PyPI - egogym - Versions diffs - 0.1.0__py3-none-any.whl - Mend

egogym 0.1.0__py3-none-any.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (83) hide show

baselines/pi_policy.py +110 -0
baselines/rum/__init__.py +1 -0
baselines/rum/loss_fns/__init__.py +37 -0
baselines/rum/loss_fns/abstract_loss_fn.py +13 -0
baselines/rum/loss_fns/diffusion_policy_loss_fn.py +114 -0
baselines/rum/loss_fns/rvq_loss_fn.py +104 -0
baselines/rum/loss_fns/vqbet_loss_fn.py +202 -0
baselines/rum/models/__init__.py +1 -0
baselines/rum/models/bet/__init__.py +3 -0
baselines/rum/models/bet/bet.py +347 -0
baselines/rum/models/bet/gpt.py +277 -0
baselines/rum/models/bet/tokenized_bet.py +454 -0
baselines/rum/models/bet/utils.py +124 -0
baselines/rum/models/bet/vqbet.py +410 -0
baselines/rum/models/bet/vqvae/__init__.py +3 -0
baselines/rum/models/bet/vqvae/residual_vq.py +346 -0
baselines/rum/models/bet/vqvae/vector_quantize_pytorch.py +1194 -0
baselines/rum/models/bet/vqvae/vqvae.py +313 -0
baselines/rum/models/bet/vqvae/vqvae_utils.py +30 -0
baselines/rum/models/custom.py +33 -0
baselines/rum/models/encoders/__init__.py +0 -0
baselines/rum/models/encoders/abstract_base_encoder.py +70 -0
baselines/rum/models/encoders/identity.py +45 -0
baselines/rum/models/encoders/timm_encoders.py +82 -0
baselines/rum/models/policies/diffusion_policy.py +881 -0
baselines/rum/models/policies/open_loop.py +122 -0
baselines/rum/models/policies/simple_open_loop.py +108 -0
baselines/rum/molmo/server.py +144 -0
baselines/rum/policy.py +293 -0
baselines/rum/utils/__init__.py +212 -0
baselines/rum/utils/action_transforms.py +22 -0
baselines/rum/utils/decord_transforms.py +135 -0
baselines/rum/utils/rpc.py +249 -0
baselines/rum/utils/schedulers.py +71 -0
baselines/rum/utils/trajectory_vis.py +128 -0
baselines/rum/utils/zmq_utils.py +281 -0
baselines/rum_policy.py +108 -0
egogym/__init__.py +8 -0
egogym/assets/constants.py +1804 -0
egogym/components/__init__.py +1 -0
egogym/components/object.py +94 -0
egogym/egogym.py +106 -0
egogym/embodiments/__init__.py +10 -0
egogym/embodiments/arms/__init__.py +4 -0
egogym/embodiments/arms/arm.py +65 -0
egogym/embodiments/arms/droid.py +49 -0
egogym/embodiments/grippers/__init__.py +4 -0
egogym/embodiments/grippers/floating_gripper.py +58 -0
egogym/embodiments/grippers/rum.py +6 -0
egogym/embodiments/robot.py +95 -0
egogym/evaluate.py +216 -0
egogym/managers/__init__.py +2 -0
egogym/managers/objects_managers.py +30 -0
egogym/managers/textures_manager.py +21 -0
egogym/misc/molmo_client.py +49 -0
egogym/misc/molmo_server.py +197 -0
egogym/policies/__init__.py +1 -0
egogym/policies/base_policy.py +13 -0
egogym/scripts/analayze.py +834 -0
egogym/scripts/plot.py +87 -0
egogym/scripts/plot_correlation.py +392 -0
egogym/scripts/plot_correlation_hardcoded.py +338 -0
egogym/scripts/plot_failure.py +248 -0
egogym/scripts/plot_failure_hardcoded.py +195 -0
egogym/scripts/plot_failure_vlm.py +257 -0
egogym/scripts/plot_failure_vlm_hardcoded.py +177 -0
egogym/scripts/plot_line.py +303 -0
egogym/scripts/plot_line_hardcoded.py +285 -0
egogym/scripts/plot_pi0_bars.py +169 -0
egogym/tasks/close.py +84 -0
egogym/tasks/open.py +85 -0
egogym/tasks/pick.py +121 -0
egogym/utils.py +969 -0
egogym/wrappers/__init__.py +20 -0
egogym/wrappers/episode_monitor.py +282 -0
egogym/wrappers/unprivileged_chatgpt.py +163 -0
egogym/wrappers/unprivileged_gemini.py +157 -0
egogym/wrappers/unprivileged_molmo.py +88 -0
egogym/wrappers/unprivileged_moondream.py +121 -0
egogym-0.1.0.dist-info/METADATA +52 -0
egogym-0.1.0.dist-info/RECORD +83 -0
egogym-0.1.0.dist-info/WHEEL +5 -0
egogym-0.1.0.dist-info/top_level.txt +2 -0

egogym/assets/constants.py ADDED Viewed

@@ -0,0 +1,1804 @@
+all_close_objects_set = [
+    "cabinet",
+    "drawer"
+]
+all_open_objects_set = [
+    "cabinet",
+    "drawer"
+]
+cabinet_objects_set = [
+    "cabinet"
+]
+drawer_objects_set = [
+    "drawer"
+]
+lite_pick_objects_set = [
+    "bottled_drink_2",
+    "cup_2",
+    "egg_0",
+    "hot_dog_0",
+    "ketchup_2",
+    "kiwi_0",
+    "lemon_0",
+    "mango_5",
+    "orange_2",
+    "potato_2",
+    "tangerine_3",
+    "tomato_1",
+    "wine_4",
+    "apple_3"
+]
+diverse_pick_objects_set = [
+    "apple_6",
+    "tomato_7",
+    "can_16",
+    "onion_1",
+    "bottled_drink_0",
+    "kettle_14",
+    "spoon_1",
+    "mango_19",
