extracted rearrange/v1 task data from habitat-sim

Preprocess rearrange/v1:
* prepare_groceries, set_table, tidy_house
* keep split train/val
* separate all episode data into different json for easy scene_builder reading w/o using too much memory

rearrange/v1_extracted/train/prepare_groceries/episode_0.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "0",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_03.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
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+        0,
+        0
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+    "start_rotation": [
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+        0,
+        0,
+        1
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+    "info": {
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+            "004_sugar_box_:0004": "obj1_target|1",
+            "008_pudding_box_:0002": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
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+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_09.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "002_master_chef_can_:0004": "obj0_target|0",
+            "005_tomato_soup_can_:0002": "obj1_target|1",
+            "008_pudding_box_:0007": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
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+        },
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+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
+                    0.3,
+                    0.0,
+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
+                    0.1,
+                    -0.62,
+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_10.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "10",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_10.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "024_bowl_:0003": "obj0_target|0",
+            "004_sugar_box_:0004": "obj1_target|1",
+            "002_master_chef_can_:0001": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
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+                [
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+                    0.0,
+                    0.0,
+                    1.0
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+            ]
+        ],
+        [
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+                    -1e-05,
+                    0.23181,
+                    0.83776
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+                    0.0,
+                    0.0,
+                    1.0
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+        ],
+        [
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+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
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+    ],
+    "goal_receptacles": [
+        [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_100.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_08.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
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+        0,
+        0
+    ],
+    "start_rotation": [
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+        1
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+            "007_tuna_fish_can_:0001": "obj1_target|1",
+            "010_potted_meat_can_:0001": "obj2_target|2"
+        }
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+    "ao_states": {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1000.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_00.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
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+        0,
+        0,
+        1
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+    "info": {
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+            "024_bowl_:0002": "obj1_target|1",
+            "005_tomato_soup_can_:0006": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+            "2": 1.5
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+            "type": "articulated_object",
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+            }
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
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+    ],
+    "goal_receptacles": [
+        [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1001.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1001",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_07.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
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+    "info": {
+        "object_labels": {
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+            "005_tomato_soup_can_:0003": "obj1_target|1",
+            "005_tomato_soup_can_:0004": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+            "2": 1.5
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
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+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1002.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1002",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_14.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
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+    "info": {
+        "object_labels": {
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+            "007_tuna_fish_can_:0002": "obj1_target|1",
+            "008_pudding_box_:0001": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
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+        },
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+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
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+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1003.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1003",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_10.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
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+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
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+        0,
+        1
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+    "info": {
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+            "007_tuna_fish_can_:0002": "obj1_target|1",
+            "007_tuna_fish_can_:0003": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+            "2": 1.5
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1004.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_04.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
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+            "008_pudding_box_:0005": "obj1_target|1",
+            "002_master_chef_can_:0002": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+            "2": 1.5
+        }
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+    "rigid_objs": [
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1005.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_10.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
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+        0,
+        0
+    ],
+    "start_rotation": [
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+        0,
+        0,
+        1
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+    "info": {
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+            "009_gelatin_box_:0004": "obj1_target|1",
+            "024_bowl_:0001": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+            "2": 1.5
+        }
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+    "rigid_objs": [
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+        "010_potted_meat_can_:0004": [
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+        ]
+    },
+    "markers": [
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1006.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1006",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_16.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "002_master_chef_can_:0003": "obj0_target|0",
+            "024_bowl_:0003": "obj1_target|1",
+            "024_bowl_:0004": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
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+                    0.0,
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+        ],
+        [
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+        ],
+        [
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+            [
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+        ],
+        [
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+        [
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+            "type": "articulated_object",
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+            "type": "articulated_object",
+            "params": {
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+            "params": {
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+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
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+            "type": "articulated_object",
+            "params": {
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+                "link": "top_door",
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+    "target_receptacles": [
