| { | |
| "task_name": "slicing vegetables", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 15203, | |
| "valid_duration": [ | |
| 37, | |
| 15240 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 37, | |
| 457 | |
| ], | |
| "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": [ | |
| 457, | |
| 1824 | |
| ], | |
| "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": [ | |
| [ | |
| "", | |
| "low_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1824, | |
| 2664 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "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": [ | |
| 2664, | |
| 3182 | |
| ], | |
| "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": [ | |
| 3182, | |
| 3873 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "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": [ | |
| 3873, | |
| 4348 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 4348, | |
| 4714 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_211" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4714, | |
| 5402 | |
| ], | |
| "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": [ | |
| [ | |
| "", | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5402, | |
| 5888 | |
| ], | |
| "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": [ | |
| [ | |
| "", | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5888, | |
| 6550 | |
| ], | |
| "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": [ | |
| 6550, | |
| 7146 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_211", | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "beet_211" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7146, | |
| 7644 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "beet_212", | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "beet_212" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7644, | |
| 8100 | |
| ], | |
| "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": [ | |
| 8100, | |
| 8637 | |
| ], | |
| "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": [ | |
| [ | |
| "", | |
| "low_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 8637, | |
| 9255 | |
| ], | |
| "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": [ | |
| 9255, | |
| 10212 | |
| ], | |
| "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": [ | |
| 10212, | |
| 10383 | |
| ], | |
| "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": [ | |
| 10383, | |
| 10765 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10765, | |
| 11850 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "beet_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11850, | |
| 12248 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "beet_211" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12248, | |
| 12335 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_212_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12335, | |
| 12387 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_212_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12387, | |
| 12478 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_211_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12478, | |
| 12616 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_211_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12616, | |
| 12730 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "zucchini_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12730, | |
| 13044 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_zucchini_208_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13044, | |
| 13157 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_zucchini_208_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13157, | |
| 13306 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bell_pepper_214" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13306, | |
| 13704 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "bell_pepper_214" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13704, | |
| 14203 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "bell_pepper_213" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14203, | |
| 14329 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_214_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14329, | |
| 14445 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_214_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14445, | |
| 14636 | |
| ], | |
| "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": [ | |
| 14636, | |
| 14761 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_213_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14761, | |
| 14873 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 35, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14873, | |
| 15240 | |
| ], | |
| "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": [ | |
| 37, | |
| 1824 | |
| ], | |
| "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_214", | |
| "bell_pepper_213" | |
| ], | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "bell_pepper_213", | |
| "bell_pepper_214" | |
| ], | |
| [ | |
| "bell_pepper_214", | |
| "bell_pepper_213" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "low_level", | |
| "middle_level" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 1824, | |
| 4714 | |
| ], | |
| "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_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": [ | |
| 4714, | |
| 8100 | |
| ], | |
| "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": [ | |
| [ | |
| [], | |
| [ | |
| "low_level" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 8100, | |
| 9255 | |
| ], | |
| "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": [ | |
| 9255, | |
| 10212 | |
| ], | |
| "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": [ | |
| 10212, | |
| 10765 | |
| ], | |
| "skill_idxes": [ | |
| 16, | |
| 17 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 6, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| [ | |
| "beet_212", | |
| "beet_211", | |
| "half_beet_212_0", | |
| "half_beet_212_1", | |
| "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": [ | |
| 10765, | |
| 13306 | |
| ], | |
| "skill_idxes": [ | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22, | |
| 23, | |
| 24, | |
| 25, | |
| 26, | |
| 27 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 13306, | |
| 15240 | |
| ], | |
| "skill_idxes": [ | |
| 28, | |
| 29, | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 34, | |
| 35 | |
| ] | |
| } | |
| ] | |
| } |