+    "potato_2",
+    "lime_1",
+    "can_4",
+    "apple_10",
+    "water_bottle_4",
+    "egg_1",
+    "potato_5",
+    "egg_4",
+    "cupcake_17",
+    "hot_dog_3",
+    "can_6",
+    "mango_11",
+    "mushroom_3",
+    "bagel_0",
+    "candle_2",
+    "rolling_pin_0",
+    "croissant_2",
+    "mug_7",
+    "pear_2",
+    "kettle_26",
+    "bagel_6",
+    "bar_3",
+    "milk_5",
+    "spoon_16",
+    "squash_7",
+    "sponge_1",
+    "eggplant_0",
+    "cupcake_3",
+    "cereal_12",
+    "bowl_19",
+    "bread_8",
+    "mug_18",
+    "donut_0",
+    "kettle_11",
+    "pan_13",
+    "knife_1",
+    "bread_13",
+    "plate_13",
+    "mug_0",
+    "bowl_3",
+]
+plausible_categories = [
+    "alcohol",
+    "apple",
+    "avocado",
+    "bagel",
+    "baggedfood",
+    "baguette",
+    "banana",
+    "bar",
+    "barsoap",
+    "beer",
+    "bellpepper",
+    "bottleddrink",
+    "bottledwater",
+    "bowl",
+    "boxeddrink",
+    "boxedfood",
+    "bread",
+    "broccoli",
+    "cake",
+    "can",
+    "candle",
+    "cannedfood",
+    "carrot",
+    "cereal",
+    "cheese",
+    "chips",
+    "coffeecup",
+    "condiment",
+    "corn",
+    "croissant",
+    "cup",
+    "cupcake",
+    "cucumber",
+    "donut",
+    "egg",
+    "eggplant",
+    "fish",
+    "fork",
+    "garlic",
+    "hotdog",
+    "jam",
+    "jug",
+    "ketchup",
+    "kettle",
+    "kiwi",
+    "knife",
+    "ladle",
+    "lemon",
+    "lime",
+    "mango",
+    "milk",
+    "mug",
+    "mushroom",
+    "onion",
+    "orange",
+    "pan",
+    "peach",
+    "pear",
+    "potato",
+    "rollingpin",
+    "scissors",
+    "shaker",
+    "soapdispenser",
+    "spatula",
+    "sponge",
+    "spoon",
+    "spray",
+    "squash",
+    "steak",
+    "sweetpotato",
+    "tangerine",
+    "teapot",
+    "tomato",
+    "waffle",
+    "waterbottle",
+    "wine",
+    "yogurt"
+]
+all_categories_names = [
+   "alcohol",
+    "apple",
+    "avocado",
+    "bagel",
+    "baggedfood",
+    "baguette",
+    "banana",
+    "bar",
+    "barsoap",
+    "beer",
+    "bellpepper",
+    "bottleddrink",
+    "bottledwater",
+    "bowl",
+    "boxeddrink",
+    "boxedfood",
+    "bread",
+    "broccoli",
+    "cake",
+    "can",
+    "candle",
+    "cannedfood",
+    "carrot",
+    "cereal",
+    "cheese",
+    "chips",
+    "coffeecup",
+    "condiment",
+    "corn",
+    "croissant",
+    "cup",
+    "cucumber",
+    "cupcake",
+    "cucumber",
+    "donut",
+    "egg",
+    "eggplant",
+    "fish",
+    "fork",
+    "garlic",
+    "hotdog",
+    "jam",
+    "jug",
+    "ketchup",
+    "kettle",
+    "kiwi",
+    "knife",
+    "ladle",
+    "lemon",
+    "lime",
+    "mango",
+    "milk",
+    "mug",
+    "mushroom",
+    "onion",
+    "orange",
+    "pan",
+    "peach",
+    "pear",
+    "potato",
+    "rollingpin",
+    "scissors",
+    "shaker",
+    "soapdispenser",
+    "spatula",
+    "sponge",
+    "spoon",
+    "spray",
+    "squash",
+    "steak",
+    "sweetpotato",
+    "tangerine",
+    "teapot",
+    "tomato",
+    "waffle",
+    "waterbottle",
+    "wine",
+    "yogurt"
+]
+full_eval_objects_set = [
+    "alcohol_0",
+    "alcohol_1",
+    "alcohol_2",
+    "alcohol_4",
+    "alcohol_5",
+    "alcohol_7",
+    "alcohol_9",
+    "alcohol_10",
+    "alcohol_11",
+    "alcohol_12",
+    "apple_0",
+    "apple_1",
+    "apple_2",
+    "apple_3",
+    "apple_4",
+    "apple_5",
+    "apple_6",
+    "apple_7",
+    "apple_8",
+    "apple_9",
+    "avocado_0",
+    "avocado_1",
+    "avocado_2",
+    "avocado_4",
+    "avocado_5",
+    "avocado_6",
+    "avocado_8",
+    "bagel_0",
+    "bagel_1",
+    "bagel_2",
+    "bagel_3",
+    "bagel_4",
+    "bagel_5",
+    "bagel_6",
+    "bagel_7",
+    "bagel_9",
+    "bagged_food_0",
+    "bagged_food_3",
+    "bagged_food_4",
+    "bagged_food_5",
+    "bagged_food_7",
+    "bagged_food_8",
+    "bagged_food_9",
+    "bagged_food_11",
+    "bagged_food_14",
+    "baguette_0",
+    "baguette_1",
+    "baguette_2",
+    "baguette_4",
+    "baguette_5",
+    "baguette_6",
+    "banana_1",
+    "banana_2",
+    "banana_3",
+    "banana_4",
+    "banana_5",
+    "banana_6",
+    "banana_7",
+    "banana_8",
+    "banana_9",
+    "banana_10",
+    "bar_0",
+    "bar_2",
+    "bar_3",
+    "bar_4",
+    "bar_6",
+    "bar_7",
+    "bar_8",
+    "bar_9",