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+        [
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+        [
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+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1007.json

@@ -0,0 +1,1078 @@
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_01.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
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+    "start_position": [
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+        0,
+        0
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+    "start_rotation": [
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+        1
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+            "007_tuna_fish_can_:0000": "obj1_target|1",
+            "005_tomato_soup_can_:0003": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1008.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1008",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_17.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "024_bowl_:0002": "obj0_target|0",
+            "005_tomato_soup_can_:0005": "obj1_target|1",
+            "002_master_chef_can_:0002": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
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+            "type": "articulated_object",
+            "params": {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
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+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "top_door",
+                "object": "fridge_:0000"
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+    "target_receptacles": [
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+        [
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+        ],
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+            0
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+    "goal_receptacles": [
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+        ],
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1009.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_02.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
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+        0,
+        0
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+    "start_rotation": [
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+        1
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+            "008_pudding_box_:0004": "obj1_target|1",
+            "004_sugar_box_:0003": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+    "rigid_objs": [
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+        ],
+        [
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+            [
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+        ],
+        [
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+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_101.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "101",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_02.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
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+    "info": {
+        "object_labels": {
+            "004_sugar_box_:0005": "obj0_target|0",
+            "005_tomato_soup_can_:0005": "obj1_target|1",
+            "009_gelatin_box_:0002": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+            "2": 1.5
+        }
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+    "rigid_objs": [
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+            "type": "articulated_object",
+            "params": {
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+                "object": "kitchen_counter_:0000"
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
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+        },
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+            "type": "articulated_object",
+            "params": {
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+                "link": "top_door",
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+    "target_receptacles": [
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+        [
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+            0
+        ],
+        [
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+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1010.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_17.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
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+        0,
+        0
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+    "start_rotation": [
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+            "008_pudding_box_:0006": "obj1_target|1",
+            "009_gelatin_box_:0004": "obj2_target|2"
+        }
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+    "ao_states": {
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+        ],
+        [
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+            [
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+        [
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+        ]
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+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
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+            0
+        ],
+        [
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+            0
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+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1011.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_01.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
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+        1
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+    "info": {
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+            "009_gelatin_box_:0003": "obj1_target|1",
+            "002_master_chef_can_:0006": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+    "rigid_objs": [
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+        ],
+        [
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+            ]
+        ],
+        [
+            "024_bowl.object_config.json",
+            [
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+        ],
+        [
+            "009_gelatin_box.object_config.json",
+            [
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+                    0.00098,
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+        ],
+        [
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+        ]
+    ],
+    "targets": {
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+        ],
+        "002_master_chef_can_:0006": [
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+        ]
+    },
+    "markers": [
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1012.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1012",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_16.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "002_master_chef_can_:0004": "obj0_target|0",
+            "010_potted_meat_can_:0002": "obj1_target|1",
+            "002_master_chef_can_:0005": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
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+            "008_pudding_box.object_config.json",
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+                ],
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+                    0.0,
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+        ],
+        [
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+        ],
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+                    0.0,
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+        ],
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+        ],
+        [
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+            [
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+                    1.52941
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+        ],
+        [
+            "005_tomato_soup_can.object_config.json",
+            [
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+        ],
+        [
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+        ],
+        [
+            "010_potted_meat_can.object_config.json",
+            [
+                [
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+                    -0.01579,
+                    -0.99119,
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+            "params": {
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+                "link": "drawer1_top",
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+            }
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+            "type": "articulated_object",
+            "params": {
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+                "object": "kitchen_counter_:0000"
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+            "type": "articulated_object",
+            "params": {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
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+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "top_door",
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+    "target_receptacles": [
