| { | |
| "task_name": "slicing vegetables", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 14084, | |
| "valid_duration": [ | |
| 0, | |
| 14084 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 528 | |
| ], | |
| "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": [ | |
| 528, | |
| 1667 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bell_pepper_214", | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bell_pepper_214" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "low_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1667, | |
| 2971 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "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": [ | |
| 2971, | |
| 3742 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3742, | |
| 4258 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "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": [ | |
| 4258, | |
| 4557 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "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": [ | |
| 4557, | |
| 4843 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4843, | |
| 5484 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_211", | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "beet_211" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "low_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5484, | |
| 6086 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_212", | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "beet_212" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "low_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6086, | |
| 6419 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6419, | |
| 7112 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_212", | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "beet_212" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7112, | |
| 7736 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 7736, | |
| 8209 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "zucchini_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8209, | |
| 8804 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "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": [ | |
| 8804, | |
| 9294 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9294, | |
| 10160 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10160, | |
| 10331 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "zucchini_208", | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "zucchini_208" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10331, | |
| 10827 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10827, | |
| 10932 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10932, | |
| 11300 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11300, | |
| 11390 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "beet_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11390, | |
| 11852 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_212_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11852, | |
| 11918 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_212_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11852, | |
| 11918 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "beet_211" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11918, | |
| 11962 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_211_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11962, | |
| 12019 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_211_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12019, | |
| 12088 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "zucchini_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12088, | |
| 12394 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_zucchini_208_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12394, | |
| 12415 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_zucchini_208_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12415, | |
| 12456 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bell_pepper_214" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12456, | |
| 12752 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "bell_pepper_214" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12752, | |
| 13023 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "bell_pepper_213" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13023, | |
| 13107 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_214_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13107, | |
| 13258 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_214_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13258, | |
| 13317 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 35, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_213_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13317, | |
| 13422 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 36, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_213_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13422, | |
| 13462 | |
| ], | |
| "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": [ | |
| 13462, | |
| 14084 | |
| ], | |
| "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": [ | |
| 0, | |
| 1667 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "bell_pepper_214", | |
| "bell_pepper_213" | |
| ], | |
| "fridge_dszchb_0" | |
| ], | |
| [ | |
| [ | |
| "bell_pepper_213", | |
| "bell_pepper_214" | |
| ], | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "bell_pepper_214", | |
| "bell_pepper_213" | |
| ], | |
| [ | |
| "bell_pepper_213", | |
| "bell_pepper_214" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "low_level", | |
| "middle_level" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 1667, | |
| 4843 | |
| ], | |
| "skill_idxes": [ | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "beet_211", | |
| "beet_212" | |
| ], | |
| "fridge_dszchb_0" | |
| ], | |
| [ | |
| [ | |
| "beet_212", | |
| "beet_211" | |
| ], | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "beet_211", | |
| "beet_212" | |
| ], | |
| [ | |
| "beet_212", | |
| "beet_211" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "low_level", | |
| "low_level" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 4843, | |
| 8209 | |
| ], | |
| "skill_idxes": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 8209, | |
| 9294 | |
| ], | |
| "skill_idxes": [ | |
| 13, | |
| 14 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9294, | |
| 10160 | |
| ], | |
| "skill_idxes": [ | |
| 15 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 10160, | |
| 10827 | |
| ], | |
| "skill_idxes": [ | |
| 16, | |
| 17 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 6, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| [ | |
| "beet_212", | |
| "half_beet_212_0", | |
| "half_beet_212_1", | |
| "beet_211", | |
| "half_beet_211_0", | |
| "half_beet_211_1", | |
| "zucchini_208", | |
| "half_zucchini_208_1", | |
| "half_zucchini_208_0" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10827, | |
| 12456 | |
| ], | |
| "skill_idxes": [ | |
| 18, | |
| 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_214", | |
| "bell_pepper_213", | |
| "half_bell_pepper_214_1", | |
| "half_bell_pepper_214_0", | |
| "half_bell_pepper_213_0", | |
| "half_bell_pepper_213_1" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12456, | |
| 14084 | |
| ], | |
| "skill_idxes": [ | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 34, | |
| 35, | |
| 36, | |
| 37 | |
| ] | |
| } | |
| ] | |
| } |