+    "bar_10",
+    "bar_11",
+    "bar_soap_0",
+    "bar_soap_1",
+    "bar_soap_3",
+    "bar_soap_4",
+    "beer_0",
+    "beer_1",
+    "beer_2",
+    "beer_3",
+    "beer_5",
+    "beer_6",
+    "beer_7",
+    "beer_8",
+    "beer_9",
+    "beer_10",
+    "bell_pepper_0",
+    "bell_pepper_1",
+    "bell_pepper_2",
+    "bell_pepper_3",
+    "bottled_drink_0",
+    "bottled_drink_1",
+    "bottled_drink_2",
+    "bottled_drink_4",
+    "bottled_drink_5",
+    "bottled_water_1",
+    "bottled_water_2",
+    "bottled_water_3",
+    "bottled_water_4",
+    "bottled_water_6",
+    "bottled_water_7",
+    "bottled_water_8",
+    "bottled_water_10",
+    "bottled_water_11",
+    "bottled_water_12",
+    "bowl_0",
+    "bowl_1",
+    "bowl_2",
+    "bowl_3",
+    "bowl_4",
+    "bowl_5",
+    "bowl_6",
+    "bowl_7",
+    "bowl_8",
+    "bowl_9",
+    "boxed_drink_0",
+    "boxed_drink_1",
+    "boxed_drink_2",
+    "boxed_drink_3",
+    "boxed_drink_4",
+    "boxed_drink_5",
+    "boxed_drink_7",
+    "boxed_food_0",
+    "boxed_food_1",
+    "boxed_food_2",
+    "boxed_food_4",
+    "boxed_food_6",
+    "boxed_food_7",
+    "boxed_food_8",
+    "boxed_food_9",
+    "boxed_food_10",
+    "boxed_food_11",
+    "bread_0",
+    "bread_1",
+    "bread_2",
+    "bread_3",
+    "bread_4",
+    "bread_5",
+    "bread_6",
+    "bread_7",
+    "bread_8",
+    "bread_9",
+    "broccoli_0",
+    "broccoli_1",
+    "broccoli_3",
+    "cake_0",
+    "cake_1",
+    "cake_3",
+    "cake_4",
+    "cake_5",
+    "cake_6",
+    "cake_7",
+    "cake_8",
+    "cake_9",
+    "can_0",
+    "can_2",
+    "can_3",
+    "can_4",
+    "can_6",
+    "can_8",
+    "can_9",
+    "can_11",
+    "can_12",
+    "can_13",
+    "candle_0",
+    "candle_1",
+    "candle_2",
+    "candle_3",
+    "candle_4",
+    "candle_5",
+    "candle_6",
+    "candle_7",
+    "candle_8",
+    "candle_9",
+    "canned_food_0",
+    "canned_food_1",
+    "canned_food_3",
+    "canned_food_4",
+    "canned_food_5",
+    "canned_food_6",
+    "canned_food_8",
+    "canned_food_9",
+    "canned_food_10",
+    "canned_food_11",
+    "carrot_0",
+    "carrot_1",
+    "carrot_2",
+    "carrot_3",
+    "carrot_4",
+    "carrot_6",
+    "carrot_7",
+    "cereal_0",
+    "cereal_1",
+    "cereal_2",
+    "cereal_3",
+    "cereal_4",
+    "cereal_5",
+    "cereal_6",
+    "cereal_7",
+    "cereal_8",
+    "cereal_9",
+    "cheese_0",
+    "cheese_1",
+    "cheese_2",
+    "cheese_3",
+    "cheese_4",
+    "cheese_5",
+    "cheese_6",
+    "cheese_7",
+    "cheese_8",
+    "chips_0",
+    "chips_1",
+    "chips_2",
+    "chips_3",
+    "chips_4",
+    "chips_5",
+    "chips_6",
+    "chips_7",
+    "chips_8",
+    "chips_9",
+    "coffee_cup_1",
+    "coffee_cup_2",
+    "coffee_cup_3",
+    "coffee_cup_4",
+    "coffee_cup_6",
+    "coffee_cup_7",
+    "coffee_cup_8",
+    "coffee_cup_9",
+    "coffee_cup_10",
+    "coffee_cup_11",
+    "condiment_0",
+    "condiment_2",
+    "condiment_3",
+    "corn_0",
+    "corn_1",
+    "corn_3",
+    "corn_4",
+    "croissant_0",
+    "croissant_1",
+    "croissant_2",
+    "croissant_3",
+    "croissant_4",
+    "croissant_5",
+    "croissant_6",
+    "croissant_8",
+    "croissant_9",
+    "croissant_10",
+    "cucumber_0",
+    "cucumber_1",
+    "cucumber_2",
+    "cucumber_3",
+    "cucumber_4",
+    "cucumber_5",
+    "cup_2",
+    "cup_3",
+    "cup_4",
+    "cup_5",
+    "cupcake_2",
+    "cupcake_3",
+    "cupcake_4",
+    "cupcake_5",
+    "cupcake_6",
+    "cupcake_7",
+    "cupcake_9",
+    "cupcake_11",
+    "cupcake_12",
+    "cupcake_14",
+    "cutting_board_0",
+    "cutting_board_1",
+    "cutting_board_2",
+    "cutting_board_4",
+    "cutting_board_5",
+    "cutting_board_7",
+    "cutting_board_9",
+    "cutting_board_11",
+    "cutting_board_12",
+    "cutting_board_13",
+    "donut_0",
+    "donut_1",
+    "donut_2",
+    "donut_3",
+    "donut_4",
+    "donut_5",
+    "donut_6",
+    "donut_7",
+    "donut_8",
+    "donut_9",
+    "egg_0",
+    "egg_1",
+    "egg_3",
+    "egg_4",
+    "egg_5",
+    "egg_6",
+    "egg_7",
+    "egg_8",
+    "egg_9",
+    "egg_10",
+    "eggplant_0",
+    "eggplant_1",
+    "eggplant_2",
+    "eggplant_3",
+    "eggplant_4",
+    "fish_0",
+    "fish_1",
+    "fish_2",
+    "fish_3",
+    "fish_4",
+    "fish_5",
+    "fish_6",
