Behavior 1K
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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 ({'video_path', 'total_frames', 'metainfo_path', 'data_path', 'fps', 'chunks_size', 'video_files_size_in_mb', 'robot_type', 'total_episodes', 'splits', 'features', 'total_videos', 'codebase_version', 'data_files_size_in_mb', 'annotation_path', 'total_tasks'}) and 5 missing columns ({'task_name', 'meta_data', 'data_folder', 'skill_annotation', 'primitive_annotation'}).
This happened while the json dataset builder was generating data using
hf://datasets/lerobot/behavior1k-task0040/meta/info.json (at revision 48079e532e2ef8785830a322815beb28d2d1fc4a)
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 (... 3302 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 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: 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 16, task_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
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(Value('null')), '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(Value('null')), '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 ({'video_path', 'total_frames', 'metainfo_path', 'data_path', 'fps', 'chunks_size', 'video_files_size_in_mb', 'robot_type', 'total_episodes', 'splits', 'features', 'total_videos', 'codebase_version', 'data_files_size_in_mb', 'annotation_path', 'total_tasks'}) and 5 missing columns ({'task_name', 'meta_data', 'data_folder', 'skill_annotation', 'primitive_annotation'}).
This happened while the json dataset builder was generating data using
hf://datasets/lerobot/behavior1k-task0040/meta/info.json (at revision 48079e532e2ef8785830a322815beb28d2d1fc4a)
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 |
|---|---|---|---|---|
make microwave popcorn
|
{
"task_duration": 3806,
"valid_duration": [
0,
3806
]
}
|
[
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
780
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 1,
"skill_id": [
10
],
"skill_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
780,
1434
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 2,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"popcorn_bag_73"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1472,
1732
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 3,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
1740,
2146
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 4,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2203,
2513
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 5,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
2547,
3098
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 6,
"skill_id": [
12
],
"skill_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3099,
3444
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 7,
"skill_id": [
69
],
"skill_description": [
"turn on switch"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
3456,
3806
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
] |
[
{
"primitive_idx": 0,
"primitive_id": [
10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
1434
],
"skill_idxes": [
0,
1
]
},
{
"primitive_idx": 1,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
],
[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73",
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
1472,
3098
],
"skill_idxes": [
2,
3,
4,
5
]
},
{
"primitive_idx": 2,
"primitive_id": [
12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3099,
3444
],
"skill_idxes": [
6
]
},
{
"primitive_idx": 3,
"primitive_id": [
69
],
"primitive_description": [
"turn on switch"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
3456,
3806
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 4380,
"valid_duration": [
0,
4380
]
}
|
[
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
1293
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 1,
"skill_id": [
10
],
"skill_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1323,
1779
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 2,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"popcorn_bag_73"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1803,
2221
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 3,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
2314,
2613
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 4,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2616,
3039
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 5,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
3129,
3633
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 6,
"skill_id": [
12
],
"skill_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3690,
4053
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 7,
"skill_id": [
69
],
"skill_description": [
"turn on switch"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
4116,
4380
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
] |
[
{
"primitive_idx": 0,
"primitive_id": [
10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
1779
],
"skill_idxes": [
0,
1
]
},
{
"primitive_idx": 1,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
],
[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73",
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
1803,
3633
],
"skill_idxes": [
2,
3,
4,
5
]
},
{
"primitive_idx": 2,
"primitive_id": [
12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3690,
4053
],
"skill_idxes": [
6
]
},
{
"primitive_idx": 3,
"primitive_id": [
69
],
"primitive_description": [
"turn on switch"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
4116,
4380
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3464,
"valid_duration": [
0,
3464
]
}
|
[
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
1004
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 1,
"skill_id": [
10
],
"skill_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1004,
1530
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 2,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"popcorn_bag_73"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1530,
1830
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 3,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
1840,
2130
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 4,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2137,
2499
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 5,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
2512,
2879
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 6,
"skill_id": [
12
],
"skill_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2880,
3108
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 7,
"skill_id": [
69
],
"skill_description": [
"turn on switch"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
3207,
3464
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
] |
[
{
"primitive_idx": 0,
"primitive_id": [
10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
1530
],
"skill_idxes": [
0,
1
]
},
{
"primitive_idx": 1,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
],
[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73",
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
1530,
2879
],
"skill_idxes": [
2,
3,
4,
5
]
},
{
"primitive_idx": 2,
"primitive_id": [
12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2880,
3108
],
"skill_idxes": [
6
]
},
{
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69
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3207,
3464
],
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7
]
}
] |
|
make microwave popcorn
|
{
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"valid_duration": [
0,
3445
]
}
|
[
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1
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"move to"
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[
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0,
684
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10
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684,
1204
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{
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1
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"move to"
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[
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1205,
1669
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},
{
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2
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[
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1670,
2092
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{
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2372
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{
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4
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2384,
2800
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},
{
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12
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[
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2887,
3090
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{
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69
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],
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3162,
3445
],
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"uncoordinated"
]
}
] |
[
{
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10
],
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"open door"
],
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[
"microwave_hjjxmi_0"
]
],
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0,
1204
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0,
1
]
},
{
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2,
4
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"pick up from",
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[
"popcorn_bag_73",
"bar_byvbuc_0"
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[
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"popcorn_bag_73"
],
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1205,
2800
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2,
3,
4,
5
]
},
{
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12
],
"primitive_description": [
"close door"
],
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[
"microwave_hjjxmi_0"
]
],
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2887,
3090
],
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6
]
},
{
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69
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"turn on switch"
],
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[
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],
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"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
3162,
3445
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3814,
"valid_duration": [
0,
3814
]
}
|
[
{
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1
],
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"move to"
],
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[
"microwave_hjjxmi_0"
]
],
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0,
1145
],
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},
{
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10
],
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],
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[
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]
],
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1146,
1635
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},
{
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1
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"move to"
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[
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]
],
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1636,
1981
],
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},
{
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2
],
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"pick up from"
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[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
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"popcorn_bag_73"
],
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1981,
2303
],
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]
},
{
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1
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[
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2303,
2653
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]
},
{
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4
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],
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2672,
3079
],
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]
},
{
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12
],
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],
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[
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],
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3120,
3403
],
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]
},
{
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69
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],
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]
],
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],
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3426,
3814
],
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"uncoordinated"
]
}
] |
[
{
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10
],
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],
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[
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]
],
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0,
1635
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0,
1
