{
  "version": 3,
  "obj_to_id": {
    "none": 0,
    "bread": 1,
    "kettle": 2,
    "cup": 3
  },
  "id_to_obj": {
    "0": "none",
    "1": "bread",
    "2": "kettle",
    "3": "cup"
  },
  "scope": "all encoded skills and all exported label CSVs",
  "frame_fields": {
    "obj_id": "int64",
    "obj": "string"
  },
  "rule": {
    "pickplace1_atomic/grasp": "bread",
    "pickplace2_merged_atomic/grasp": "bread",
    "pour1_atomic/grasp": "kettle",
    "pour2_atomic/grasp": "kettle",
    "stack1_atomic/grasp": "cup",
    "stack2_atomic/grasp": "cup",
    "other_skills": "none when source annotation absent; applied to both encoded data and CSV"
  },
  "none": "explicit none category, obj_id=0, obj_onehot=[1,0,...,0] with 16 dimensions",
  "onehot_dimension": 16,
  "reserved_ids": [
    4,
    5,
    6,
    7,
    8,
    9,
    10,
    11,
    12,
    13,
    14,
    15
  ],
  "extension_policy": "Assign new categories to unused IDs in 0..15; preserve all existing IDs; update codebook and names without resizing fields. Reserved slots are zero until assigned.",
  "csv_missing_obj_policy": "Missing source obj is explicitly none/0 in encoded Parquet and CSV; obj_was_missing=1 preserves source missingness."
}