| { | |
| "task_name": "storing food", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 17490, | |
| "valid_duration": [ | |
| 0, | |
| 17490 | |
| ] | |
| }, | |
| "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, | |
| 864 | |
| ], | |
| "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": [ | |
| 864, | |
| 1659 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_olive_oil_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1659, | |
| 2337 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "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": [ | |
| 2337, | |
| 2629 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "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": [ | |
| 2629, | |
| 3067 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3067, | |
| 3509 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "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": [ | |
| 3509, | |
| 3998 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "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": [ | |
| 3998, | |
| 4440 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jar_of_sugar_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4440, | |
| 5103 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "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": [ | |
| 5103, | |
| 5379 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jar_of_sugar_207" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5379, | |
| 5665 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "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": [ | |
| 5665, | |
| 6286 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6286, | |
| 6964 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "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": [ | |
| 6964, | |
| 7484 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "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": [ | |
| 7484, | |
| 7772 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bag_of_chips_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7772, | |
| 8430 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "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": [ | |
| 8430, | |
| 8871 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bag_of_chips_211" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8871, | |
| 9231 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "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": [ | |
| 9231, | |
| 9592 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9592, | |
| 10177 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "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": [ | |
| 10177, | |
| 10711 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "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": [ | |
| 10711, | |
| 11192 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_214" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11192, | |
| 12002 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "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": [ | |
| 12005, | |
| 12465 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 12465, | |
| 12675 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "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": [ | |
| 12675, | |
| 13242 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13242, | |
| 13999 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "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": [ | |
| 13999, | |
| 14170 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "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": [ | |
| 14170, | |
| 14362 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_213" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14362, | |
| 14912 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "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": [ | |
| 14912, | |
| 15254 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "skill_id": [ | |
| 99 | |
| ], | |
| "skill_description": [ | |
| "tip over" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_213" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_213" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15254, | |
| 15348 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "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": [ | |
| 15348, | |
| 15996 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15996, | |
| 16575 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "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": [ | |
| 16575, | |
| 16726 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 35, | |
| "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": [ | |
| 16726, | |
| 17029 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 36, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 17029, | |
| 17490 | |
| ], | |
| "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, | |
| 1659 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "bottle_of_olive_oil_209", | |
| "bottle_of_olive_oil_210" | |
| ], | |
| "countertop_kelzer_0" | |
| ], | |
| [ | |
| [ | |
| "bottle_of_olive_oil_210", | |
| "bottle_of_olive_oil_209" | |
| ], | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "bottle_of_olive_oil_209", | |
| "bottle_of_olive_oil_210" | |
| ], | |
| [ | |
| "bottle_of_olive_oil_210", | |
| "bottle_of_olive_oil_209" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "layer_2", | |
| "layer_2" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1659, | |
| 4440 | |
| ], | |
| "skill_idxes": [ | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "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_207", | |
| "jar_of_sugar_208" | |
| ], | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "jar_of_sugar_208", | |
| "jar_of_sugar_207" | |
| ], | |
| [ | |
| "jar_of_sugar_207", | |
| "jar_of_sugar_208" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "layer_2", | |
| "layer_2" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4440, | |
| 7772 | |
| ], | |
| "skill_idxes": [ | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "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_211", | |
| "bag_of_chips_212" | |
| ], | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "bag_of_chips_212", | |
| "bag_of_chips_211" | |
| ], | |
| [ | |
| "bag_of_chips_211", | |
| "bag_of_chips_212" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "layer_3", | |
| "layer_3" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7772, | |
| 11192 | |
| ], | |
| "skill_idxes": [ | |
| 15, | |
| 16, | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 11192, | |
| 14362 | |
| ], | |
| "skill_idxes": [ | |
| 22, | |
| 23, | |
| 24, | |
| 25, | |
| 26, | |
| 27, | |
| 28 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 14362, | |
| 17029 | |
| ], | |
| "skill_idxes": [ | |
| 29, | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 34, | |
| 35 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 17029, | |
| 17490 | |
| ], | |
| "skill_idxes": [ | |
| 36 | |
| ] | |
| } | |
| ] | |
| } |