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},
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2,
4
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3079
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2,
3,
4,
5
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},
{
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12
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],
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[
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3120,
3403
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6
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},
{
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69
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[
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],
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],
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"frame_duration": [
3426,
3814
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3330,
"valid_duration": [
0,
3330
]
}
|
[
{
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1
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"move to"
],
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[
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]
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0,
630
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{
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10
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]
],
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630,
1419
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{
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1
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]
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1419,
1596
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},
{
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2
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1596,
1983
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{
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1
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[
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1984,
2343
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},
{
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4
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2343,
2849
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},
{
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12
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[
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2850,
3138
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},
{
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69
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3138,
3330
],
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]
}
] |
[
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10
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0,
1419
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1
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4
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3138
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6
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69
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3138,
3330
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
2937
]
}
|
[
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1
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0,
368
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10
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368,
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1202,
1357
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1357,
1779
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2501
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12
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2700
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69
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2700,
2937
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}
] |
[
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10
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2700
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69
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2700,
2937
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
3775
]
}
|
[
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800
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},
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10
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1012,
1892
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{
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1
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]
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1892,
2012
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},
{
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2
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2012,
2402
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1
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2403,
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4
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2724,
3211
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{
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12
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[
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3229,
3434
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69
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3526,
3775
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]
}
] |
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10
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0,
1892
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1
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4
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4,
5
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12
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[
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3229,
3434
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6
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},
{
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69
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[
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3526,
3775
],
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7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 2940,
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30,
2970
]
}
|
[
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1
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30,
408
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10
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459,
1305
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1305,
1449
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1479,
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2700
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69
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2700,
2970
],
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]
}
] |
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{
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10
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],
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30,
1305
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1
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2,
4
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2498
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4,
5
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{
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2509,
2700
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{
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69
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],
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2700,
2970
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 4853,
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0,
4853
]
}
|
[
{
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1
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744
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1742,
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1892,
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2388,
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4
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12
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4211,
4575
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69
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4626,
4853
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] |
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10
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4575
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69
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4626,
4853
],
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
3695
]
}
|
[
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833
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10
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876,
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1405,
1674
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1795,
2046
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12
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3249
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3405,
3695
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}
] |
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10
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3405,
3695
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7
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}
] |
|
make microwave popcorn
|
{
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0,
3370
]
}
|
[
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10
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799,
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1341,
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1916
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2210
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{
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4
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2215,
2611
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},
{
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12
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[
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2614,
2899
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},
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69
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3073,
3370
],
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"uncoordinated"
]
}
] |
[
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10
],
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]
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0,
1341
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0,
1
]
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2,
4
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3,
4,
5
]
},
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12
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[
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2614,
2899
],
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6
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},
{
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69
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],
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3073,
3370
],
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7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3077,
"valid_duration": [
0,
3077
]
}
|
[
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1
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0,
264
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10
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],
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],
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278,
803
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},
{
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1
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[
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]
],
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817,
1001
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},
{
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2
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[
"popcorn_bag_73",
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],
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"popcorn_bag_73"
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1075,
1464
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{
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1
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1764
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{
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4
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1764,
2416
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},
{
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12
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[
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2430,
2737
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},
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69
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2757,
3077
],
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"uncoordinated"
]
}
] |
[
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10
],
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],
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[
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]
],