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+    "goal_receptacles": [
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+        [
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+            0
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+        [
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+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1013.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_20.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
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+        0,
+        0
+    ],
+    "start_rotation": [
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+        1
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+        "object_labels": {
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+            "002_master_chef_can_:0004": "obj1_target|1",
+            "009_gelatin_box_:0006": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+        }
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+            [
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
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+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
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+        ],
+        [
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+            0
+        ],
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+            0
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+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1014.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_01.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
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+            "024_bowl_:0005": "obj1_target|1",
+            "002_master_chef_can_:0002": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+        }
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+    "rigid_objs": [
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+        ],
+        [
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+            [
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+        ],
+        [
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+        ],
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+        ]
+    ],
+    "targets": {
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+        "002_master_chef_can_:0002": [
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+        ]
+    },
+    "markers": [
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
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+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1015.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1015",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_03.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "002_master_chef_can_:0000": "obj0_target|0",
+            "003_cracker_box_:0007": "obj1_target|1",
+            "024_bowl_:0003": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
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+        ],
+        [
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+        ],
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+        ]
+    },
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+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1016.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1016",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_03.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
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+            "004_sugar_box_:0005": "obj1_target|1",
+            "003_cracker_box_:0004": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
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+        ],
+        [
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+            [
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+        ],
+        [
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+        ]
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+    "targets": {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
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+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1017.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1017",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_19.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
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+            "009_gelatin_box_:0003": "obj1_target|1",
+            "009_gelatin_box_:0004": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
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+        }
+    },
+    "rigid_objs": [
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+        ],
+        [
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+    },
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1018.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_05.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
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+            "009_gelatin_box_:0005": "obj1_target|1",
+            "024_bowl_:0003": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
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+        }
+    },
+    "rigid_objs": [
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+        [
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+                [
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+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "010_potted_meat_can.object_config.json",
+            [
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+                    0.0,
+                    0.0,
+                    1.0
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+        ],
+        [
+            "003_cracker_box.object_config.json",
+            [
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+                    0.0,
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+            ]
+        ],
+        [
+            "002_master_chef_can.object_config.json",
+            [
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+                    0.00057,
+                    -0.5032,
+                    -2.08479
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+                    0.0,
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+                ]
+            ]
+        ],
+        [
+            "005_tomato_soup_can.object_config.json",
+            [
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+                    0.42151,
+                    3.73247
+                ],
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+        [
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+            [
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+        [
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+        ],
+        [
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+        ],
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+    "targets": {
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+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
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+            0
+        ],
+        [
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+            0
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+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1019.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1019",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_16.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
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+            "004_sugar_box_:0003": "obj1_target|1",
+            "004_sugar_box_:0004": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
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+        ],
+        [
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+        ],
+        [
+            "010_potted_meat_can.object_config.json",
+            [
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer1_top",
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+            }
+        },
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
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+        ],
+        [
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+            0
+        ],
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+            0
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+    ],
+    "goal_receptacles": [
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+        ],
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_102.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_00.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
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+        0,
+        0
+    ],
+    "start_rotation": [
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+        1
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+    "info": {
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+            "003_cracker_box_:0004": "obj1_target|1",
+            "003_cracker_box_:0005": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+        }
+    },
+    "rigid_objs": [
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+        ],
+        [
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+        ]
+    },
+    "markers": [
