| { | |
| "task_name": "slicing vegetables", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 9971, | |
| "valid_duration": [ | |
| 60, | |
| 10031 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 60, | |
| 818 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 818, | |
| 1814 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bell_pepper_213", | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bell_pepper_213" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "middle_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1814, | |
| 2066 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bell_pepper_214", | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bell_pepper_214" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "center" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 2066, | |
| 2198 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bell_pepper_214", | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bell_pepper_214" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "middle_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 2198, | |
| 2566 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2566, | |
| 3135 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bell_pepper_213", | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bell_pepper_213" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3135, | |
| 3378 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bell_pepper_214", | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bell_pepper_214" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3378, | |
| 3653 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_211" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3653, | |
| 4297 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_211", | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "beet_211" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4297, | |
| 4548 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_212", | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "beet_212" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4548, | |
| 4941 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4941, | |
| 5331 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_211", | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "beet_211" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5331, | |
| 5588 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_212", | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "beet_212" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5588, | |
| 5817 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_212", | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "beet_212" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "center" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5817, | |
| 6309 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "zucchini_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6309, | |
| 6759 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "zucchini_208", | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "zucchini_208" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "middle_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6759, | |
| 6971 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6971, | |
| 7706 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "zucchini_208", | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "zucchini_208" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7706, | |
| 7990 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7990, | |
| 8044 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8044, | |
| 8260 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "zucchini_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8260, | |
| 8399 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_zucchini_208_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8399, | |
| 8438 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_zucchini_208_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8438, | |
| 8478 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "beet_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8478, | |
| 8562 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_212_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8562, | |
| 8638 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_212_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8638, | |
| 8669 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "beet_211" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8669, | |
| 8757 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_211_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8757, | |
| 8793 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_211_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8796, | |
| 8818 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bell_pepper_213" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8818, | |
| 9206 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "bell_pepper_213" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9206, | |
| 9458 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_213_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9458, | |
| 9582 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_213_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9582, | |
| 9618 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "bell_pepper_214" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9618, | |
| 9752 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 35, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_214_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9752, | |
| 9787 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 36, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_214_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9787, | |
| 9828 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 37, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9828, | |
| 10031 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 60, | |
| 1814 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "bell_pepper_213", | |
| "bell_pepper_214" | |
| ], | |
| "fridge_dszchb_0" | |
| ], | |
| [ | |
| [ | |
| "bell_pepper_213", | |
| "bell_pepper_214" | |
| ], | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "bell_pepper_213", | |
| "bell_pepper_214" | |
| ], | |
| [ | |
| "bell_pepper_213", | |
| "bell_pepper_214" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "middle_level", | |
| "middle_level" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 1814, | |
| 3653 | |
| ], | |
| "skill_idxes": [ | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "beet_211", | |
| "beet_212" | |
| ], | |
| "fridge_dszchb_0" | |
| ], | |
| [ | |
| [ | |
| "beet_211", | |
| "beet_212" | |
| ], | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "beet_211", | |
| "beet_212" | |
| ], | |
| [ | |
| "beet_211", | |
| "beet_212" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "high_level", | |
| "high_level" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 3653, | |
| 6309 | |
| ], | |
| "skill_idxes": [ | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 2 | |
| ], | |
| "primitive_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "zucchini_208", | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "zucchini_208" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "middle_level" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6309, | |
| 6971 | |
| ], | |
| "skill_idxes": [ | |
| 15, | |
| 16 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6971, | |
| 7706 | |
| ], | |
| "skill_idxes": [ | |
| 17 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "zucchini_208", | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "zucchini_208" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7706, | |
| 7990 | |
| ], | |
| "skill_idxes": [ | |
| 18 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 6, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| [ | |
| "zucchini_208", | |
| "half_zucchini_208_1", | |
| "half_zucchini_208_0", | |
| "beet_212", | |
| "half_beet_212_1", | |
| "half_beet_212_0", | |
| "beet_211", | |
| "half_beet_211_0", | |
| "half_beet_211_1" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7990, | |
| 8818 | |
| ], | |
| "skill_idxes": [ | |
| 19, | |
| 20, | |
| 21, | |
| 22, | |
| 23, | |
| 24, | |
| 25, | |
| 26, | |
| 27, | |
| 28, | |
| 29 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 7, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| [ | |
| "bell_pepper_213", | |
| "half_bell_pepper_213_1", | |
| "half_bell_pepper_213_0", | |
| "bell_pepper_214", | |
| "half_bell_pepper_214_0", | |
| "half_bell_pepper_214_1" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8818, | |
| 10031 | |
| ], | |
| "skill_idxes": [ | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 34, | |
| 35, | |
| 36, | |
| 37 | |
| ] | |
| } | |
| ] | |
| } |