 1,
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| 17 |
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"deterministic_rotation": true,
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| 18 |
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"exhaust_pool": true,
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| 19 |
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"pool_size": 75,
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| 20 |
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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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| 22 |
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}
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so100/RoboTHOR/test/bg_000016/scene_b00_004/scene_meta.json
ADDED
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@@ -0,0 +1,175 @@
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{
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"robot_uid": "so100",
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| 3 |
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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": 16,
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| 7 |
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"base_idx": 0,
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| 8 |
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"cam_idx": 3,
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| 9 |
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"n_dof": 6,
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| 10 |
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"num_links": 9,
|
| 11 |
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"joint_names": [
|
| 12 |
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"shoulder_pan",
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| 13 |
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"shoulder_lift",
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| 14 |
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"elbow_flex",
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| 15 |
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"wrist_flex",
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| 16 |
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"wrist_roll",
|
| 17 |
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"gripper"
|
| 18 |
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],
|
| 19 |
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"link_names": [
|
| 20 |
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"Base",
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| 21 |
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"Rotation_Pitch",
|
| 22 |
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"Upper_Arm",
|
| 23 |
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"Lower_Arm",
|
| 24 |
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"Wrist_Pitch_Roll",
|
| 25 |
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"Fixed_Jaw",
|
| 26 |
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"Moving_Jaw",
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| 27 |
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"Fixed_Jaw_tip",
|
| 28 |
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"Moving_Jaw_tip"
|
| 29 |
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],
|
| 30 |
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"ee_link_name": "Moving_Jaw",
|
| 31 |
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"image_width": 640,
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| 32 |
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"image_height": 480,
|
| 33 |
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"fovy_rad": 1.1923368330895499,
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| 34 |
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"K": [
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[
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],
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[
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| 43 |
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],
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| 45 |
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]
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],
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"camera_eye": [
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| 53 |
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],
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"camera_target": [
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],
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"camera_roll_rad": -0.018427664287104226,
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"camera_pose_world_cv": [
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| 63 |
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"T_base_world": [
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"lighting": {
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"aug_enabled": true,
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"params": {
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"ambient": [
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],
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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": 0.19224611480332854,
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"elevation_rad": 0.8651496009266368,
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"color_temp_k": 4937.722544091106,
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"intensity": 0.9254793908914147
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},
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"directional_fill": {
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"direction": [
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],
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"color": [
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],
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"azimuth_rad": 0.6649638244270308,
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"elevation_rad": 1.3734346142136657,
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"color_temp_k": 5159.644919362016,
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"intensity": 0.822233895148064
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},
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"point_color_scale": [
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],
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 165 |
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| 174 |
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| 175 |
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|
so100/RoboTHOR/test/bg_000016/scene_b00_008/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
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|
so100/RoboTHOR/test/bg_000016/scene_b00_010/scene_meta.json
ADDED
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@@ -0,0 +1,175 @@
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so100/RoboTHOR/test/bg_000016/scene_b00_024/scene_meta.json
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so100/RoboTHOR/test/bg_000016/scene_b01_005/scene_meta.json
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@@ -0,0 +1,175 @@
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|
so100/RoboTHOR/test/bg_000016/scene_b01_016/scene_meta.json
ADDED
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@@ -0,0 +1,175 @@
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|
so100/RoboTHOR/test/bg_000016/scene_b01_017/scene_meta.json
ADDED
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@@ -0,0 +1,175 @@
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so100/RoboTHOR/test/bg_000016/scene_b02_001/scene_meta.json
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so100/RoboTHOR/test/bg_000016/scene_b02_003/scene_meta.json
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@@ -0,0 +1,175 @@
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so100/RoboTHOR/test/bg_000016/scene_b02_004/scene_meta.json
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|
so100/RoboTHOR/test/bg_000016/scene_b02_006/scene_meta.json
ADDED
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|
so100/RoboTHOR/test/bg_000016/scene_b02_013/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
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|
so100/RoboTHOR/test/bg_000016/scene_b02_014/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
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so100/RoboTHOR/test/bg_000016/scene_b02_018/scene_meta.json
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|
so100/RoboTHOR/test/bg_000016/scene_b03_002/scene_meta.json
ADDED
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@@ -0,0 +1,175 @@
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|
so100/RoboTHOR/test/bg_000016/scene_b03_005/scene_meta.json
ADDED
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@@ -0,0 +1,175 @@
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so100/RoboTHOR/test/bg_000016/scene_b03_009/scene_meta.json
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so100/RoboTHOR/test/bg_000016/scene_b03_010/scene_meta.json
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@@ -0,0 +1,175 @@
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so100/RoboTHOR/test/bg_000016/scene_b03_012/scene_meta.json
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@@ -0,0 +1,175 @@
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|
so100/RoboTHOR/test/bg_000016/scene_b03_018/scene_meta.json
ADDED
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@@ -0,0 +1,175 @@
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so100/RoboTHOR/test/bg_000016/scene_b04_004/scene_meta.json
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|
so100/RoboTHOR/test/bg_000016/scene_b04_008/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
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so100/RoboTHOR/test/bg_000016/scene_b04_009/scene_meta.json
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so100/RoboTHOR/test/bg_000016/scene_b04_014/scene_meta.json
ADDED
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| 1 |
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| 166 |
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| 174 |
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| 175 |
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|
so100/RoboTHOR/test/bg_000016/scene_b04_017/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
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| 1 |
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| 29 |
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|
so100/RoboTHOR/test/bg_000016/scene_b04_018/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
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so100/RoboTHOR/test/bg_000016/scene_b04_021/scene_meta.json
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@@ -0,0 +1,175 @@
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|
so100/RoboTHOR/test/bg_000016/scene_b05_001/scene_meta.json
ADDED
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@@ -0,0 +1,175 @@
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|
so100/RoboTHOR/test/bg_000016/scene_b05_005/scene_meta.json
ADDED
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@@ -0,0 +1,175 @@
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so100/RoboTHOR/test/bg_000016/scene_b05_019/scene_meta.json
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so100/RoboTHOR/test/bg_000031/scene_b00_001/scene_meta.json
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@@ -0,0 +1,175 @@
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so100/RoboTHOR/test/bg_000031/scene_b00_002/scene_meta.json
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@@ -0,0 +1,175 @@
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|
so100/RoboTHOR/test/bg_000031/scene_b00_003/scene_meta.json
ADDED
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@@ -0,0 +1,175 @@
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so100/RoboTHOR/test/bg_000031/scene_b00_005/scene_meta.json
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so100/RoboTHOR/test/bg_000031/scene_b00_006/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
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