| { | |
| "task_name": "slicing vegetables", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 16222, | |
| "valid_duration": [ | |
| 86, | |
| 16308 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 86, | |
| 772 | |
| ], | |
| "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": [ | |
| 772, | |
| 2547 | |
| ], | |
| "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": [ | |
| 2547, | |
| 3465 | |
| ], | |
| "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": [ | |
| 3465, | |
| 3980 | |
| ], | |
| "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": [ | |
| 3980, | |
| 4822 | |
| ], | |
| "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": [ | |
| 4822, | |
| 5317 | |
| ], | |
| "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": [ | |
| 5317, | |
| 5624 | |
| ], | |
| "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": [ | |
| 5624, | |
| 6604 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "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": [ | |
| 6604, | |
| 7080 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| [ | |
| "", | |
| "middle_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7080, | |
| 7462 | |
| ], | |
| "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": [ | |
| 7462, | |
| 8327 | |
| ], | |
| "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": [ | |
| 8328, | |
| 9061 | |
| ], | |
| "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": [ | |
| 9061, | |
| 9733 | |
| ], | |
| "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": [ | |
| 9733, | |
| 10100 | |
| ], | |
| "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": [ | |
| 10100, | |
| 11057 | |
| ], | |
| "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": [ | |
| 11057, | |
| 12120 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "zucchini_208", | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "zucchini_208" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12120, | |
| 12763 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "center" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12763, | |
| 14001 | |
| ], | |
| "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": [ | |
| 14001, | |
| 14546 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "zucchini_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14546, | |
| 14710 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_zucchini_208_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14710, | |
| 14775 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_zucchini_208_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14775, | |
| 14860 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "beet_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14860, | |
| 14940 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_212_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14940, | |
| 15001 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_212_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15001, | |
| 15037 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "beet_211" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15037, | |
| 15130 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_211_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15130, | |
| 15190 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_beet_211_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15190, | |
| 15265 | |
| ], | |
| "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": [ | |
| 15265, | |
| 15602 | |
| ], | |
| "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": [ | |
| 15602, | |
| 15747 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_214_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15747, | |
| 15787 | |
| ], | |
| "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": [ | |
| 15787, | |
| 15847 | |
| ], | |
| "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": [ | |
| 15847, | |
| 15993 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_213_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15993, | |
| 16016 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_207", | |
| "half_bell_pepper_213_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16016, | |
| 16067 | |
| ], | |
| "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": [ | |
| 16067, | |
| 16308 | |
| ], | |
| "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": [ | |
| 86, | |
| 2547 | |
| ], | |
| "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_214", | |
| "bell_pepper_213" | |
| ], | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "bell_pepper_214", | |
| "bell_pepper_213" | |
| ], | |
| [ | |
| "bell_pepper_214", | |
| "bell_pepper_213" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "low_level", | |
| "middle_level" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 2547, | |
| 5624 | |
| ], | |
| "skill_idxes": [ | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "beet_212", | |
| "beet_211" | |
| ], | |
| "fridge_dszchb_0" | |
| ], | |
| [ | |
| [ | |
| "beet_212", | |
| "beet_211" | |
| ], | |
| "cutting_board_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "beet_212", | |
| "beet_211" | |
| ], | |
| [ | |
| "beet_212", | |
| "beet_211" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "high_level", | |
| "middle_level" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 5624, | |
| 9733 | |
| ], | |
| "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": [ | |
| 9733, | |
| 11057 | |
| ], | |
| "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": [ | |
| 11057, | |
| 12120 | |
| ], | |
| "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": [ | |
| 12120, | |
| 12763 | |
| ], | |
| "skill_idxes": [ | |
| 16 | |
| ] | |
| }, | |
| { | |
| "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_0", | |
| "half_beet_212_1", | |
| "beet_211", | |
| "half_beet_211_0", | |
| "half_beet_211_1" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12763, | |
| 15265 | |
| ], | |
| "skill_idxes": [ | |
| 17, | |
| 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", | |
| "half_bell_pepper_214_0", | |
| "half_bell_pepper_214_1", | |
| "bell_pepper_213", | |
| "half_bell_pepper_213_1", | |
| "half_bell_pepper_213_0" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15265, | |
| 16308 | |
| ], | |
| "skill_idxes": [ | |
| 28, | |
| 29, | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 34, | |
| 35 | |
| ] | |
| } | |
| ] | |
| } |