| [ |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_9931", |
| "actions_list": [ |
| "grasp(handle)", |
| "pull(handle)" |
| ], |
| "gt_dag": { |
| "grasp(handle)": [ |
| "pull(handle)" |
| ], |
| "pull(handle)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_9931.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_222117", |
| "actions_list": [ |
| "grasp(puzzle_piece)", |
| "pick_up(puzzle_piece)", |
| "place(puzzle_piece, hand)" |
| ], |
| "gt_dag": { |
| "grasp(puzzle_piece)": [ |
| "pick_up(puzzle_piece)" |
| ], |
| "pick_up(puzzle_piece)": [ |
| "place(puzzle_piece, hand)" |
| ], |
| "place(puzzle_piece, hand)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_222117.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_52529", |
| "actions_list": [ |
| "grasp(sock)", |
| "pick_up(sock)", |
| "place(sock, clothesline)" |
| ], |
| "gt_dag": { |
| "grasp(sock)": [ |
| "pick_up(sock)" |
| ], |
| "pick_up(sock)": [ |
| "place(sock, clothesline)" |
| ], |
| "place(sock, clothesline)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_52529.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_127785", |
| "actions_list": [ |
| "grasp(dried_chili_pepper)", |
| "pick_up(dried_chili_pepper)", |
| "place(dried_chili_pepper, on_the_newspaper_on_the_floor)" |
| ], |
| "gt_dag": { |
| "grasp(dried_chili_pepper)": [ |
| "pick_up(dried_chili_pepper)" |
| ], |
| "pick_up(dried_chili_pepper)": [ |
| "place(dried_chili_pepper, on_the_newspaper_on_the_floor)" |
| ], |
| "place(dried_chili_pepper, on_the_newspaper_on_the_floor)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_127785.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_165299", |
| "actions_list": [ |
| "grasp(wood)", |
| "pick_up(wood)", |
| "move_to(wood, shelf)", |
| "place(wood, shelf)" |
| ], |
| "gt_dag": { |
| "grasp(wood)": [ |
| "pick_up(wood)" |
| ], |
| "pick_up(wood)": [ |
| "move_to(wood, shelf)" |
| ], |
| "move_to(wood, shelf)": [ |
| "place(wood, shelf)" |
| ], |
| "place(wood, shelf)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_165299.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_287167", |
| "actions_list": [ |
| "grasp(container_with_grains)", |
| "pick_up(container_with_grains)", |
| "pour(container, grains, basket)", |
| "place(container, none)" |
| ], |
| "gt_dag": { |
| "grasp(container_with_grains)": [ |
| "pick_up(container_with_grains)" |
| ], |
| "pick_up(container_with_grains)": [ |
| "pour(container, grains, basket)" |
| ], |
| "pour(container, grains, basket)": [ |
| "place(container, none)" |
| ], |
| "place(container, none)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_287167.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_165594", |
| "actions_list": [ |
| "grasp(nail_puller_pliers)", |
| "insert(nail_puller_pliers, hole_of_the_nail)", |
| "turn(nail_puller_pliers, anticlockwise, middle_of_wood)", |
| "pull(nail, hole_of_the_nail)" |
| ], |
| "gt_dag": { |
| "grasp(nail_puller_pliers)": [ |
| "insert(nail_puller_pliers, hole_of_the_nail)" |
| ], |
| "insert(nail_puller_pliers, hole_of_the_nail)": [ |
| "turn(nail_puller_pliers, anticlockwise, middle_of_wood)" |
| ], |
| "turn(nail_puller_pliers, anticlockwise, middle_of_wood)": [ |
| "pull(nail, hole_of_the_nail)" |
| ], |
| "pull(nail, hole_of_the_nail)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_165594.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_40824", |
| "actions_list": [ |
| "hold_on(string)", |
| "move_to(string, cable)" |
| ], |
| "gt_dag": { |
| "hold_on(string)": [ |
| "move_to(string, cable)" |
| ], |
| "move_to(string, cable)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_40824.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_957", |
| "actions_list": [ |
| "move_to(none, bottom_of_the_aluminum_tin)", |
| "grasp(bottom_of_the_aluminum_tin)", |
| "pick_up(aluminum_tin)" |
| ], |
| "gt_dag": { |
| "move_to(none, bottom_of_the_aluminum_tin)": [ |
| "grasp(bottom_of_the_aluminum_tin)" |
| ], |
| "grasp(bottom_of_the_aluminum_tin)": [ |
| "pick_up(aluminum_tin)" |
| ], |
| "pick_up(aluminum_tin)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_957.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_111941", |
| "actions_list": [ |
| "grasp(dough_pieces)", |
| "pick_up(dough_pieces)", |
| "place(dough_pieces, tray)" |
| ], |
| "gt_dag": { |
| "grasp(dough_pieces)": [ |
| "pick_up(dough_pieces)" |
| ], |
| "pick_up(dough_pieces)": [ |
| "place(dough_pieces, tray)" |
| ], |
| "place(dough_pieces, tray)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_111941.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_162883", |
| "actions_list": [ |
| "grasp(puzzle_piece)", |
| "pick_up(puzzle_piece)", |
| "place(puzzle_piece, correct_position)" |
| ], |
| "gt_dag": { |
| "grasp(puzzle_piece)": [ |
| "pick_up(puzzle_piece)" |
| ], |
| "pick_up(puzzle_piece)": [ |
| "place(puzzle_piece, correct_position)" |
| ], |
| "place(puzzle_piece, correct_position)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_162883.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_268191", |
| "actions_list": [ |
| "grasp(handle_of_the_wood_cutting_machine)", |
| "pick_up(piece_of_wood)", |
| "turn(piece_of_wood, anticlockwise, left_hand)" |
| ], |
| "gt_dag": { |
| "grasp(handle_of_the_wood_cutting_machine)": [ |
| "pick_up(piece_of_wood)" |
| ], |
| "pick_up(piece_of_wood)": [ |
| "turn(piece_of_wood, anticlockwise, left_hand)" |
| ], |
| "turn(piece_of_wood, anticlockwise, left_hand)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_268191.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_102863", |
| "actions_list": [ |
| "insert(thumb, corner_of_the_zip-lock_bag)", |
| "pull(zipper, right_side_of_bag)" |
| ], |
| "gt_dag": { |
| "insert(thumb, corner_of_the_zip-lock_bag)": [ |
| "pull(zipper, right_side_of_bag)" |
| ], |
| "pull(zipper, right_side_of_bag)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_102863.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_265119", |
| "actions_list": [ |