+    "fish_7",
+    "fish_8",
+    "fish_9",
+    "fork_0",
+    "fork_1",
+    "fork_2",
+    "fork_3",
+    "fork_4",
+    "fork_5",
+    "fork_6",
+    "fork_7",
+    "fork_8",
+    "fork_9",
+    "garlic_0",
+    "garlic_1",
+    "garlic_2",
+    "garlic_4",
+    "garlic_5",
+    "hot_dog_0",
+    "hot_dog_1",
+    "hot_dog_2",
+    "hot_dog_3",
+    "hot_dog_4",
+    "hot_dog_5",
+    "hot_dog_6",
+    "jam_0",
+    "jam_1",
+    "jam_2",
+    "jam_3",
+    "jam_4",
+    "jam_5",
+    "jam_6",
+    "jug_0",
+    "jug_1",
+    "jug_2",
+    "jug_3",
+    "jug_4",
+    "jug_5",
+    "jug_6",
+    "jug_7",
+    "jug_8",
+    "ketchup_0",
+    "ketchup_1",
+    "ketchup_2",
+    "ketchup_3",
+    "ketchup_4",
+    "ketchup_7",
+    "ketchup_8",
+    "ketchup_9",
+    "ketchup_10",
+    "ketchup_11",
+    "kettle_0",
+    "kettle_1",
+    "kettle_2",
+    "kettle_3",
+    "kettle_4",
+    "kettle_5",
+    "kettle_6",
+    "kettle_7",
+    "kettle_8",
+    "kettle_9",
+    "kiwi_0",
+    "kiwi_1",
+    "kiwi_2",
+    "kiwi_4",
+    "kiwi_5",
+    "kiwi_6",
+    "kiwi_7",
+    "knife_0",
+    "knife_1",
+    "knife_2",
+    "knife_3",
+    "knife_4",
+    "knife_5",
+    "knife_6",
+    "knife_7",
+    "knife_8",
+    "knife_9",
+    "ladle_0",
+    "ladle_1",
+    "ladle_2",
+    "ladle_3",
+    "ladle_4",
+    "lemon_0",
+    "lemon_1",
+    "lemon_2",
+    "lemon_3",
+    "lemon_4",
+    "lemon_5",
+    "lemon_6",
+    "lemon_7",
+    "lemon_8",
+    "lemon_9",
+    "lime_0",
+    "lime_1",
+    "lime_2",
+    "lime_3",
+    "mango_1",
+    "mango_4",
+    "mango_5",
+    "mango_7",
+    "mango_8",
+    "mango_9",
+    "mango_10",
+    "mango_11",
+    "mango_12",
+    "mango_13",
+    "milk_0",
+    "milk_1",
+    "milk_3",
+    "milk_4",
+    "milk_5",
+    "milk_7",
+    "milk_9",
+    "milk_10",
+    "mug_0",
+    "mug_1",
+    "mug_2",
+    "mug_3",
+    "mug_4",
+    "mug_5",
+    "mug_7",
+    "mug_8",
+    "mug_9",
+    "mug_10",
+    "mushroom_0",
+    "mushroom_1",
+    "mushroom_2",
+    "mushroom_3",
+    "mushroom_4",
+    "mushroom_5",
+    "mushroom_6",
+    "mushroom_7",
+    "mushroom_8",
+    "mushroom_9",
+    "onion_0",
+    "onion_1",
+    "onion_2",
+    "onion_3",
+    "onion_4",
+    "onion_6",
+    "onion_7",
+    "onion_8",
+    "onion_9",
+    "onion_10",
+    "orange_0",
+    "orange_1",
+    "orange_2",
+    "orange_3",
+    "orange_4",
+    "orange_5",
+    "orange_8",
+    "orange_9",
+    "orange_10",
+    "orange_11",
+    "pan_0",
+    "pan_1",
+    "pan_2",
+    "pan_3",
+    "pan_4",
+    "pan_5",
+    "pan_6",
+    "pan_7",
+    "pan_8",
+    "pan_9",
+    "peach_0",
+    "peach_1",
+    "peach_2",
+    "peach_3",
+    "peach_4",
+    "peach_5",
+    "peach_6",
+    "pear_0",
+    "pear_1",
+    "pear_2",
+    "pear_3",
+    "pear_5",
+    "pear_6",
+    "pear_8",
+    "pear_10",
+    "pear_11",
+    "pear_12",
+    "plate_0",
+    "plate_1",
+    "plate_2",
+    "plate_3",
+    "plate_4",
+    "plate_5",
+    "plate_7",
+    "plate_8",
+    "plate_9",
+    "plate_10",
+    "potato_0",
+    "potato_1",
+    "potato_2",
+    "potato_3",
+    "potato_4",
+    "potato_5",
+    "potato_6",
+    "potato_7",
+    "potato_8",
+    "potato_9",
+    "rolling_pin_0",
+    "rolling_pin_1",
+    "rolling_pin_2",
+    "rolling_pin_3",
+    "rolling_pin_4",
+    "rolling_pin_5",
+    "scissors_0",
+    "scissors_1",
+    "scissors_3",
+    "scissors_4",
+    "scissors_6",
+    "scissors_8",
+    "scissors_9",
+    "scissors_10",
+    "scissors_11",
+    "scissors_12",
+    "shaker_0",
+    "shaker_1",
+    "shaker_2",
+    "shaker_3",
+    "soap_dispenser_0",
+    "soap_dispenser_1",
+    "soap_dispenser_2",
+    "soap_dispenser_3",
+    "soap_dispenser_4",
+    "soap_dispenser_6",
+    "spatula_0",
+    "spatula_1",
+    "spatula_2",
+    "spatula_3",
+    "spatula_4",
+    "spatula_5",
+    "spatula_6",
+    "spatula_7",
+    "spatula_8",
+    "spatula_9",
+    "sponge_0",
+    "sponge_1",
+    "sponge_2",
+    "sponge_3",
+    "sponge_4",
+    "sponge_5",
+    "sponge_6",
+    "sponge_8",
+    "spoon_0",
+    "spoon_1",
+    "spoon_2",
+    "spoon_3",
+    "spoon_4",
+    "spoon_5",
+    "spoon_6",
+    "spoon_7",
+    "spoon_8",
+    "spoon_9",
+    "spray_0",
+    "spray_1",
+    "spray_2",
+    "squash_0",
+    "squash_1",