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1020.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1020",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_17.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "007_tuna_fish_can_:0002": "obj0_target|0",
+            "009_gelatin_box_:0002": "obj1_target|1",
+            "007_tuna_fish_can_:0003": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
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+            "008_pudding_box.object_config.json",
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+        ],
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+        [
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+            [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            "002_master_chef_can.object_config.json",
+            [
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+                    0.69743,
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+                ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            "010_potted_meat_can.object_config.json",
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+        ],
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+    },
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+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
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+            0
+        ],
+        [
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+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1021.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1021",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_01.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "007_tuna_fish_can_:0004": "obj0_target|0",
+            "010_potted_meat_can_:0002": "obj1_target|1",
+            "005_tomato_soup_can_:0004": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
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+        ],
+        [
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+                    0.0,
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+        ],
+        [
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+            [
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+                    0.75685
+                ],
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+            [
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+        ],
+        [
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+        ],
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1022.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1022",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_16.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "003_cracker_box_:0004": "obj0_target|0",
+            "003_cracker_box_:0005": "obj1_target|1",
+            "003_cracker_box_:0006": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
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+        ],
+        [
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+        ],
+        [
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+                    0.0,
+                    0.0,
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+        ],
+        [
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+        ],
+        [
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+            [
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+        [
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+        ],
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+        ],
+        [
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+            [
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+        ],
+        [
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+            [
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+        ],
+        [
+            "008_pudding_box.object_config.json",
+            [
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+            ]
+        ],
+        [
+            "010_potted_meat_can.object_config.json",
+            [
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+        [
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+            "type": "articulated_object",
+            "params": {
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+            "type": "articulated_object",
+            "params": {
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+        },
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
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+        },
+        {
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+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
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+        },
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+            "params": {
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+                "link": "top_door",
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+    "target_receptacles": [
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+    "goal_receptacles": [
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+        [
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+        ],
+        [
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+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1023.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_10.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
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+            "024_bowl_:0004": "obj1_target|1",
+            "004_sugar_box_:0001": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+        }
+    },
+    "rigid_objs": [
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+        ],
+        [
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+    "targets": {
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+    },
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+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1024.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1024",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_15.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "002_master_chef_can_:0004": "obj0_target|0",
+            "008_pudding_box_:0002": "obj1_target|1",
+            "004_sugar_box_:0003": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "010_potted_meat_can.object_config.json",
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+                [
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+                    0.0,
+                    0.0,
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+                ]
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+        ],
+        [
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+                    0.0004,
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+                    0.0,
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+                ]
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+        ],
+        [
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+        ],
+        [
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+            [
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+                    3e-05,
+                    0.94736,
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+                [
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+            [
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+        ],
+        [
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+            [
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+            [
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+                    0.68107,
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+                ],
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+        ],
+        [
+            "024_bowl.object_config.json",
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+        ],
+        [
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+        ],
+        [
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+            [
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+        ],
+        [
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+    ],
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
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+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1025.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1025",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_10.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "008_pudding_box_:0002": "obj0_target|0",
+            "004_sugar_box_:0003": "obj1_target|1",
+            "002_master_chef_can_:0002": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "003_cracker_box.object_config.json",
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+        ],
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+        ],
+        [
+            "005_tomato_soup_can.object_config.json",
+            [
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+        [
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+            [
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+            "params": {
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+            "type": "articulated_object",
