Behavior 1K
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Updated
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The dataset generation failed because of a cast error
Error code: DatasetGenerationCastError
Exception: DatasetGenerationCastError
Message: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 16 new columns ({'total_episodes', 'total_frames', 'data_files_size_in_mb', 'total_tasks', 'video_path', 'splits', 'total_videos', 'features', 'chunks_size', 'fps', 'data_path', 'video_files_size_in_mb', 'robot_type', 'metainfo_path', 'annotation_path', 'codebase_version'}) and 5 missing columns ({'data_folder', 'primitive_annotation', 'skill_annotation', 'task_name', 'meta_data'}).
This happened while the json dataset builder was generating data using
hf://datasets/lerobot/behavior1k-task0029/meta/info.json (at revision e7312bfa7020c8086506e7cceaf949522f325d63)
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1831, in _prepare_split_single
writer.write_table(table)
File "/usr/local/lib/python3.12/site-packages/datasets/arrow_writer.py", line 714, in write_table
pa_table = table_cast(pa_table, self._schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2272, in table_cast
return cast_table_to_schema(table, schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2218, in cast_table_to_schema
raise CastError(
datasets.table.CastError: Couldn't cast
codebase_version: string
robot_type: string
total_episodes: int64
total_frames: int64
total_tasks: int64
chunks_size: int64
fps: int64
splits: struct<train: string>
child 0, train: string
data_path: string
video_path: string
metainfo_path: string
annotation_path: string
features: struct<observation.images.rgb.left_wrist: struct<dtype: string, shape: list<item: int64>, names: lis (... 3215 chars omitted)
child 0, observation.images.rgb.left_wrist: struct<dtype: string, shape: list<item: int64>, names: list<item: string>, info: struct<video.fps: d (... 158 chars omitted)
child 0, dtype: string
child 1, shape: list<item: int64>
child 0, item: int64
child 2, names: list<item: string>
child 0, item: string
child 3, info: struct<video.fps: double, video.height: int64, video.width: int64, video.channels: int64, video.code (... 76 chars omitted)
child 0, video.fps: double
child 1, video.height: int64
child 2, video.width: int64
child 3, video.channels: int64
child 4, video.codec: string
child 5, video.pix_fmt: string
child 6, video.is_depth_map: bool
child 7, has_audio: bool
child 1, observation.images.rgb.right_wrist: struct<dtype: string, shape: list<item: int64>, names: list<item: string>, info: struct<video.fps: d (... 158 chars omitted)
child 0, dtype: string
child 1, shape: list<item: int64>
child 0, item: int64
child 2, n
...
ld 0, dtype: string
child 1, shape: list<item: int64>
child 0, item: int64
child 2, names: null
child 3, fps: int64
child 11, episode_index: struct<dtype: string, shape: list<item: int64>, names: null, fps: int64>
child 0, dtype: string
child 1, shape: list<item: int64>
child 0, item: int64
child 2, names: null
child 3, fps: int64
child 12, index: struct<dtype: string, shape: list<item: int64>, names: null, fps: int64>
child 0, dtype: string
child 1, shape: list<item: int64>
child 0, item: int64
child 2, names: null
child 3, fps: int64
child 13, observation.cam_rel_poses: struct<dtype: string, shape: list<item: int64>, names: null, fps: int64>
child 0, dtype: string
child 1, shape: list<item: int64>
child 0, item: int64
child 2, names: null
child 3, fps: int64
child 14, observation.state: struct<dtype: string, shape: list<item: int64>, names: null, fps: int64>
child 0, dtype: string
child 1, shape: list<item: int64>
child 0, item: int64
child 2, names: null
child 3, fps: int64
child 15, observation.task_info: struct<dtype: string, shape: list<item: null>, names: null, fps: int64>
child 0, dtype: string
child 1, shape: list<item: null>
child 0, item: null
child 2, names: null
child 3, fps: int64
data_files_size_in_mb: int64
video_files_size_in_mb: int64
total_videos: int64
to
{'task_name': Value('string'), 'data_folder': Value('string'), 'meta_data': {'task_duration': Value('int64'), 'valid_duration': List(Value('int64'))}, 'skill_annotation': List({'skill_idx': Value('int64'), 'skill_id': List(Value('int64')), 'skill_description': List(Value('string')), 'object_id': List(List(Value('string'))), 'manipulating_object_id': List(Value('string')), 'spatial_prefix': List(List(Value('string'))), 'frame_duration': List(Value('int64')), 'mp_ef': List(Value('null')), 'skill_type': List(Value('string'))}), 'primitive_annotation': List({'primitive_idx': Value('int64'), 'primitive_id': List(Value('int64')), 'primitive_description': List(Value('string')), 'object_id': List(List(Value('string'))), 'manipulating_object_id': List(Value('string')), 'spatial_prefix': List(List(List(Value('string')))), 'frame_duration': List(Value('int64')), 'skill_idxes': List(Value('int64'))})}
because column names don't match
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1450, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 993, in stream_convert_to_parquet
builder._prepare_split(
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1702, in _prepare_split
for job_id, done, content in self._prepare_split_single(
^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1833, in _prepare_split_single
raise DatasetGenerationCastError.from_cast_error(
datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 16 new columns ({'total_episodes', 'total_frames', 'data_files_size_in_mb', 'total_tasks', 'video_path', 'splits', 'total_videos', 'features', 'chunks_size', 'fps', 'data_path', 'video_files_size_in_mb', 'robot_type', 'metainfo_path', 'annotation_path', 'codebase_version'}) and 5 missing columns ({'data_folder', 'primitive_annotation', 'skill_annotation', 'task_name', 'meta_data'}).