+    "squash_3",
+    "squash_5",
+    "squash_7",
+    "squash_8",
+    "squash_13",
+    "squash_15",
+    "squash_16",
+    "steak_2",
+    "steak_3",
+    "steak_4",
+    "steak_5",
+    "steak_6",
+    "steak_8",
+    "steak_9",
+    "steak_10",
+    "steak_11",
+    "steak_14",
+    "sweet_potato_1",
+    "sweet_potato_3",
+    "tangerine_0",
+    "tangerine_1",
+    "tangerine_2",
+    "tangerine_3",
+    "tangerine_4",
+    "tangerine_5",
+    "tangerine_6",
+    "teapot_0",
+    "teapot_3",
+    "teapot_4",
+    "teapot_5",
+    "teapot_6",
+    "teapot_7",
+    "teapot_10",
+    "teapot_11",
+    "teapot_13",
+    "teapot_14",
+    "tomato_0",
+    "tomato_1",
+    "tomato_2",
+    "tomato_3",
+    "tomato_5",
+    "tomato_6",
+    "tomato_7",
+    "tomato_8",
+    "waffle_0",
+    "waffle_1",
+    "waffle_3",
+    "waffle_4",
+    "water_bottle_0",
+    "water_bottle_1",
+    "water_bottle_2",
+    "water_bottle_3",
+    "water_bottle_4",
+    "water_bottle_5",
+    "water_bottle_6",
+    "water_bottle_7",
+    "water_bottle_8",
+    "water_bottle_9",
+    "wine_1",
+    "wine_2",
+    "wine_3",
+    "wine_4",
+    "wine_5",
+    "wine_6",
+    "wine_8",
+    "wine_9",
+    "wine_10",
+    "wine_11",
+    "yogurt_1",
+    "yogurt_2",
+    "yogurt_3",
+]
+all_pick_objects_set = [
+    "kettle_1",
+    "spoon_14",
+    "egg_5",
+    "kettle_13",
+    "cheese_8",
+    "lemon_16",
+    "water_bottle_17",
+    "banana_23",
+    "bagel_6",
+    "spatula_6",
+    "water_bottle_5",
+    "beer_8",
+    "condiment_0",
+    "bread_1",
+    "bagel_2",
+    "mango_5",
+    "can_11",
+    "cutting_board_12",
+    "fish_0",
+    "cheese_6",
+    "spoon_17",
+    "jug_7",
+    "peach_1",
+    "cheese_2",
+    "avocado_5",
+    "bowl_19",
+    "wine_2",
+    "ketchup_9",
+    "tray_1",
+    "mango_4",
+    "water_bottle_23",
+    "cake_4",
+    "cucumber_5",
+    "fish_7",
+    "apple_8",
+    "bottled_water_6",
+    "donut_13",
+    "mushroom_13",
+    "fish_3",
+    "plate_15",
+    "potato_7",
+    "plate_13",
+    "banana_21",
+    "sponge_6",
+    "wine_11",
+    "bagged_food_8",
+    "bowl_17",
+    "cereal_5",
+    "kiwi_0",
+    "boxed_drink_7",
+    "donut_1",
+    "cutting_board_4",
+    "candle_12",
+    "chocolate_6",
+    "sponge_4",
+    "chips_1",
+    "cereal_7",
+    "lemon_4",
+    "coffee_cup_16",
+    "broccoli_0",
+    "cereal_11",
+    "sponge_2",
+    "bell_pepper_0",
+    "cupcake_17",
+    "bar_soap_3",
+    "steak_4",
+    "boxed_drink_3",
+    "sweet_potato_1",
+    "plate_3",
+    "can_3",
+    "sponge_8",
+    "milk_3",
+    "kettle_19",
+    "scissors_10",
+    "boxed_food_1",
+    "cake_3",
+    "mug_18",
+    "plate_10",
+    "mushroom_7",
+    "water_bottle_6",
+    "hot_dog_0",
+    "squash_16",
+    "peach_0",
+    "squash_3",
+    "jug_4",
+    "mango_16",
+    "mushroom_12",
+    "bread_6",
+    "fork_0",
+    "bar_3",
+    "kettle_0",
+    "mango_9",
+    "chips_2",
+    "wine_6",
+    "coffee_cup_17",
+    "coffee_cup_21",
+    "potato_1",
+    "milk_5",
+    "wine_3",
+    "wine_1",
+    "kettle_23",
+    "orange_13",
+    "orange_0",
+    "cup_3",
+    "croissant_9",
+    "apple_4",
+    "spatula_1",
+    "mushroom_0",
+    "pear_16",
+    "water_bottle_1",
+    "carrot_4",
+    "cheese_4",
+    "kettle_9",
+    "beer_16",
+    "pan_9",
+    "cupcake_18",
+    "waffle_1",
+    "spoon_6",
+    "plate_11",
+    "milk_9",
+    "steak_2",
+    "water_bottle_13",
+    "orange_3",
+    "fork_5",
+    "fork_11",
+    "cutting_board_16",
+    "spray_2",
+    "plate_1",
+    "lime_2",
+    "bottled_drink_0",
+    "bowl_12",
+    "kettle_17",
+    "kettle_4",
+    "peach_3",
+    "hot_dog_3",
+    "mushroom_3",
+    "scissors_8",
+    "beer_12",
+    "alcohol_13",
+    "spatula_12",
+    "tray_9",
+    "bread_21",
+    "hot_dog_1",
+    "croissant_1",
+    "bread_4",
+    "banana_5",
+    "boxed_drink_2",
+    "fork_6",
+    "cupcake_9",
+    "mushroom_10",
+    "potato_13",
+    "candle_1",
+    "teapot_4",
+    "mug_8",
+    "beer_0",
+    "pan_21",
+    "shaker_0",
+    "pan_19",
+    "peach_5",
+    "apple_9",
+    "canned_food_8",
+    "canned_food_10",
+    "ketchup_2",
+    "water_bottle_8",
+    "yogurt_1",
+    "spoon_8",
+    "pear_6",
+    "cheese_1",
+    "spray_0",
+    "knife_17",
+    "fork_1",
+    "sweet_potato_3",