| "grasp(piece_of_cloth)", |
| "pick_up(piece_of_cloth)", |
| "wipe(piece_of_cloth, book, left_hand)" |
| ], |
| "gt_dag": { |
| "grasp(piece_of_cloth)": [ |
| "pick_up(piece_of_cloth)" |
| ], |
| "pick_up(piece_of_cloth)": [ |
| "wipe(piece_of_cloth, book, left_hand)" |
| ], |
| "wipe(piece_of_cloth, book, left_hand)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_265119.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_48140", |
| "actions_list": [ |
| "grasp(F-clamp)", |
| "pick_up(F-clamp)", |
| "place(F-clamp, table)" |
| ], |
| "gt_dag": { |
| "grasp(F-clamp)": [ |
| "pick_up(F-clamp)" |
| ], |
| "pick_up(F-clamp)": [ |
| "place(F-clamp, table)" |
| ], |
| "place(F-clamp, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_48140.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_94386", |
| "actions_list": [ |
| "grasp(gear_lever)", |
| "push(gear_lever, upper_the_gear_lever)" |
| ], |
| "gt_dag": { |
| "grasp(gear_lever)": [ |
| "push(gear_lever, upper_the_gear_lever)" |
| ], |
| "push(gear_lever, upper_the_gear_lever)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_94386.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_225805", |
| "actions_list": [ |
| "grasp(flower_stalks)", |
| "pick_up(flower_stalks)", |
| "place(flower_stalks, sack)" |
| ], |
| "gt_dag": { |
| "grasp(flower_stalks)": [ |
| "pick_up(flower_stalks)" |
| ], |
| "pick_up(flower_stalks)": [ |
| "place(flower_stalks, sack)" |
| ], |
| "place(flower_stalks, sack)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_225805.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_36356", |
| "actions_list": [ |
| "grasp(plate)", |
| "pick_up(plate)", |
| "place(plate, rack)" |
| ], |
| "gt_dag": { |
| "grasp(plate)": [], |
| "pick_up(plate)": [], |
| "place(plate, rack)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_36356.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_201177", |
| "actions_list": [ |
| "grasp(digging_hoe)", |
| "pick_up(digging_hoe)", |
| "scoop(digging_hoe, sand, ground)" |
| ], |
| "gt_dag": { |
| "grasp(digging_hoe)": [ |
| "pick_up(digging_hoe)" |
| ], |
| "pick_up(digging_hoe)": [ |
| "scoop(digging_hoe, sand, ground)" |
| ], |
| "scoop(digging_hoe, sand, ground)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_201177.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_194875", |
| "actions_list": [ |
| "grasp(bricks)", |
| "pick_up(bricks)", |
| "place(bricks, right_place)" |
| ], |
| "gt_dag": { |
| "grasp(bricks)": [ |
| "pick_up(bricks)" |
| ], |
| "pick_up(bricks)": [ |
| "place(bricks, right_place)" |
| ], |
| "place(bricks, right_place)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_194875.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_90903", |
| "actions_list": [ |
| "grasp(faucet)", |
| "turn(faucet, anticlockwise, middle_of_sink)" |
| ], |
| "gt_dag": { |
| "grasp(faucet)": [ |
| "turn(faucet, anticlockwise, middle_of_sink)" |
| ], |
| "turn(faucet, anticlockwise, middle_of_sink)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_90903.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_29391", |
| "actions_list": [ |
| "grasp(stone)", |
| "hold_on(stone)" |
| ], |
| "gt_dag": { |
| "grasp(stone)": [ |
| "hold_on(stone)" |
| ], |
| "hold_on(stone)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_29391.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_123610", |
| "actions_list": [ |
| "grasp(plastic_part_of_solar_robot)", |
| "pick up(plastic_part_of_solar_robot)", |
| "place(plastic_part_of_solar_robot, table)" |
| ], |
| "gt_dag": { |
| "grasp(plastic_part_of_solar_robot)": [ |
| "pick up(plastic_part_of_solar_robot)" |
| ], |
| "pick up(plastic_part_of_solar_robot)": [ |
| "place(plastic_part_of_solar_robot, table)" |
| ], |
| "place(plastic_part_of_solar_robot, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_123610.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_297471", |
| "actions_list": [ |
| "grasp(twig)", |
| "pick_up(twig)", |
| "place(twig,ground)" |
| ], |
| "gt_dag": { |
| "grasp(twig)": [ |
| "pick_up(twig)" |
| ], |
| "pick_up(twig)": [ |
| "place(twig,ground)" |
| ], |
| "place(twig,ground)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_297471.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_226296", |
| "actions_list": [ |
| "both: grasp(flowers)", |
| "both: pick_up(flowers)", |
| "both: hold_on(flowers)" |
| ], |
| "gt_dag": { |
| "both: grasp(flowers)": [ |
| "both: pick_up(flowers)" |
| ], |
| "both: pick_up(flowers)": [ |
| "both: hold_on(flowers)" |
| ], |
| "both: hold_on(flowers)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_226296.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_57444", |
| "actions_list": [ |
| "grasp(tomato)", |
| "pick_up(tomato)", |
| "place(tomato, plastic_colander)" |
| ], |
| "gt_dag": { |
| "grasp(tomato)": [ |
| "pick_up(tomato)" |
| ], |
| "pick_up(tomato)": [ |
| "place(tomato, plastic_colander)" |
| ], |
| "place(tomato, plastic_colander)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_57444.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_225355", |
| "actions_list": [ |
| "move_to(none, key)", |
| "press(key)", |
| "move_away_from(none, key)" |
| ], |
| "gt_dag": { |
| "move_to(none, key)": [ |
| "press(key)" |
| ], |
| "press(key)": [ |
| "move_away_from(none, key)" |
| ], |
| "move_away_from(none, key)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_225355.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_3276", |
| "actions_list": [ |
| "grasp(spoon)", |
| "pick_up(spoon)", |
| "move_to(spoon, mushroom)", |
| "pour(spoon, mashed_potatoes, mushroom)" |
| ], |
| "gt_dag": { |
| "grasp(spoon)": [ |
| "pick_up(spoon)" |
| ], |
| "pick_up(spoon)": [ |
| "move_to(spoon, mushroom)" |
| ], |
| "move_to(spoon, mushroom)": [ |
| "pour(spoon, mashed_potatoes, mushroom)" |
| ], |
| "pour(spoon, mashed_potatoes, mushroom)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_3276.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_221327", |
| "actions_list": [ |