This happened while the json dataset builder was generating data using
hf://datasets/lerobot/behavior1k-task0029/meta/info.json (at revision e7312bfa7020c8086506e7cceaf949522f325d63)
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
task_name
string | data_folder
string | meta_data
dict | skill_annotation
list | primitive_annotation
list |
|---|---|---|---|---|
clean up your desk
|
{
"task_duration": 19383,
"valid_duration": [
87,
19470
]
}
|
[
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"folder_231"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
87,
422
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 1,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"folder_231",
"eames_chair_hndxiw_0"
]
],
"manipulating_object_id": [
"folder_231"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
422,
1128
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 2,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"folder_231",
"eames_chair_hndxiw_0"
]
],
"manipulating_object_id": [
"folder_231"
],
"spatial_prefix": [],
"frame_duration": [
1128,
1961
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 3,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"eames_chair_hndxiw_0",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"eames_chair_hndxiw_0"
],
"spatial_prefix": [
[
"",
"under"
]
],
"frame_duration": [
1961,
3135
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 4,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"bookcase_jaysra_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3135,
3420
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 5,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"folder_231",
"bookcase_jaysra_0"
]
],
"manipulating_object_id": [
"folder_231"
],
"spatial_prefix": [
[
"",
"3X3"
]
],
"frame_duration": [
3420,
3798
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 6,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"paperback_book_226"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3798,
4035
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 7,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"paperback_book_226",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"paperback_book_226"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
4035,
4527
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 8,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"paperback_book_226",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"paperback_book_226"
],
"spatial_prefix": [],
"frame_duration": [
4527,
4812
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 9,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"bookcase_jaysra_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
4812,
5004
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 10,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"paperback_book_226",
"bookcase_jaysra_0"
]
],
"manipulating_object_id": [
"paperback_book_226"
],
"spatial_prefix": [
[
"",
"2X3"
]
],
"frame_duration": [
5004,
5577
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 11,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"paperback_book_225"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
5577,
5859
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 12,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"paperback_book_225",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"paperback_book_225"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
5859,
8985
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 13,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"paperback_book_225",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"paperback_book_225"
],
"spatial_prefix": [],
"frame_duration": [
8985,
9510
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 14,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"paperback_book_226"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
9510,
9699
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 15,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"paperback_book_225",
"paperback_book_226"
]
],
"manipulating_object_id": [
"paperback_book_225"
],
"spatial_prefix": [],
"frame_duration": [
9699,
10125
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 16,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"pencil_case_224"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
10125,
10323
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 17,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"pencil_case_224",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"pencil_case_224"
],
"spatial_prefix": [],
"frame_duration": [
10323,
10722
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 18,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"pen_229"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
10722,
10905
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 19,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"pen_229",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"pen_229"
],
"spatial_prefix": [],
"frame_duration": [
10905,
11121
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 20,
"skill_id": [
6
],
"skill_description": [
"insert"
],
"object_id": [
[
"pen_229",
"pencil_case_224"
]
],
"manipulating_object_id": [
"pen_229"
],
"spatial_prefix": [],
"frame_duration": [
11121,
11563
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 21,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"pencil_230"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
11563,
11638
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 22,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"pencil_230",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"pencil_230"
],
"spatial_prefix": [],
"frame_duration": [
11638,
11940
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 23,
"skill_id": [
6
],
"skill_description": [
"insert"
],
"object_id": [
[
"pencil_230",
"pencil_case_224"
]
],
"manipulating_object_id": [
"pencil_230"
],
"spatial_prefix": [],
"frame_duration": [
11940,
12131
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 24,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"pen_228"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
12131,
12152
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 25,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"pen_228",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"pen_228"
],
"spatial_prefix": [],
"frame_duration": [
12152,
12459
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 26,
"skill_id": [
6
],
"skill_description": [
"insert"
],
"object_id": [
[
"pen_228",
"pencil_case_224"
]
],
"manipulating_object_id": [
"pen_228"
],
"spatial_prefix": [],
"frame_duration": [
12459,
12738
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 27,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
12738,
12816
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 28,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"pencil_case_224",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"pencil_case_224"
],
"spatial_prefix": [],
"frame_duration": [
12816,
13065
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 29,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"folder_232",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"folder_232"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
13065,
14052
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 30,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"folder_232",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"folder_232"
],
"spatial_prefix": [],
"frame_duration": [
14052,
14610
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 31,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"folder_231"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
14610,
14997
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 32,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"folder_232",
"folder_231"
]
],
"manipulating_object_id": [
"folder_232"
],
"spatial_prefix": [],
"frame_duration": [
14997,
15363