+            "params": {
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+        },
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
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+    ],
+    "goal_receptacles": [
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+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1026.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_07.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
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+        0,
+        0,
+        1
+    ],
+    "info": {
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+            "024_bowl_:0003": "obj1_target|1",
+            "008_pudding_box_:0006": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+            "2": 1.5
+        }
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+    "rigid_objs": [
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+        ],
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+        ],
+        [
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+    },
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1027.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1027",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_04.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "007_tuna_fish_can_:0001": "obj0_target|0",
+            "004_sugar_box_:0004": "obj1_target|1",
+            "003_cracker_box_:0002": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "009_gelatin_box.object_config.json",
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+                ],
+                [
+                    0.0,
+                    0.0,
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+                    1.0
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+        ],
+        [
+            "009_gelatin_box.object_config.json",
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+                    -1.75357
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+            ]
+        ],
+        [
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+                    0.0,
+                    0.0,
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+        ],
+        [
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+            [
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+        ],
+        [
+            "004_sugar_box.object_config.json",
+            [
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+            ]
+        ],
+        [
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+            [
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+        ],
+        [
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+            [
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+        ],
+        [
+            "010_potted_meat_can.object_config.json",
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+            ]
+        ],
+        [
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+            [
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+                    3.7823
+                ],
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+            ]
+        ],
+        [
+            "024_bowl.object_config.json",
+            [
+                [
+                    0.88847,
+                    7e-05,
+                    0.45894,
+                    0.47256
+                ],
+                [
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+            "type": "articulated_object",
+            "params": {
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+                "object": "kitchen_counter_:0000"
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
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+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
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+    ],
+    "target_receptacles": [
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+        ],
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+        [
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+    ],
+    "goal_receptacles": [
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+        ],
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1028.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1028",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_18.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
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+            "005_tomato_soup_can_:0001": "obj1_target|1",
+            "005_tomato_soup_can_:0002": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+            "2": 1.5
+        }
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+    "rigid_objs": [
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+        [
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+        ],
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+        ],
+        [
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+    "targets": {
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+        ],
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+    },
+    "markers": [
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1029.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1029",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_08.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "004_sugar_box_:0008": "obj0_target|0",
+            "002_master_chef_can_:0001": "obj1_target|1",
+            "009_gelatin_box_:0001": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "007_tuna_fish_can.object_config.json",
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+                ],
+                [
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+                    0.0,
+                    0.0,
+                    1.0
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+            ]
+        ],
+        [
+            "008_pudding_box.object_config.json",
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+                    0.95305,
+                    2.95091
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+                ],
+                [
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+                    0.0,
+                    0.0,
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+                ]
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+        ],
+        [
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+            [
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+                    -1.97228
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+                    0.0,
+                    0.0,
+                    1.0
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+        ],
+        [
+            "008_pudding_box.object_config.json",
+            [
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+                    0.0,
+                    0.0,
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+            ]
+        ],
+        [
+            "004_sugar_box.object_config.json",
+            [
+                [
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+                    0.00756,
+                    0.75521,
+                    3.11596
+                ],
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+                    1.43479
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "010_potted_meat_can.object_config.json",
+            [
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+                    -2.3165
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+        ],
+        [
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+            [
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+        ],
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+            [
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+        ],
+        [
+            "008_pudding_box.object_config.json",
+            [
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+                    0.02385,
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+                    -2.01335
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+            "type": "articulated_object",
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+            "type": "articulated_object",
+            "params": {
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+            "type": "articulated_object",
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+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
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+            "type": "articulated_object",
+            "params": {
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+                "link": "top_door",
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+    "target_receptacles": [
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+        [
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+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_103.json

@@ -0,0 +1,1078 @@
+{
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+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_17.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
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+        0,
+        0
+    ],
+    "start_rotation": [