| "grasp(paint_brush)", |
| "pick up(paint_brush)", |
| "place(paint_brush, left_hand)" |
| ], |
| "gt_dag": { |
| "grasp(paint_brush)": [ |
| "pick up(paint_brush)" |
| ], |
| "pick up(paint_brush)": [ |
| "place(paint_brush, left_hand)" |
| ], |
| "place(paint_brush, left_hand)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_221327.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_84022", |
| "actions_list": [ |
| "grasp(card)", |
| "pick_up(card)", |
| "place(card, table)" |
| ], |
| "gt_dag": { |
| "grasp(card)": [ |
| "pick_up(card)" |
| ], |
| "pick_up(card)": [ |
| "place(card, table)" |
| ], |
| "place(card, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_84022.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_70294", |
| "actions_list": [ |
| "grasp(ladle)", |
| "pick_up(ladle)", |
| "place(ladle, water)" |
| ], |
| "gt_dag": { |
| "grasp(ladle)": [ |
| "pick_up(ladle)" |
| ], |
| "pick_up(ladle)": [ |
| "place(ladle, water)" |
| ], |
| "place(ladle, water)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_70294.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_48948", |
| "actions_list": [ |
| "grasp(wood_plank)", |
| "pick_up(wood_plank)", |
| "place(wood_plank, wood_holder)" |
| ], |
| "gt_dag": { |
| "grasp(wood_plank)": [ |
| "pick_up(wood_plank)" |
| ], |
| "pick_up(wood_plank)": [ |
| "place(wood_plank, wood_holder)" |
| ], |
| "place(wood_plank, wood_holder)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_48948.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_4412", |
| "actions_list": [ |
| "grasp(scissors)", |
| "pick_up(scissors)", |
| "place(scissors, table)" |
| ], |
| "gt_dag": { |
| "grasp(scissors)": [ |
| "pick_up(scissors)" |
| ], |
| "pick_up(scissors)": [ |
| "place(scissors, table)" |
| ], |
| "place(scissors, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_4412.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_6092", |
| "actions_list": [ |
| "grasp(paper)", |
| "pick_up(paper)", |
| "place(paper, book)" |
| ], |
| "gt_dag": { |
| "grasp(paper)": [ |
| "pick_up(paper)" |
| ], |
| "pick_up(paper)": [ |
| "place(paper, book)" |
| ], |
| "place(paper, book)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_6092.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_260898", |
| "actions_list": [ |
| "grasp(drawer_handle)", |
| "push(drawer, front_the_table)" |
| ], |
| "gt_dag": { |
| "grasp(drawer_handle)": [ |
| "push(drawer, front_the_table)" |
| ], |
| "push(drawer, front_the_table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_260898.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_143406", |
| "actions_list": [ |
| "grasp(conical_flask)", |
| "pick_up(conical_flask)", |
| "place(conical_flask, table)" |
| ], |
| "gt_dag": { |
| "grasp(conical_flask)": [ |
| "pick_up(conical_flask)" |
| ], |
| "pick_up(conical_flask)": [ |
| "place(conical_flask, table)" |
| ], |
| "place(conical_flask, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_143406.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_112012", |
| "actions_list": [ |
| "grasp(dough_piece)", |
| "pick_up(dough_piece)", |
| "place(dough_piece, tray)" |
| ], |
| "gt_dag": { |
| "grasp(dough_piece)": [ |
| "pick_up(dough_piece)" |
| ], |
| "pick_up(dough_piece)": [ |
| "place(dough_piece, tray)" |
| ], |
| "place(dough_piece, tray)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_112012.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_119180", |
| "actions_list": [ |
| "move_to(dry_sticks, vicinity_of_the_ground)", |
| "place(dry_sticks, ground)" |
| ], |
| "gt_dag": { |
| "move_to(dry_sticks, vicinity_of_the_ground)": [ |
| "place(dry_sticks, ground)" |
| ], |
| "place(dry_sticks, ground)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_119180.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_181817", |
| "actions_list": [ |
| "grasp(milk_jerry_can)", |
| "pick_up(milk_jerry_can)", |
| "place(milk_jerry_can, counter)" |
| ], |
| "gt_dag": { |
| "grasp(milk_jerry_can)": [ |
| "pick_up(milk_jerry_can)" |
| ], |
| "pick_up(milk_jerry_can)": [ |
| "place(milk_jerry_can, counter)" |
| ], |
| "place(milk_jerry_can, counter)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_181817.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_310122", |
| "actions_list": [ |
| "grasp(bottle_top)", |
| "pick_up(bottle_top)", |
| "place(bottle_top, table)", |
| "grasp(another_bottle_top)", |
| "pick_up(another_bottle_top)", |
| "place(another_bottle_top, table)" |
| ], |
| "gt_dag": { |
| "grasp(bottle_top)": [ |
| "pick_up(bottle_top)" |
| ], |
| "pick_up(bottle_top)": [ |
| "place(bottle_top, table)" |
| ], |
| "place(bottle_top, table)": [], |
| "grasp(another_bottle_top)": [ |
| "pick_up(another_bottle_top)" |
| ], |
| "pick_up(another_bottle_top)": [ |
| "place(another_bottle_top, table)" |
| ], |
| "place(another_bottle_top, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_310122.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_149723", |
| "actions_list": [ |
| "grasp(paint_roller)", |
| "pick_up(paint_roller)", |
| "place(paint_roller, paint_bucket)" |
| ], |
| "gt_dag": { |
| "grasp(paint_roller)": [ |
| "pick_up(paint_roller)" |
| ], |
| "pick_up(paint_roller)": [ |
| "place(paint_roller, paint_bucket)" |
| ], |
| "place(paint_roller, paint_bucket)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_149723.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_121195", |
| "actions_list": [ |
| "grasp(top_of_the_bag)", |
| "pull(top_of_the_bag, right_side_of_bag)" |
| ], |
| "gt_dag": { |
| "grasp(top_of_the_bag)": [ |
| "pull(top_of_the_bag, right_side_of_bag)" |
| ], |
| "pull(top_of_the_bag, right_side_of_bag)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_121195.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_256356", |
| "actions_list": [ |
| "grasp(phone)", |
| "pick_up(phone)", |
| "place(phone, table)" |
| ], |
| "gt_dag": { |
| "grasp(phone)": [ |
| "pick_up(phone)" |
| ], |
| "pick_up(phone)": [ |
| "place(phone, table)" |