+    "scissors_4",
+    "potato_12",
+    "broccoli_3",
+    "plate_14",
+    "banana_16",
+    "jug_3",
+    "bottled_water_13",
+    "bell_pepper_2",
+    "avocado_2",
+    "pan_23",
+    "squash_8",
+    "coffee_cup_8",
+    "banana_6",
+    "bowl_16",
+    "bread_18",
+    "coffee_cup_12",
+    "egg_12",
+    "water_bottle_18",
+    "bread_13",
+    "soap_dispenser_2",
+    "cake_0",
+    "chocolate_11",
+    "lemon_8",
+    "knife_15",
+    "corn_0",
+    "teapot_7",
+    "water_bottle_7",
+    "canned_food_9",
+    "cucumber_1",
+    "water_bottle_10",
+    "garlic_1",
+    "jam_2",
+    "knife_2",
+    "bowl_1",
+    "lime_0",
+    "donut_9",
+    "lemon_2",
+    "beer_9",
+    "bowl_18",
+    "bowl_9",
+    "chocolate_3",
+    "tomato_8",
+    "spatula_13",
+    "pan_18",
+    "cake_1",
+    "ladle_2",
+    "tomato_6",
+    "teapot_15",
+    "bowl_6",
+    "spoon_5",
+    "wine_12",
+    "squash_15",
+    "spoon_18",
+    "bread_14",
+    "lemon_9",
+    "water_bottle_12",
+    "pan_8",
+    "squash_0",
+    "ketchup_0",
+    "can_13",
+    "waffle_0",
+    "jam_4",
+    "bar_2",
+    "tangerine_3",
+    "mushroom_11",
+    "boxed_drink_0",
+    "carrot_1",
+    "water_bottle_19",
+    "banana_13",
+    "ladle_0",
+    "beer_7",
+    "chips_8",
+    "bottled_water_2",
+    "chocolate_12",
+    "alcohol_7",
+    "egg_13",
+    "potato_2",
+    "bottled_drink_2",
+    "candle_13",
+    "kiwi_7",
+    "can_0",
+    "apple_13",
+    "cereal_8",
+    "pear_18",
+    "tangerine_4",
+    "plate_12",
+    "knife_1",
+    "pear_8",
+    "bowl_3",
+    "onion_0",
+    "kettle_3",
+    "scissors_0",
+    "jug_1",
+    "chocolate_13",
+    "banana_18",
+    "donut_14",
+    "croissant_0",
+    "cup_5",
+    "onion_9",
+    "knife_3",
+    "garlic_5",
+    "bowl_13",
+    "chocolate_8",
+    "jam_6",
+    "baguette_0",
+    "cupcake_6",
+    "carrot_3",
+    "knife_5",
+    "tray_11",
+    "kettle_8",
+    "croissant_4",
+    "knife_19",
+    "spatula_4",
+    "scissors_6",
+    "coffee_cup_3",
+    "egg_3",
+    "plate_17",
+    "can_2",
+    "canned_food_6",
+    "water_bottle_20",
+    "bar_10",
+    "jug_8",
+    "chocolate_7",
+    "pear_12",
+    "knife_27",
+    "kettle_24",
+    "hot_dog_4",
+    "peach_2",
+    "lime_3",
+    "mango_12",
+    "mushroom_4",
+    "bottled_drink_1",
+    "donut_7",
+    "cutting_board_13",
+    "can_17",
+    "bottled_water_12",
+    "yogurt_3",
+    "chocolate_1",
+    "cutting_board_5",
+    "eggplant_4",
+    "scissors_13",
+    "spatula_5",
+    "bar_4",
+    "bowl_11",
+    "ketchup_8",
+    "knife_6",
+    "plate_0",
+    "candle_3",
+    "fish_1",
+    "lemon_10",
+    "waffle_4",
+    "water_bottle_21",
+    "potato_3",
+    "candle_10",
+    "spoon_22",
+    "spatula_9",
+    "fork_4",
+    "bagel_9",
+    "spatula_0",
+    "can_12",
+    "apple_7",
+    "baguette_6",
+    "coffee_cup_13",
+    "banana_12",
+    "knife_16",
+    "cupcake_7",
+    "potato_4",
+    "cereal_13",
+    "bread_7",
+    "beer_6",
+    "alcohol_0",
+    "potato_8",
+    "rolling_pin_2",
+    "bottled_water_3",
+    "bread_2",
+    "kiwi_6",
+    "bagged_food_0",
+    "pan_3",
+    "banana_14",
+    "milk_0",
+    "pan_15",
+    "pear_13",
+    "cereal_3",
+    "chips_7",
+    "alcohol_14",
+    "garlic_2",
+    "soap_dispenser_4",
+    "mushroom_6",
+    "cereal_10",
+    "cake_8",
+    "bagged_food_5",
+    "beer_5",
+    "donut_0",
+    "bread_11",
+    "spoon_9",
+    "cucumber_3",
+    "boxed_food_7",
+    "spoon_12",
+    "potato_16",
+    "mango_19",
+    "lemon_11",
+    "chocolate_10",
+    "spatula_11",
+    "chocolate_4",
+    "banana_1",
+    "can_6",
+    "croissant_2",
+    "donut_4",
+    "banana_4",
+    "bagel_7",
+    "corn_1",
+    "mug_11",
+    "chips_5",
+    "corn_4",
+    "potato_5",
+    "rolling_pin_0",
+    "bowl_5",
+    "banana_8",
+    "knife_8",
+    "mug_1",
+    "knife_4",
+    "scissors_12",
+    "mug_15",
+    "teapot_0",
+    "canned_food_18",
+    "alcohol_9",
+    "can_4",
+    "croissant_8",
+    "pan_6",
+    "alcohol_4",
+    "pear_0",
+    "baguette_5",
+    "bottled_water_10",
+    "mango_18",
+    "tomato_3",
+    "broccoli_1",
+    "donut_12",
+    "orange_10",
+    "bar_11",
+    "ketchup_11",
+    "bottled_water_17",
+    "coffee_cup_2",
+    "avocado_0",
+    "candle_4",
+    "bottled_drink_4",