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+        1
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+    "info": {
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+            "008_pudding_box_:0005": "obj1_target|1",
+            "005_tomato_soup_can_:0004": "obj2_target|2"
+        }
+    },
+    "ao_states": {
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+            "2": 1.5
+        }
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+        [
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+        ]
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+        ],
+        "005_tomato_soup_can_:0004": [
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+                0.73679,
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+            [
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+                0.0,
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+        ]
+    },
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+            "type": "articulated_object",
+            "params": {
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+                    0.0,
+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    -0.62,
+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1030.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1030",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_06.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "007_tuna_fish_can_:0003": "obj0_target|0",
+            "003_cracker_box_:0004": "obj1_target|1",
+            "010_potted_meat_can_:0001": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "005_tomato_soup_can.object_config.json",
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+                ],
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+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "005_tomato_soup_can.object_config.json",
+            [
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+                    -6e-05,
+                    0.76144,
+                    -2.46666
+                ],
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+                    0.91083
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+                ],
+                [
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+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "005_tomato_soup_can.object_config.json",
+            [
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+                    -0.0019,
+                    -0.04137,
+                    -2.2073
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+                    0.0,
+                    0.0,
+                    1.0
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+            ]
+        ],
+        [
+            "008_pudding_box.object_config.json",
+            [
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+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "008_pudding_box.object_config.json",
+            [
+                [
+                    0.93602,
+                    0.01379,
+                    -0.35167,
+                    -2.20983
+                ],
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+                ],
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+                    2.04415
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "007_tuna_fish_can.object_config.json",
+            [
+                [
+                    -0.9604,
+                    -3e-05,
+                    0.27861,
+                    -2.33423
+                ],
+                [
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+                [
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+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "009_gelatin_box.object_config.json",
+            [
+                [
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+                    -0.0006,
+                    0.99875,
+                    -2.06161
+                ],
+                [
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+                    0.0,
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+            ]
+        ],
+        [
+            "024_bowl.object_config.json",
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+        ],
+        [
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+        ]
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+    "targets": {
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+                0.0,
+                1.0
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+        ],
+        "010_potted_meat_can_:0001": [
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+                0.5153,
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+            [
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+        ]
+    },
+    "markers": [
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1031.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1031",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_14.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "024_bowl_:0002": "obj0_target|0",
+            "024_bowl_:0003": "obj1_target|1",
+            "003_cracker_box_:0003": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "002_master_chef_can.object_config.json",
+            [
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+                    0.10762,
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+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "024_bowl.object_config.json",
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+                    0.14239,
+                    1.20876
+                ],
+                [
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+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "005_tomato_soup_can.object_config.json",
+            [
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+                    0.57356
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+                    0.0,
+                    0.0,
+                    1.0
+                ]
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+        ],
+        [
+            "009_gelatin_box.object_config.json",
+            [
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+                    0.62125,
+                    0.28046
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+                [
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+                    0.0,
+                    1.0
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+        ],
+        [
+            "024_bowl.object_config.json",
+            [
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+                    0.00111,
+                    -0.98204,
+                    0.41613
+                ],
+                [
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+            ]
+        ],
+        [
+            "003_cracker_box.object_config.json",
+            [
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+        ],
+        [
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+            [
+                [
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+                    0.0001,
+                    -0.69186,
+                    -2.32212
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+    },
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1032.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1032",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_03.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "009_gelatin_box_:0002": "obj0_target|0",
+            "024_bowl_:0002": "obj1_target|1",
+            "008_pudding_box_:0000": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "004_sugar_box.object_config.json",
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+                    0.0,
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+                ]
+            ]
+        ],
+        [
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+                    -3e-05,
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+                ],
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+                    0.0,
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+                    3.36214
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+                    0.0,
+                    0.0,
+                    1.0
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+        ],
+        [
+            "005_tomato_soup_can.object_config.json",
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+            ]
+        ],
+        [
+            "010_potted_meat_can.object_config.json",
+            [
+                [
+                    0.99935,
+                    -9e-05,
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+                    -2.24072
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+        ],
+        [
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+        ],
+        [
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+        ]
+    ],
+    "targets": {
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+                0.0,
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+        ]
+    },
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
+                    0.1,
+                    -0.62,