| ], |
| "place(phone, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_256356.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_134502", |
| "actions_list": [ |
| "grasp(handle_of_the_cooking_pot)", |
| "pick_up(cooking_pot)", |
| "place(cooking_pot, burner)" |
| ], |
| "gt_dag": { |
| "grasp(handle_of_the_cooking_pot)": [ |
| "pick_up(cooking_pot)" |
| ], |
| "pick_up(cooking_pot)": [ |
| "place(cooking_pot, burner)" |
| ], |
| "place(cooking_pot, burner)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_134502.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_171482", |
| "actions_list": [ |
| "grasp(handle_of_the_spoon)", |
| "stir(spoon, oil, bowl)" |
| ], |
| "gt_dag": { |
| "grasp(handle_of_the_spoon)": [ |
| "stir(spoon, oil, bowl)" |
| ], |
| "stir(spoon, oil, bowl)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_171482.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_202054", |
| "actions_list": [ |
| "grasp(second_piece_of_paper)", |
| "pick_up(second_piece_of_paper)", |
| "place(second_piece_of_paper, sheet)" |
| ], |
| "gt_dag": { |
| "grasp(second_piece_of_paper)": [], |
| "pick_up(second_piece_of_paper)": [], |
| "place(second_piece_of_paper, sheet)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_202054.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_28310", |
| "actions_list": [ |
| "grasp(nylon)", |
| "pick_up(nylon)", |
| "pour(nylon, pieces_of_woods, table)" |
| ], |
| "gt_dag": { |
| "grasp(nylon)": [ |
| "pick_up(nylon)" |
| ], |
| "pick_up(nylon)": [ |
| "pour(nylon, pieces_of_woods, table)" |
| ], |
| "pour(nylon, pieces_of_woods, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_28310.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_221445", |
| "actions_list": [ |
| "grasp(paint_brush)", |
| "transfer(left, right, paint_brush)" |
| ], |
| "gt_dag": { |
| "grasp(paint_brush)": [], |
| "transfer(left, right, paint_brush)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_221445.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_484", |
| "actions_list": [ |
| "grasp(glass_bowl)", |
| "pick_up(glass_bowl)", |
| "place(glass_bowl, counter_top)" |
| ], |
| "gt_dag": { |
| "grasp(glass_bowl)": [ |
| "pick_up(glass_bowl)" |
| ], |
| "pick_up(glass_bowl)": [ |
| "place(glass_bowl, counter_top)" |
| ], |
| "place(glass_bowl, counter_top)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_484.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_196014", |
| "actions_list": [ |
| "grasp(cloth)", |
| "unfold(right_side_of_cloth, left_side_of_cloth)" |
| ], |
| "gt_dag": { |
| "grasp(cloth)": [ |
| "unfold(right_side_of_cloth, left_side_of_cloth)" |
| ], |
| "unfold(right_side_of_cloth, left_side_of_cloth)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_196014.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_55149", |
| "actions_list": [ |
| "hold_on(yarn)", |
| "transfer(right, left, yarn)" |
| ], |
| "gt_dag": { |
| "hold_on(yarn)": [ |
| "transfer(right, left, yarn)" |
| ], |
| "transfer(right, left, yarn)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_55149.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_184051", |
| "actions_list": [ |
| "grasp(card)", |
| "pick_up(card)", |
| "place(card, table)" |
| ], |
| "gt_dag": { |
| "grasp(card)": [ |
| "pick_up(card)" |
| ], |
| "pick_up(card)": [ |
| "place(card, table)" |
| ], |
| "place(card, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_184051.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_285946", |
| "actions_list": [ |
| "grasp(head_pan)", |
| "pick_up(hand_trowel)", |
| "scoop(head_pan, mortar, hand_trowel)" |
| ], |
| "gt_dag": { |
| "grasp(head_pan)": [ |
| "pick_up(hand_trowel)" |
| ], |
| "pick_up(hand_trowel)": [ |
| "scoop(head_pan, mortar, hand_trowel)" |
| ], |
| "scoop(head_pan, mortar, hand_trowel)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_285946.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_195321", |
| "actions_list": [ |
| "grasp(cloth)", |
| "pick_up(cloth)", |
| "place(cloth, table)" |
| ], |
| "gt_dag": { |
| "grasp(cloth)": [ |
| "pick_up(cloth)" |
| ], |
| "pick_up(cloth)": [ |
| "place(cloth, table)" |
| ], |
| "place(cloth, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_195321.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_42695", |
| "actions_list": [ |
| "pick up(aluminium_foil_roll)", |
| "grasp(kitchen_cabinet_drawer_handle)", |
| "pull(kitchen_cabinet_drawer_handle, away_from_the_drawer)", |
| "place(aluminium_foil_roll, kitchen_cabinet_drawer)" |
| ], |
| "gt_dag": { |
| "pick up(aluminium_foil_roll)": [ |
| "grasp(kitchen_cabinet_drawer_handle)" |
| ], |
| "grasp(kitchen_cabinet_drawer_handle)": [ |
| "pull(kitchen_cabinet_drawer_handle, away_from_the_drawer)" |
| ], |
| "pull(kitchen_cabinet_drawer_handle, away_from_the_drawer)": [ |
| "place(aluminium_foil_roll, kitchen_cabinet_drawer)" |
| ], |
| "place(aluminium_foil_roll, kitchen_cabinet_drawer)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_42695.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_74068", |
| "actions_list": [ |
| "grasp(paper)", |
| "pick_up(paper)", |
| "place(paper, table)" |
| ], |
| "gt_dag": { |
| "grasp(paper)": [ |
| "pick_up(paper)" |
| ], |
| "pick_up(paper)": [ |
| "place(paper, table)" |
| ], |
| "place(paper, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_74068.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_132544", |
| "actions_list": [ |
| "grasp(flower)", |
| "pick_up(flower)", |
| "place(flower, basket)" |
| ], |
| "gt_dag": { |
| "grasp(flower)": [ |
| "pick_up(flower)" |
| ], |
| "pick_up(flower)": [ |
| "place(flower, basket)" |
| ], |
| "place(flower, basket)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_132544.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_309822", |
| "actions_list": [ |
| "grasp(handle_of_the_cabinet_door)", |
| "pull(cabinet_door, front_the_door)" |
| ], |
| "gt_dag": { |
| "grasp(handle_of_the_cabinet_door)": [ |
| "pull(cabinet_door, front_the_door)" |