+    "knife_11",
+    "water_bottle_16",
+    "pear_11",
+    "pan_17",
+    "mug_0",
+    "wine_4",
+    "boxed_food_6",
+    "banana_9",
+    "onion_4",
+    "tangerine_5",
+    "chips_3",
+    "chocolate_2",
+    "teapot_6",
+    "cereal_1",
+    "can_16",
+    "spoon_10",
+    "spatula_3",
+    "bread_16",
+    "tray_2",
+    "potato_6",
+    "pan_24",
+    "onion_10",
+    "candle_9",
+    "fish_2",
+    "egg_9",
+    "chocolate_5",
+    "apple_11",
+    "ladle_3",
+    "kettle_20",
+    "cereal_9",
+    "bottled_water_4",
+    "donut_5",
+    "cake_6",
+    "beer_2",
+    "alcohol_1",
+    "kettle_5",
+    "canned_food_0",
+    "rolling_pin_3",
+    "pear_5",
+    "lemon_1",
+    "fish_9",
+    "mug_4",
+    "peach_4",
+    "teapot_5",
+    "boxed_food_4",
+    "pan_22",
+    "tray_10",
+    "knife_7",
+    "avocado_8",
+    "coffee_cup_6",
+    "jug_0",
+    "teapot_11",
+    "banana_2",
+    "cutting_board_2",
+    "cupcake_2",
+    "mug_7",
+    "apple_22",
+    "pan_1",
+    "cereal_0",
+    "steak_6",
+    "croissant_5",
+    "bread_17",
+    "orange_11",
+    "water_bottle_15",
+    "cutting_board_9",
+    "squash_5",
+    "potato_18",
+    "cereal_6",
+    "croissant_3",
+    "bottled_water_16",
+    "kettle_12",
+    "squash_7",
+    "lemon_5",
+    "fork_8",
+    "scissors_3",
+    "apple_21",
+    "kettle_11",
+    "spoon_21",
+    "knife_0",
+    "banana_19",
+    "bread_8",
+    "bagel_4",
+    "mushroom_14",
+    "canned_food_15",
+    "fish_10",
+    "orange_4",
+    "canned_food_11",
+    "knife_25",
+    "steak_10",
+    "chips_11",
+    "water_bottle_3",
+    "cupcake_16",
+    "water_bottle_2",
+    "bowl_4",
+    "milk_10",
+    "knife_13",
+    "cheese_3",
+    "kettle_27",
+    "kettle_22",
+    "kiwi_5",
+    "spray_1",
+    "apple_19",
+    "spoon_3",
+    "lemon_6",
+    "orange_9",
+    "pan_11",
+    "cupcake_20",
+    "orange_5",
+    "baguette_4",
+    "chips_10",
+    "egg_0",
+    "cutting_board_15",
+    "milk_1",
+    "can_9",
+    "apple_12",
+    "fork_3",
+    "sponge_1",
+    "tray_4",
+    "fish_8",
+    "spatula_7",
+    "apple_15",
+    "lemon_17",
+    "boxed_drink_1",
+    "wine_10",
+    "donut_3",
+    "coffee_cup_9",
+    "can_8",
+    "tomato_5",
+    "jug_2",
+    "alcohol_11",
+    "mango_11",
+    "plate_7",
+    "onion_6",
+    "rolling_pin_4",
+    "teapot_13",
+    "eggplant_0",
+    "chips_4",
+    "lemon_15",
+    "chips_9",
+    "mushroom_2",
+    "lemon_13",
+    "carrot_6",
+    "bagged_food_14",
+    "coffee_cup_15",
+    "cucumber_0",
+    "mushroom_8",
+    "potato_17",
+    "jam_3",
+    "milk_4",
+    "cupcake_19",
+    "pear_10",
+    "canned_food_5",
+    "cutting_board_1",
+    "candle_6",
+    "egg_8",
+    "carrot_0",
+    "bar_8",
+    "knife_24",
+    "mushroom_15",
+    "boxed_drink_5",
+    "apple_1",
+    "bowl_8",
+    "chocolate_14",
+    "water_bottle_9",
+    "banana_3",
+    "kettle_28",
+    "jug_6",
+    "chocolate_9",
+    "mango_14",
+    "banana_7",
+    "peach_6",
+    "alcohol_10",
+    "potato_10",
+    "cereal_2",
+    "ketchup_3",
+    "kettle_14",
+    "chips_13",
+    "egg_10",
+    "plate_2",
+    "bagged_food_3",
+    "onion_1",
+    "mango_1",
+    "pear_15",
+    "bell_pepper_1",
+    "can_18",
+    "mug_16",
+    "fish_5",
+    "bread_3",
+    "donut_11",
+    "bottled_water_7",
+    "pan_2",
+    "shaker_3",
+    "tray_5",
+    "coffee_cup_1",
+    "bar_soap_4",
+    "shaker_1",
+    "banana_11",
+    "plate_4",
+    "kettle_6",
+    "mug_10",
+    "pan_7",
+    "pan_20",
+    "water_bottle_0",
+    "garlic_0",
+    "cupcake_3",
+    "croissant_6",
+    "tangerine_6",
+    "bottled_drink_5",
+    "cheese_0",
+    "bar_6",
+    "candle_8",
+    "candle_15",
+    "boxed_drink_4",
+    "spatula_8",
+    "donut_10",
+    "beer_19",
+    "cutting_board_7",
+    "banana_24",
+    "pan_4",
+    "bagged_food_9",
+    "pan_14",
+    "ketchup_10",
+    "tray_0",
+    "bar_soap_1",
+    "candle_7",
+    "sponge_5",
+    "steak_11",
+    "bar_soap_0",
+    "onion_8",
+    "chocolate_0",
+    "rolling_pin_1",
+    "cake_9",
+    "bowl_10",
+    "knife_10",
+    "chips_16",
+    "egg_4",
+    "jam_5",
+    "chips_14",
+    "steak_9",
+    "wine_5",
+    "spoon_20",
+    "mug_17",
+    "boxed_food_11",
+    "donut_2",
+    "can_15",
+    "apple_0",
+    "cupcake_4",