+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1033.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1033",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_04.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "024_bowl_:0003": "obj0_target|0",
+            "003_cracker_box_:0001": "obj1_target|1",
+            "010_potted_meat_can_:0004": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "007_tuna_fish_can.object_config.json",
+            [
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+                    0.00061,
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+                    -1.90991
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+                ],
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+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "005_tomato_soup_can.object_config.json",
+            [
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+                    0.62712,
+                    0.00015,
+                    0.77892,
+                    -2.17697
+                ],
+                [
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+                    1.85799
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+                    0.0,
+                    0.0,
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+        ],
+        [
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+                ],
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+                    0.0,
+                    0.0,
+                    1.0
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+        ],
+        [
+            "009_gelatin_box.object_config.json",
+            [
+                [
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+                [
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+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "010_potted_meat_can.object_config.json",
+            [
+                [
+                    -0.6154,
+                    0.00019,
+                    -0.78821,
+                    -1.99647
+                ],
+                [
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+                    2.96627
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+        ],
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+    ],
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+        ],
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1034.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1034",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_14.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "009_gelatin_box_:0004": "obj0_target|0",
+            "007_tuna_fish_can_:0002": "obj1_target|1",
+            "009_gelatin_box_:0005": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "002_master_chef_can.object_config.json",
+            [
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+                    5.33064
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "024_bowl.object_config.json",
+            [
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+                    -0.01515,
+                    0.12601,
+                    3.83119
+                ],
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+                ],
+                [
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+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "007_tuna_fish_can.object_config.json",
+            [
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+                    0.00076,
+                    0.82325,
+                    -2.00285
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+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "024_bowl.object_config.json",
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+        ],
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+        ],
+        [
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+            [
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+                ]
+            ]
+        ],
+        [
+            "007_tuna_fish_can.object_config.json",
+            [
+                [
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+                ],
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+        ],
+        [
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+        ]
+    ],
+    "targets": {
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+                3.14025
+            ],
+            [
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+                0.0,
+                1.0
+            ]
+        ],
+        "009_gelatin_box_:0005": [
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+                0.0,
+                -0.99163,
+                -2.20168
+            ],
+            [
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+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    },
+    "markers": [
+        {
+            "name": "cab_push_point_7",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
+                    0.3,
+                    0.0,
+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
+                    0.3,
+                    0.0,
+                    0
+                ],
+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
+                    0.3,
+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
+                    0.1,
+                    -0.62,
+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1035.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1035",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_06.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "002_master_chef_can_:0000": "obj0_target|0",
+            "007_tuna_fish_can_:0004": "obj1_target|1",
+            "007_tuna_fish_can_:0005": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "009_gelatin_box.object_config.json",
+            [
+                [
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+                    -0.00221,
+                    -0.51775,
+                    -2.00137
+                ],
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+                    0.99999,
+                    0.00249,
+                    0.4301
+                ],
+                [
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+                    0.00424,
+                    -0.85553,
+                    0.35694
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "009_gelatin_box.object_config.json",
+            [
+                [
+                    0.99961,
+                    -0.00072,
+                    -0.02781,
+                    -2.20829
+                ],
+                [
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+                    0.43012
+                ],
+                [
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+                    0.00259,
+                    0.99961,
+                    0.33131
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "005_tomato_soup_can.object_config.json",
+            [
+                [
+                    0.99003,
+                    9e-05,
+                    -0.14083,
+                    0.38229
+                ],
+                [
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+                    1.0,
+                    4e-05,
+                    0.45533
+                ],
+                [
+                    0.14083,
+                    -2e-05,
+                    0.99003,
+                    1.98107
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "024_bowl.object_config.json",
+            [
+                [
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+        ],
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+            "type": "articulated_object",
+            "params": {
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+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
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+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1036.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1036",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_12.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "024_bowl_:0002": "obj0_target|0",
+            "005_tomato_soup_can_:0001": "obj1_target|1",
+            "010_potted_meat_can_:0006": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "010_potted_meat_can.object_config.json",
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+                ],
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+                    0.0,
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+                    1.0
+                ]
+            ]
+        ],
+        [
+            "005_tomato_soup_can.object_config.json",
+            [
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+                    0.55525,
+                    5e-05,
+                    -0.83168,
+                    -2.10191
+                ],
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+                [
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+                    0.0,
+                    0.0,
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+            ]
+        ],
+        [
+            "007_tuna_fish_can.object_config.json",
+            [
+                [