| ], |
| "pull(cabinet_door, front_the_door)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_309822.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_186856", |
| "actions_list": [ |
| "grasp(card)", |
| "pick_up(card)", |
| "place(card, box)" |
| ], |
| "gt_dag": { |
| "grasp(card)": [ |
| "pick_up(card)" |
| ], |
| "pick_up(card)": [ |
| "place(card, box)" |
| ], |
| "place(card, box)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_186856.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_29384", |
| "actions_list": [ |
| "grasp(building_stone)", |
| "pick_up(building_stone)", |
| "place(building_stone, wet_sand)" |
| ], |
| "gt_dag": { |
| "grasp(building_stone)": [ |
| "pick_up(building_stone)" |
| ], |
| "pick_up(building_stone)": [ |
| "place(building_stone, wet_sand)" |
| ], |
| "place(building_stone, wet_sand)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_29384.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_209083", |
| "actions_list": [ |
| "move_to(none, button)", |
| "grasp(button)", |
| "press(button)" |
| ], |
| "gt_dag": { |
| "move_to(none, button)": [ |
| "grasp(button)" |
| ], |
| "grasp(button)": [ |
| "press(button)" |
| ], |
| "press(button)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_209083.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_161067", |
| "actions_list": [ |
| "grasp(piece_of_wood)", |
| "pick_up(piece_of_wood)", |
| "place(piece_of_wood)" |
| ], |
| "gt_dag": { |
| "grasp(piece_of_wood)": [ |
| "pick_up(piece_of_wood)" |
| ], |
| "pick_up(piece_of_wood)": [ |
| "place(piece_of_wood)" |
| ], |
| "place(piece_of_wood)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_161067.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_299232", |
| "actions_list": [ |
| "grasp(wood)", |
| "pick_up(wood)", |
| "place(wood, floor)" |
| ], |
| "gt_dag": { |
| "grasp(wood)": [ |
| "pick_up(wood)" |
| ], |
| "pick_up(wood)": [ |
| "place(wood, floor)" |
| ], |
| "place(wood, floor)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_299232.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_237218", |
| "actions_list": [ |
| "grasp(bottle)", |
| "pick_up(bottle)", |
| "place(bottle, countertop)" |
| ], |
| "gt_dag": { |
| "grasp(bottle)": [ |
| "pick_up(bottle)" |
| ], |
| "pick_up(bottle)": [ |
| "place(bottle, countertop)" |
| ], |
| "place(bottle, countertop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_237218.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_17121", |
| "actions_list": [ |
| "grasp(sickle)", |
| "cut(stick, bamboo, upper_the_bamboo)" |
| ], |
| "gt_dag": { |
| "grasp(sickle)": [ |
| "cut(stick, bamboo, upper_the_bamboo)" |
| ], |
| "cut(stick, bamboo, upper_the_bamboo)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_17121.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_25568", |
| "actions_list": [ |
| "grasp(clay_craft)", |
| "pick_up(clay_craft)", |
| "place(clay_craft, table)" |
| ], |
| "gt_dag": { |
| "grasp(clay_craft)": [ |
| "pick_up(clay_craft)" |
| ], |
| "pick_up(clay_craft)": [ |
| "place(clay_craft, table)" |
| ], |
| "place(clay_craft, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_25568.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_237400", |
| "actions_list": [ |
| "grasp(tofu)", |
| "pick_up(tofu)", |
| "move_to(tofu, plate)", |
| "place(plate, countertop)" |
| ], |
| "gt_dag": { |
| "grasp(tofu)": [ |
| "pick_up(tofu)" |
| ], |
| "pick_up(tofu)": [ |
| "move_to(tofu, plate)" |
| ], |
| "move_to(tofu, plate)": [ |
| "place(plate, countertop)" |
| ], |
| "place(plate, countertop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_237400.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_299230", |
| "actions_list": [ |
| "grasp(wood)", |
| "pick_up(wood)", |
| "place(wood, woods)" |
| ], |
| "gt_dag": { |
| "grasp(wood)": [ |
| "pick_up(wood)" |
| ], |
| "pick_up(wood)": [ |
| "place(wood, woods)" |
| ], |
| "place(wood, woods)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_299230.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_45752", |
| "actions_list": [ |
| "grasp(wallpaper)", |
| "pick_up(wallpaper)", |
| "place(wallpaper, floor)" |
| ], |
| "gt_dag": { |
| "grasp(wallpaper)": [ |
| "pick_up(wallpaper)" |
| ], |
| "pick_up(wallpaper)": [ |
| "place(wallpaper, floor)" |
| ], |
| "place(wallpaper, floor)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_45752.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_137376", |
| "actions_list": [ |
| "grasp(book)", |
| "pick_up(book)", |
| "place(book, shelf)" |
| ], |
| "gt_dag": { |
| "grasp(book)": [ |
| "pick_up(book)" |
| ], |
| "pick_up(book)": [ |
| "place(book, shelf)" |
| ], |
| "place(book, shelf)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_137376.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_26499", |
| "actions_list": [ |
| "grasp(clothe)", |
| "pull(clothe, left)" |
| ], |
| "gt_dag": { |
| "grasp(clothe)": [ |
| "pull(clothe, left)" |
| ], |
| "pull(clothe, left)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_26499.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_20639", |
| "actions_list": [ |
| "grasp(roller_of_the_motor)", |
| "pick_up(roller_of_the_motor)", |
| "place(roller_of_the_motor, ground)" |
| ], |
| "gt_dag": { |
| "grasp(roller_of_the_motor)": [ |
| "pick_up(roller_of_the_motor)" |
| ], |
| "pick_up(roller_of_the_motor)": [ |
| "place(roller_of_the_motor, ground)" |
| ], |
| "place(roller_of_the_motor, ground)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_20639.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_205160", |
| "actions_list": [ |
| "grasp(book)", |
| "turn(book, clockwise, parallel_to_the_desktop)" |
| ], |
| "gt_dag": { |
| "grasp(book)": [ |
| "turn(book, clockwise, parallel_to_the_desktop)" |
| ], |
| "turn(book, clockwise, parallel_to_the_desktop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_205160.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_25355", |
| "actions_list": [ |
| "grasp(book)", |
| "pick_up(book)", |