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 33,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"laptop_233"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
15363,
15735
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 34,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"laptop_233",
"bed_rrcvaq_1"
]
],
"manipulating_object_id": [
"laptop_233"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
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|
clean up your desk
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|
clean up your desk
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|
clean up your desk
|
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|
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|
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|
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|
clean up your desk
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|
clean up your desk
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|
clean up your desk
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|
clean up your desk
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|
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|
clean up your desk
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27072
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},
{
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},
{
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{
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},
{
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},
{
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5
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],
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],
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{
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30234
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},
{
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],
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30234,
31082
],
"mp_ef": [],
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]
}
] |
[
{
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2,
4
],
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"pick up from",
"place in"
],
"object_id": [
[
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"eames_chair_hndxiw_0"
],
[
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"bookcase_jaysra_0"
]
],
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"folder_231"
],
"spatial_prefix": [
[],
[
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[
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]
],
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],
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0,
1,
2,
3,
4,
5
]
},
{
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2,
91
],
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],
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],
[
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"desk_bhkhxo_0"
]
],
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],
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[
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[
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]
],
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5460
],
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6,
7
]
},
{
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2,
4
],
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],
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],
[
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]
],
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"paperback_book_226"
],
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[
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[
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]
]
],
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8169
],
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9,
10,
11,
12
]
},
{
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2,
3
],
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"place on"
],
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[
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"desk_bhkhxo_0"
],
[
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]
],
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"paperback_book_225"
],
"spatial_prefix": [],
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8169,
11145
],
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13,
14,
15,
16,
17,
18
]
},
{
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"primitive_id": [
2,
3
],
"primitive_description": [
"pick up from",
"place on"
],
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[
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"desk_bhkhxo_0"
],
[
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]
],
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"folder_232",
"folder_232"
],
"spatial_prefix": [],
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11145,
14637
],
"skill_idxes": [
19,
20,
21,
22,
23,
24
]
},
{
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2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
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],
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],
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14637,
16899
],
"skill_idxes": [
25,
26
]
},
{
"primitive_idx": 6,
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6
],
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"insert"
],
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[
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"pencil_case_224"
]
],
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],
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16899,
18369
],
"skill_idxes": [
27,
28
]
},
{
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6
],
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"insert"
],
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[
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]
],
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"pen_229"
],
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18369,
20094
],
"skill_idxes": [
29,
30
]
},
{
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6
],
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"insert"
],
"object_id": [
[
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"pencil_case_224"
]
],
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],
"spatial_prefix": [],
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20094,
21765
],
"skill_idxes": [
31,
32
]
},
{
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3
],
"primitive_description": [
"place on"
],
"object_id": [
[
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"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"pencil_case_224"
],
"spatial_prefix": [],
"frame_duration": [
21765,
22098
],
"skill_idxes": [
33
]
},
{
"primitive_idx": 10,
"primitive_id": [
2,
3
],
"primitive_description": [
"pick up from",
"place on"
],
"object_id": [
[
"laptop_233",
"bed_rrcvaq_1"
],
[
"laptop_233",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"laptop_233",
"laptop_233"
],
"spatial_prefix": [],
"frame_duration": [
22098,
27747
],
"skill_idxes": [
34,
35,
36,
37,
38
]
},
{
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"primitive_id": [
14
],
"primitive_description": [
"close lid"
],
"object_id": [
[
"laptop_233"
]
],
"manipulating_object_id": [
"laptop_233"
],
"spatial_prefix": [],
"frame_duration": [
27747,
28506
],
"skill_idxes": [
39
]
},
{
"primitive_idx": 12,
"primitive_id": [
2,
3
],
"primitive_description": [
"pick up from",
"place on"
],
"object_id": [
[
"stapler_227",
"bookcase_jaysra_0"
],
[
"stapler_227",
"desk_bhkhxo_0"
]
],
"manipulating_object_id": [
"stapler_227",
"stapler_227"
],
"spatial_prefix": [
[
[],
[
"3X1"
]
],
[]
],
"frame_duration": [
28506,
31082
],
"skill_idxes": [
40,
41,
42,
43,
44
]
}
] |
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