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# How to Use the ESRP-PD Dataset
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1. Download the **ESRP Bench** and complete the environment setup.
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2. Locate the `omnigibson` folder. Unzip `dataset.zip` and place the extracted `data` folder (which contains `3d_front` and `assets`) into the `omnigibson` directory.
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3. Unzip the **3D Front** dataset and move its extracted folders into `omnigibson/data/3d_front`.
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4. Save the dataset splits `train_ids.json`, `test_ids.json`, and `val_ids.json` into both `omnigibson/data` and `omnigibson/data/3d_front`.
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5. *(Optional)* You may unzip `imitation.zip` to any location and use it for imitation learning training.
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