| "move_to(book, spine_of_the_adjacent_book)", |
| "place(book, adjacent_book)" |
| ], |
| "gt_dag": { |
| "grasp(book)": [ |
| "pick_up(book)" |
| ], |
| "pick_up(book)": [ |
| "move_to(book, spine_of_the_adjacent_book)" |
| ], |
| "move_to(book, spine_of_the_adjacent_book)": [ |
| "place(book, adjacent_book)" |
| ], |
| "place(book, adjacent_book)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_25355.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_6938", |
| "actions_list": [ |
| "grasp(hollow_brick)", |
| "pick_up(hollow_brick)", |
| "place(hollow_brick, ground)" |
| ], |
| "gt_dag": { |
| "grasp(hollow_brick)": [ |
| "pick_up(hollow_brick)" |
| ], |
| "pick_up(hollow_brick)": [ |
| "place(hollow_brick, ground)" |
| ], |
| "place(hollow_brick, ground)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_6938.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_47773", |
| "actions_list": [ |
| "grasp(bowl)", |
| "pick_up(bowl)", |
| "place(bowl, sink)" |
| ], |
| "gt_dag": { |
| "grasp(bowl)": [ |
| "pick_up(bowl)" |
| ], |
| "pick_up(bowl)": [ |
| "place(bowl, sink)" |
| ], |
| "place(bowl, sink)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_47773.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_298481", |
| "actions_list": [ |
| "grasp(sticks)", |
| "pull(sticks, away_from_the_barbed_wire_fence)" |
| ], |
| "gt_dag": { |
| "grasp(sticks)": [ |
| "pull(sticks, away_from_the_barbed_wire_fence)" |
| ], |
| "pull(sticks, away_from_the_barbed_wire_fence)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_298481.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_300181", |
| "actions_list": [ |
| "grasp(wooden_plank)", |
| "pick_up(wooden_plank)", |
| "place(wooden_plank, wooden_structure)" |
| ], |
| "gt_dag": { |
| "grasp(wooden_plank)": [ |
| "pick_up(wooden_plank)" |
| ], |
| "pick_up(wooden_plank)": [ |
| "place(wooden_plank, wooden_structure)" |
| ], |
| "place(wooden_plank, wooden_structure)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_300181.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_270531", |
| "actions_list": [ |
| "grasp(sponge)", |
| "wipe(sponge, water, sink)" |
| ], |
| "gt_dag": { |
| "grasp(sponge)": [ |
| "wipe(sponge, water, sink)" |
| ], |
| "wipe(sponge, water, sink)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_270531.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_157477", |
| "actions_list": [ |
| "grasp(needle)", |
| "pick_up(needle)", |
| "place(needle, thread)" |
| ], |
| "gt_dag": { |
| "grasp(needle)": [ |
| "pick_up(needle)" |
| ], |
| "pick_up(needle)": [ |
| "place(needle, thread)" |
| ], |
| "place(needle, thread)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_157477.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_154883", |
| "actions_list": [ |
| "grasp(scissors)", |
| "pick_up(scissors)", |
| "place(scissors, table_of_the_sewing_machine)" |
| ], |
| "gt_dag": { |
| "grasp(scissors)": [ |
| "pick_up(scissors)" |
| ], |
| "pick_up(scissors)": [ |
| "place(scissors, table_of_the_sewing_machine)" |
| ], |
| "place(scissors, table_of_the_sewing_machine)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_154883.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_152410", |
| "actions_list": [ |
| "grasp(brush)", |
| "pick_up(brush)", |
| "wipe(brush, excess_paint, cloth)" |
| ], |
| "gt_dag": { |
| "grasp(brush)": [ |
| "pick_up(brush)" |
| ], |
| "pick_up(brush)": [ |
| "wipe(brush, excess_paint, cloth)" |
| ], |
| "wipe(brush, excess_paint, cloth)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_152410.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_1223", |
| "actions_list": [ |
| "grasp(faucet)", |
| "turn(faucet, clockwise, middle_of_sink)" |
| ], |
| "gt_dag": { |
| "grasp(faucet)": [ |
| "turn(faucet, clockwise, middle_of_sink)" |
| ], |
| "turn(faucet, clockwise, middle_of_sink)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_1223.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_148904", |
| "actions_list": [ |
| "grasp(pieces_of_wood)", |
| "pick_up(pieces_of_wood)", |
| "place(pieces_of_wood, bucket)" |
| ], |
| "gt_dag": { |
| "grasp(pieces_of_wood)": [ |
| "pick_up(pieces_of_wood)" |
| ], |
| "pick_up(pieces_of_wood)": [ |
| "place(pieces_of_wood, bucket)" |
| ], |
| "place(pieces_of_wood, bucket)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_148904.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_233123", |
| "actions_list": [ |
| "grasp(food)", |
| "pick_up(food)", |
| "place(food, skillet)" |
| ], |
| "gt_dag": { |
| "grasp(food)": [ |
| "pick_up(food)" |
| ], |
| "pick_up(food)": [ |
| "place(food, skillet)" |
| ], |
| "place(food, skillet)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_233123.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_117156", |
| "actions_list": [ |
| "grasp(bicycle_handle_grip)", |
| "pull(bicycle_handle_grip, opposite_direction_of_the_bicycle_handle)" |
| ], |
| "gt_dag": { |
| "grasp(bicycle_handle_grip)": [ |
| "pull(bicycle_handle_grip, opposite_direction_of_the_bicycle_handle)" |
| ], |
| "pull(bicycle_handle_grip, opposite_direction_of_the_bicycle_handle)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_117156.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_51684", |
| "actions_list": [ |
| "grasp(flower)", |
| "pick_up(flower)", |
| "place(flower, string)" |
| ], |
| "gt_dag": { |
| "grasp(flower)": [ |
| "pick_up(flower)" |
| ], |
| "pick_up(flower)": [ |
| "place(flower, string)" |
| ], |
| "place(flower, string)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_51684.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_206500", |
| "actions_list": [ |
| "grasp(drawer_handle)", |
| "push(drawer, front_the_drawer)" |
| ], |
| "gt_dag": { |
| "grasp(drawer_handle)": [ |
| "push(drawer, front_the_drawer)" |
| ], |
| "push(drawer, front_the_drawer)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_206500.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_254868", |
| "actions_list": [ |
| "grasp(fridge_door_handle)", |