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+                    -5e-05,
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+        ],
+        [
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
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+                    0.0,
+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1037.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1037",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_12.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "004_sugar_box_:0004": "obj0_target|0",
+            "010_potted_meat_can_:0004": "obj1_target|1",
+            "024_bowl_:0002": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "002_master_chef_can.object_config.json",
+            [
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+                    -0.79795
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        ],
+        [
+            "009_gelatin_box.object_config.json",
+            [
+                [
+                    0.44253,
+                    -0.00128,
+                    -0.89675,
+                    -2.14161
+                ],
+                [
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+                    0.00171,
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+        ],
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
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+                    0
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+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
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+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1038.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1038",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_08.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "004_sugar_box_:0002": "obj0_target|0",
+            "004_sugar_box_:0003": "obj1_target|1",
+            "003_cracker_box_:0003": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
+        [
+            "008_pudding_box.object_config.json",
+            [
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+                    0.00435,
+                    -0.85822,
+                    0.5984
+                ],
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+                    0.72672
+                ],
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+                    0.00359,
+                    -0.51325,
+                    6.8214
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+        ],
+        [
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+        ],
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+        ],
+        [
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+        ]
+    ],
+    "targets": {
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+        ],
+        "003_cracker_box_:0003": [
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+            [
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+            ],
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+                0.0,
+                1.0
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+        ]
+    },
+    "markers": [
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+            "name": "cab_push_point_7",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
+                    0.3,
+                    0.0,
+                    0
+                ],
+                "link": "drawer1_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_6",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
+                    0.3,
+                    0.0,
+                    0
+                ],
+                "link": "drawer2_top",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_5",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
+                    0.3,
+                    0.0,
+                    0
+                ],
+                "link": "drawer3",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "cab_push_point_4",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.0,
+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
+                    0.1,
+                    -0.62,
+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1039.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1039",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_02.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "002_master_chef_can_:0002": "obj0_target|0",
+            "024_bowl_:0002": "obj1_target|1",
+            "009_gelatin_box_:0002": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer1_top",
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+            "type": "articulated_object",
+            "params": {
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+            "type": "articulated_object",
+            "params": {
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+                "link": "drawer3",
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+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
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+                    0
+                ],
+                "link": "drawer4",
+                "object": "kitchen_counter_:0000"
+            }
+        },
+        {
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+            "type": "articulated_object",
+            "params": {
+                "offset": [
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+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
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+            0
+        ],
+        [
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+            0
+        ],
+        [
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+            0
+        ]
+    ],
+    "goal_receptacles": [
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+            0
+        ],
+        [
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+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_104.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "104",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_17.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
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+        [
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+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1040.json

@@ -0,0 +1,1078 @@
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+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}

rearrange/v1_extracted/train/prepare_groceries/episode_1041.json

@@ -0,0 +1,1078 @@
+{
+    "episode_id": "1041",
+    "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_20.scene_instance.json",
+    "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
+    "additional_obj_config_paths": [
+        "data/objects/ycb/"
+    ],
+    "start_position": [
+        0,
+        0,
+        0
+    ],
+    "start_rotation": [
+        0,
+        0,
+        0,
+        1
+    ],
+    "info": {
+        "object_labels": {
+            "008_pudding_box_:0003": "obj0_target|0",
+            "009_gelatin_box_:0005": "obj1_target|1",
+            "002_master_chef_can_:0003": "obj2_target|2"
+        }
+    },
+    "ao_states": {
+        "fridge_:0000": {
+            "2": 1.5
+        }
+    },
+    "rigid_objs": [
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+                [
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+                    1.0
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+            ]
+        ],
+        [
+            "009_gelatin_box.object_config.json",
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+                    -1e-05,
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+                    0.0,
+                    0.0,
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+        ],
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+                ],
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+        ],
+        [
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+            [
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+        ],
+        [
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+            [
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+                    0.48882
+                ],
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+        ],
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+            ]
+        ],
+        [
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+                "link": "drawer3",
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+        },
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+        {
+            "name": "fridge_push_point",
+            "type": "articulated_object",
+            "params": {
+                "offset": [
+                    0.1,
+                    -0.62,
+                    0.2
+                ],
+                "link": "top_door",
+                "object": "fridge_:0000"
+            }
+        }
+    ],
+    "target_receptacles": [
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ]
+    ],
+    "goal_receptacles": [
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "kitchen_counter_:0000",
+            0
+        ],
+        [
+            "fridge_:0000",
+            0
+        ]
+    ]
+}