| { |
| "task_name": "storing food", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 24772, |
| "valid_duration": [ |
| 0, |
| 24772 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 1057 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 1057, |
| 2106 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "jar_of_sugar_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2106, |
| 2707 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "jar_of_sugar_208", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "jar_of_sugar_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2708, |
| 3316 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "jar_of_sugar_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3316, |
| 3808 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "jar_of_sugar_207", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "jar_of_sugar_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3808, |
| 4190 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4190, |
| 4884 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "jar_of_sugar_208", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "jar_of_sugar_208" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_2" |
| ] |
| ], |
| "frame_duration": [ |
| 4885, |
| 5623 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "jar_of_sugar_207", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "jar_of_sugar_207" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_2" |
| ] |
| ], |
| "frame_duration": [ |
| 5623, |
| 6296 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bag_of_chips_212" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6296, |
| 6969 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bag_of_chips_212", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bag_of_chips_212" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6969, |
| 7425 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bag_of_chips_211" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7425, |
| 7875 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bag_of_chips_211", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bag_of_chips_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7875, |
| 8446 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8446, |
| 9165 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bag_of_chips_212", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bag_of_chips_212" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_3" |
| ] |
| ], |
| "frame_duration": [ |
| 9165, |
| 9507 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bag_of_chips_211", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bag_of_chips_211" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_3" |
| ] |
| ], |
| "frame_duration": [ |
| 9507, |
| 10044 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_olive_oil_210" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10044, |
| 10725 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_olive_oil_210", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_olive_oil_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10725, |
| 11355 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_olive_oil_209" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11355, |
| 11941 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_olive_oil_209", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_olive_oil_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11941, |
| 12902 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12902, |
| 13851 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_olive_oil_209", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_olive_oil_209" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_2" |
| ] |
| ], |
| "frame_duration": [ |
| 13851, |
| 14735 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_olive_oil_210", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_olive_oil_210" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_2" |
| ] |
| ], |
| "frame_duration": [ |
| 14735, |
| 15588 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_214" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15588, |
| 16174 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 99 |
| ], |
| "skill_description": [ |
| "tip over" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_214" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_214" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16174, |
| 16391 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_214", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_214" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 16391, |
| 16804 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_214", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_214" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16804, |
| 17730 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17730, |
| 18258 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_214", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_214" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_4" |
| ] |
| ], |
| "frame_duration": [ |
| 18258, |
| 18867 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_214", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_214" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "center" |
| ] |
| ], |
| "frame_duration": [ |
| 18867, |
| 19236 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_213" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19236, |
| 20017 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_213", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_213" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 20017, |
| 20538 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [ |
| 99 |
| ], |
| "skill_description": [ |
| "tip over" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_213" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_213" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 20538, |
| 20709 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_213", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_213" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 20709, |
| 21363 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_213", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_213" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 21363, |
| 22204 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 22204, |
| 23065 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_213", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_213" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_4" |
| ] |
| ], |
| "frame_duration": [ |
| 23065, |
| 23521 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_213", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_213" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "center" |
| ] |
| ], |
| "frame_duration": [ |
| 23521, |
| 23977 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 38, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 23977, |
| 24772 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 0, |
| 2106 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "jar_of_sugar_208", |
| "jar_of_sugar_207" |
| ], |
| "countertop_kelzer_0" |
| ], |
| [ |
| [ |
| "jar_of_sugar_208", |
| "jar_of_sugar_207" |
| ], |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "jar_of_sugar_208", |
| "jar_of_sugar_207" |
| ], |
| [ |
| "jar_of_sugar_208", |
| "jar_of_sugar_207" |
| ] |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "layer_2", |
| "layer_2" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 2106, |
| 6296 |
| ], |
| "skill_idxes": [ |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "bag_of_chips_212", |
| "bag_of_chips_211" |
| ], |
| "countertop_kelzer_0" |
| ], |
| [ |
| [ |
| "bag_of_chips_212", |
| "bag_of_chips_211" |
| ], |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "bag_of_chips_212", |
| "bag_of_chips_211" |
| ], |
| [ |
| "bag_of_chips_212", |
| "bag_of_chips_211" |
| ] |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "layer_3", |
| "layer_3" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6296, |
| 10044 |
| ], |
| "skill_idxes": [ |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "bottle_of_olive_oil_210", |
| "bottle_of_olive_oil_209" |
| ], |
| "countertop_kelzer_0" |
| ], |
| [ |
| [ |
| "bottle_of_olive_oil_209", |
| "bottle_of_olive_oil_210" |
| ], |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "bottle_of_olive_oil_210", |
| "bottle_of_olive_oil_209" |
| ], |
| [ |
| "bottle_of_olive_oil_209", |
| "bottle_of_olive_oil_210" |
| ] |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "layer_2", |
| "layer_2" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 10044, |
| 15588 |
| ], |
| "skill_idxes": [ |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_214", |
| "countertop_kelzer_0" |
| ], |
| [ |
| "box_of_oatmeal_214", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_214", |
| "box_of_oatmeal_214" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "layer_4" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 15588, |
| 19236 |
| ], |
| "skill_idxes": [ |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "box_of_oatmeal_213", |
| "countertop_kelzer_0" |
| ], |
| [ |
| "box_of_oatmeal_213", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_oatmeal_213", |
| "box_of_oatmeal_213" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "layer_4" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 19236, |
| 23977 |
| ], |
| "skill_idxes": [ |
| 30, |
| 31, |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 23977, |
| 24772 |
| ], |
| "skill_idxes": [ |
| 38 |
| ] |
| } |
| ] |
| } |