| "pull(fridge_door, away_from_the_fridge_door)" |
| ], |
| "gt_dag": { |
| "grasp(fridge_door_handle)": [ |
| "pull(fridge_door, away_from_the_fridge_door)" |
| ], |
| "pull(fridge_door, away_from_the_fridge_door)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_254868.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_174612", |
| "actions_list": [ |
| "move_to(yarn, fingers_of_the_left_hand)", |
| "hold_on(yarn)" |
| ], |
| "gt_dag": { |
| "move_to(yarn, fingers_of_the_left_hand)": [ |
| "hold_on(yarn)" |
| ], |
| "hold_on(yarn)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_174612.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_117554", |
| "actions_list": [ |
| "grasp(metal_frame)", |
| "pick_up(metal_frame)", |
| "move_to(metal_frame, destination)" |
| ], |
| "gt_dag": { |
| "grasp(metal_frame)": [ |
| "pick_up(metal_frame)" |
| ], |
| "pick_up(metal_frame)": [ |
| "move_to(metal_frame, destination)" |
| ], |
| "move_to(metal_frame, destination)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_117554.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_117168", |
| "actions_list": [ |
| "move_to(none, handle_grip_holder)", |
| "grasp(handle_grip_holder)" |
| ], |
| "gt_dag": { |
| "move_to(none, handle_grip_holder)": [ |
| "grasp(handle_grip_holder)" |
| ], |
| "grasp(handle_grip_holder)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_117168.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_264507", |
| "actions_list": [ |
| "grasp(book)", |
| "pick_up(book)", |
| "place(book, stack_of_books_on_the_table)" |
| ], |
| "gt_dag": { |
| "grasp(book)": [ |
| "pick_up(book)" |
| ], |
| "pick_up(book)": [ |
| "place(book, stack_of_books_on_the_table)" |
| ], |
| "place(book, stack_of_books_on_the_table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_264507.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_297330", |
| "actions_list": [ |
| "grasp(twig)", |
| "pull(twig, away_from_the_fence)" |
| ], |
| "gt_dag": { |
| "grasp(twig)": [ |
| "pull(twig, away_from_the_fence)" |
| ], |
| "pull(twig, away_from_the_fence)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_297330.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_315222", |
| "actions_list": [ |
| "grasp(ludo_token)", |
| "pick_up(ludo_token)", |
| "move_to(token, location_specified_by_the_dice)", |
| "place(token, location_specified_by_the_dice)" |
| ], |
| "gt_dag": { |
| "grasp(ludo_token)": [ |
| "pick_up(ludo_token)" |
| ], |
| "pick_up(ludo_token)": [ |
| "move_to(token, location_specified_by_the_dice)" |
| ], |
| "move_to(token, location_specified_by_the_dice)": [ |
| "place(token, location_specified_by_the_dice)" |
| ], |
| "place(token, location_specified_by_the_dice)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_315222.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_33887", |
| "actions_list": [ |
| "grasp(cooking_pot)", |
| "pick_up(cooking_pot)", |
| "place(cooking_pot, stove)" |
| ], |
| "gt_dag": { |
| "grasp(cooking_pot)": [ |
| "pick_up(cooking_pot)" |
| ], |
| "pick_up(cooking_pot)": [ |
| "place(cooking_pot, stove)" |
| ], |
| "place(cooking_pot, stove)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_33887.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_279943", |
| "actions_list": [ |
| "hold_on(funnel)", |
| "move_to(funnel, wipe)", |
| "place(funnel, wipe)" |
| ], |
| "gt_dag": { |
| "hold_on(funnel)": [ |
| "move_to(funnel, wipe)" |
| ], |
| "move_to(funnel, wipe)": [ |
| "place(funnel, wipe)" |
| ], |
| "place(funnel, wipe)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_279943.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_272839", |
| "actions_list": [ |
| "grasp(bucket)", |
| "pick_up(bucket)", |
| "place(bucket, ground)" |
| ], |
| "gt_dag": { |
| "grasp(bucket)": [ |
| "pick_up(bucket)" |
| ], |
| "pick_up(bucket)": [ |
| "place(bucket, ground)" |
| ], |
| "place(bucket, ground)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_272839.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_98043", |
| "actions_list": [ |
| "grasp(dough)", |
| "pick_up(dough)", |
| "move_to(rolling_pin, dough)", |
| "push(rolling_pin, fore_and_aft_direction)" |
| ], |
| "gt_dag": { |
| "grasp(dough)": [ |
| "pick_up(dough)" |
| ], |
| "pick_up(dough)": [ |
| "move_to(rolling_pin, dough)" |
| ], |
| "move_to(rolling_pin, dough)": [ |
| "push(rolling_pin, fore_and_aft_direction)" |
| ], |
| "push(rolling_pin, fore_and_aft_direction)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_98043.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_272183", |
| "actions_list": [ |
| "grasp(brush)", |
| "pick_up(brush)", |
| "draw(brush, people, canvas)" |
| ], |
| "gt_dag": { |
| "grasp(brush)": [ |
| "pick_up(brush)" |
| ], |
| "pick_up(brush)": [ |
| "draw(brush, people, canvas)" |
| ], |
| "draw(brush, people, canvas)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_272183.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_218266", |
| "actions_list": [ |
| "grasp(rail)", |
| "move_to(rail, right_location)" |
| ], |
| "gt_dag": { |
| "grasp(rail)": [ |
| "move_to(rail, right_location)" |
| ], |
| "move_to(rail, right_location)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_218266.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_256042", |
| "actions_list": [ |
| "grasp(wood)", |
| "pick_up(wood)", |
| "place(wood, wood_cutter)" |
| ], |
| "gt_dag": { |
| "grasp(wood)": [ |
| "pick_up(wood)" |
| ], |
| "pick_up(wood)": [ |
| "place(wood, wood_cutter)" |
| ], |
| "place(wood, wood_cutter)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_256042.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_227264", |
| "actions_list": [ |
| "grasp(salad)", |
| "pick_up(salad)", |
| "place(salad, sink)" |
| ], |
| "gt_dag": { |
| "grasp(salad)": [ |
| "pick_up(salad)" |
| ], |
| "pick_up(salad)": [ |
| "place(salad, sink)" |
| ], |
| "place(salad, sink)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_227264.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_112087", |