+    "apple_14",
+    "carrot_7",
+    "steak_8",
+    "mango_13",
+    "avocado_4",
+    "condiment_3",
+    "potato_19",
+    "baguette_2",
+    "teapot_10",
+    "chips_6",
+    "water_bottle_22",
+    "soap_dispenser_0",
+    "carrot_2",
+    "boxed_food_10",
+    "spoon_11",
+    "banana_22",
+    "hot_dog_2",
+    "boxed_food_8",
+    "egg_7",
+    "waffle_3",
+    "fork_10",
+    "knife_22",
+    "pear_2",
+    "milk_7",
+    "bagel_3",
+    "tray_3",
+    "knife_21",
+    "cupcake_14",
+    "bottled_water_8",
+    "baguette_1",
+    "tomato_0",
+    "cupcake_11",
+    "plate_20",
+    "pan_5",
+    "chips_15",
+    "kiwi_4",
+    "bowl_7",
+    "mug_14",
+    "kettle_21",
+    "bagel_1",
+    "cup_4",
+    "apple_18",
+    "apple_5",
+    "fork_7",
+    "mushroom_1",
+    "cheese_5",
+    "kiwi_2",
+    "soap_dispenser_1",
+    "ketchup_1",
+    "beer_13",
+    "bagel_0",
+    "mango_10",
+    "spatula_2",
+    "knife_26",
+    "orange_8",
+    "avocado_6",
+    "orange_2",
+    "croissant_10",
+    "knife_23",
+    "bottled_water_14",
+    "steak_5",
+    "mug_5",
+    "cereal_12",
+    "spoon_16",
+    "bar_0",
+    "mug_2",
+    "bread_10",
+    "apple_17",
+    "mug_9",
+    "wine_13",
+    "spoon_7",
+    "bread_9",
+    "donut_6",
+    "hot_dog_6",
+    "apple_2",
+    "wine_9",
+    "orange_12",
+    "cupcake_5",
+    "fish_4",
+    "chips_0",
+    "coffee_cup_11",
+    "banana_10",
+    "sponge_0",
+    "fish_6",
+    "jam_0",
+    "apple_3",
+    "pan_0",
+    "apple_10",
+    "potato_0",
+    "bottled_water_1",
+    "squash_13",
+    "coffee_cup_10",
+    "beer_11",
+    "potato_11",
+    "lime_1",
+    "pear_19",
+    "spoon_15",
+    "candle_5",
+    "tray_12",
+    "bottled_water_11",
+    "pear_17",
+    "egg_6",
+    "canned_food_3",
+    "steak_3",
+    "mushroom_5",
+    "bowl_14",
+    "coffee_cup_14",
+    "tangerine_0",
+    "bell_pepper_3",
+    "ladle_1",
+    "soap_dispenser_6",
+    "plate_9",
+    "scissors_9",
+    "fork_9",
+    "kettle_16",
+    "eggplant_3",
+    "fork_2",
+    "corn_3",
+    "boxed_food_2",
+    "mug_3",
+    "pan_13",
+    "cutting_board_0",
+    "avocado_1",
+    "water_bottle_4",
+    "mango_7",
+    "knife_20",
+    "lemon_12",
+    "kettle_18",
+    "cake_5",
+    "teapot_14",
+    "kettle_2",
+    "tomato_2",
+    "beer_18",
+    "orange_1",
+    "plate_19",
+    "hot_dog_5",
+    "egg_1",
+    "banana_15",
+    "mango_8",
+    "onion_3",
+    "steak_15",
+    "mango_15",
+    "tomato_7",
+    "spoon_13",
+    "coffee_cup_20",
+    "eggplant_2",
+    "onion_2",
+    "coffee_cup_4",
+    "beer_1",
+    "spoon_4",
+    "squash_1",
+    "bagel_5",
+    "bowl_15",
+    "spatula_10",
+    "sponge_3",
+    "boxed_food_0",
+    "bar_9",
+    "kettle_7",
+    "jam_1",
+    "potato_14",
+    "knife_12",
+    "pear_3",
+    "cutting_board_11",
+    "bagged_food_4",
+    "spoon_2",
+    "plate_5",
+    "alcohol_2",
+    "beer_15",
+    "coffee_cup_7",
+    "bowl_0",
+    "scissors_11",
+    "pear_1",
+    "bread_20",
+    "canned_food_17",
+    "alcohol_12",
+    "bread_5",
+    "shaker_2",
+    "candle_0",
+    "garlic_4",
+    "tray_7",
+    "potato_9",
+    "canned_food_13",
+    "bowl_2",
+    "beer_10",
+    "cucumber_2",
+    "steak_14",
+    "cupcake_15",
+    "onion_7",
+    "tomato_1",
+    "donut_15",
+    "boxed_food_9",
+    "spoon_23",
+    "banana_20",
+    "yogurt_2",
+    "mug_12",
+    "egg_11",
+    "lemon_0",
+    "kettle_10",
+    "donut_8",
+    "eggplant_1",
+    "mug_13",
+    "cereal_4",
+    "alcohol_5",
+    "knife_9",
+    "tangerine_2",
+    "bar_7",
+    "ladle_4",
+    "canned_food_4",
+    "beer_3",
+    "teapot_3",
+    "cake_7",
+    "soap_dispenser_3",
+    "lemon_7",
+    "spoon_0",
+    "ketchup_4",
+    "candle_2",
+    "spoon_19",
+    "cup_2",
+    "ketchup_7",
+    "kiwi_1",
+    "apple_6",
+    "jug_5",
+    "apple_20",
+    "bagged_food_7",
+    "tangerine_1",
+    "fish_11",
+    "rolling_pin_5",
+    "pan_10",
+    "cheese_7",
+    "lemon_3",
+    "knife_18",
+    "candle_14",
+    "canned_food_14",
+    "condiment_2",
+    "lemon_14",
+    "plate_8",
+    "wine_8",
+    "spoon_1",
+    "bread_0",
+    "canned_food_1",
+    "kettle_26",
+    "cucumber_4",
+    "cupcake_12",
+    "canned_food_19",
+    "bagged_food_11",
+    "scissors_1",
+    "mushroom_9"
+]