| "actions_list": [ |
| "grasp(dough)", |
| "pick_up(dough)", |
| "place(dough, table)" |
| ], |
| "gt_dag": { |
| "grasp(dough)": [ |
| "pick_up(dough)" |
| ], |
| "pick_up(dough)": [ |
| "place(dough, table)" |
| ], |
| "place(dough, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_112087.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_206848", |
| "actions_list": [ |
| "grasp(screw)", |
| "turn(screw, clockwise, on_the_clutch_cable)" |
| ], |
| "gt_dag": { |
| "grasp(screw)": [], |
| "turn(screw, clockwise, on_the_clutch_cable)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_206848.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_5849", |
| "actions_list": [ |
| "grasp(pen)", |
| "pick_up(pen)", |
| "draw(pen, word, white_paper)" |
| ], |
| "gt_dag": { |
| "grasp(pen)": [ |
| "pick_up(pen)" |
| ], |
| "pick_up(pen)": [ |
| "draw(pen, word, white_paper)" |
| ], |
| "draw(pen, word, white_paper)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_5849.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_24842", |
| "actions_list": [ |
| "grasp(book)", |
| "pick_up(book)", |
| "place(book, shelf)" |
| ], |
| "gt_dag": { |
| "grasp(book)": [ |
| "pick_up(book)" |
| ], |
| "pick_up(book)": [ |
| "place(book, shelf)" |
| ], |
| "place(book, shelf)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_24842.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_271008", |
| "actions_list": [ |
| "grasp(paper)", |
| "turn(paper, clockwise, parallel_to_the_desktop)" |
| ], |
| "gt_dag": { |
| "grasp(paper)": [], |
| "turn(paper, clockwise, parallel_to_the_desktop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_271008.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_257138", |
| "actions_list": [ |
| "turn(knob, anticlockwise, front_the_washing_machine)", |
| "turn(knob, clockwise, front_the_washing_machine)" |
| ], |
| "gt_dag": { |
| "turn(knob, anticlockwise, front_the_washing_machine)": [ |
| "turn(knob, clockwise, front_the_washing_machine)" |
| ], |
| "turn(knob, clockwise, front_the_washing_machine)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_257138.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_140674", |
| "actions_list": [ |
| "grasp(phone)", |
| "pick_up(phone)", |
| "place(phone, pocket)" |
| ], |
| "gt_dag": { |
| "grasp(phone)": [ |
| "pick_up(phone)" |
| ], |
| "pick_up(phone)": [ |
| "place(phone, pocket)" |
| ], |
| "place(phone, pocket)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_140674.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_46011", |
| "actions_list": [ |
| "grasp(house_wrap_paper)", |
| "wipe(house_wrap_paper, paint_scraper, knife)" |
| ], |
| "gt_dag": { |
| "grasp(house_wrap_paper)": [], |
| "wipe(house_wrap_paper, paint_scraper, knife)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_46011.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_232318", |
| "actions_list": [ |
| "grasp(spanner_hook)", |
| "pick_up(spanner_hook)", |
| "place(spanner_hook, center_of_the_car)" |
| ], |
| "gt_dag": { |
| "grasp(spanner_hook)": [ |
| "pick_up(spanner_hook)" |
| ], |
| "pick_up(spanner_hook)": [ |
| "place(spanner_hook, center_of_the_car)" |
| ], |
| "place(spanner_hook, center_of_the_car)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_232318.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_98178", |
| "actions_list": [ |
| "grasp(dough)", |
| "turn(dough, anticlockwise, parallel_to_the_desktop)" |
| ], |
| "gt_dag": { |
| "grasp(dough)": [ |
| "turn(dough, anticlockwise, parallel_to_the_desktop)" |
| ], |
| "turn(dough, anticlockwise, parallel_to_the_desktop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_98178.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_286282", |
| "actions_list": [ |
| "grasp(trowel)", |
| "wipe(trowel, cement, wall)" |
| ], |
| "gt_dag": { |
| "grasp(trowel)": [ |
| "wipe(trowel, cement, wall)" |
| ], |
| "wipe(trowel, cement, wall)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_286282.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_249679", |
| "actions_list": [ |
| "grasp(brush)", |
| "wipe(container, brush, wall)" |
| ], |
| "gt_dag": { |
| "grasp(brush)": [ |
| "wipe(container, brush, wall)" |
| ], |
| "wipe(container, brush, wall)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_249679.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_199052", |
| "actions_list": [ |
| "grasp(sketching_paper)", |
| "turn(sketching_paper, clockwise, parallel_to_the_desktop)" |
| ], |
| "gt_dag": { |
| "grasp(sketching_paper)": [ |
| "turn(sketching_paper, clockwise, parallel_to_the_desktop)" |
| ], |
| "turn(sketching_paper, clockwise, parallel_to_the_desktop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_199052.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_27523", |
| "actions_list": [ |
| "grasp(tape)", |
| "pick_up(tape)", |
| "place(tape, table)" |
| ], |
| "gt_dag": { |
| "grasp(tape)": [ |
| "pick_up(tape)" |
| ], |
| "pick_up(tape)": [ |
| "place(tape, table)" |
| ], |
| "place(tape, table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_27523.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_110163", |
| "actions_list": [ |
| "grasp(dough)", |
| "pick_up(dough)", |
| "place(dough, countertop)" |
| ], |
| "gt_dag": { |
| "grasp(dough)": [ |
| "pick_up(dough)" |
| ], |
| "pick_up(dough)": [ |
| "place(dough, countertop)" |
| ], |
| "place(dough, countertop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_110163.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_embodiment/human/images/EGO_293785", |
| "actions_list": [ |
| "grasp(piece_of_cloth)", |
| "pick_up(piece_of_cloth)", |
| "place(piece_of_cloth, baking_tray)" |
| ], |
| "gt_dag": { |
| "grasp(piece_of_cloth)": [ |
| "pick_up(piece_of_cloth)" |
| ], |
| "pick_up(piece_of_cloth)": [ |
| "place(piece_of_cloth, baking_tray)" |
| ], |
| "place(piece_of_cloth, baking_tray)": [] |
| }, |
| "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_293785.png" |
| } |
| ] |