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0,
803
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0,
1
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},
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2,
4
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2416
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2,
3,
4,
5
]
},
{
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12
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],
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[
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],
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2430,
2737
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6
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},
{
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69
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[
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],
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2757,
3077
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 4050,
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0,
4050
]
}
|
[
{
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1
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"move to"
],
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[
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],
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0,
1254
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{
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10
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],
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1255,
1875
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{
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1875,
2100
],
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},
{
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2
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2100,
2425
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{
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1
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2425,
2728
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{
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4
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2728,
3339
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{
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12
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[
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3430,
3711
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69
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3765,
4050
],
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]
}
] |
[
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10
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],
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0,
1875
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1
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4
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4,
5
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},
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12
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3430,
3711
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6
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{
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69
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],
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3765,
4050
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3420,
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0,
3420
]
}
|
[
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1
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0,
838
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10
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864,
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1
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1314,
1525
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2
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1525,
2012
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1
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2013,
2253
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4
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2253,
2640
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12
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3114
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69
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3120,
3420
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] |
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3120,
3420
],
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7
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}
] |
|
make microwave popcorn
|
{
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0,
2730
]
}
|
[
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349
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10
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371,
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819,
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2
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1102,
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12
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69
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2514,
2730
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}
] |
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10
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0,
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1
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12
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2202,
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69
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2514,
2730
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7
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}
] |
|
make microwave popcorn
|
{
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0,
3261
]
}
|
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0,
237
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879
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891,
1168
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2
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2956,
3261
],
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]
}
] |
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10
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0,
879
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4,
5
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2388,
2810
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{
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2956,
3261
],
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
3107
]
}
|
[
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550
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562,
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1056,
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1308,
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2760
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2810,
3107
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] |
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10
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2810,
3107
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7
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] |
|
make microwave popcorn
|
{
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0,
3594
]
}
|
[
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1379,
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1551,
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3372,
3594
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] |
|
make microwave popcorn
|
{
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2716
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|
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645,
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2406,
2716
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] |
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2334
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2406,
2716
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7
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] |
|
make microwave popcorn
|
{
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0,
3655
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|
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3655
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}
] |
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10
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4,
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2940,
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3385,
3655
],
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7
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}
] |
|
make microwave popcorn
|
{
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0,
3200
]
}
|
[
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2920,
3200
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}
] |
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2818
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2920,
3200
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
3051
]
}
|
[
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550
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2753
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2831,
3051
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] |
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2831,
3051
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7
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] |
|
make microwave popcorn
|
{
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0,
2847
]
}
|
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480
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] |
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2643,
2847
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7
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] |
|
make microwave popcorn
|
{
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0,
3960
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|
[
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1
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"move to"
],
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[
"microwave_hjjxmi_0"
]
],
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0,
1052
],
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]
},
{
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10
],
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"open door"
],
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[
"microwave_hjjxmi_0"
]
],
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1052,
1572
],
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]
},
{
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1
],
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"move to"
],
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[
"popcorn_bag_73"
]
],
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1572,
1922
],
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]
},
{
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2
],
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"pick up from"
],
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[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
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"popcorn_bag_73"
],
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"frame_duration": [
1923,
2348
],
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]
},
{
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1
],
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"move to"
],
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[
"microwave_hjjxmi_0"
]
],
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2348,
2758
],
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]
},
{
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4
],
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"place in"
],
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[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
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"popcorn_bag_73"
],
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2775,
3254
],
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]
},
{
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12
],
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"close door"
],
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[
"microwave_hjjxmi_0"
]
],
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3313,
3600
],
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"uncoordinated"
]
},
{
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69
],
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"turn on switch"
],
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[
"microwave_hjjxmi_0"
]
],
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"microwave_hjjxmi_0"
],
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3705,
3960
],
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"uncoordinated"
]
}
] |
[
{
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10
],
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"open door"
],
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[
"microwave_hjjxmi_0"
]
],
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0,
1572
],
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0,
1
]
},
{
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2,
4
],
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"pick up from",
"place in"
],
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[
"popcorn_bag_73",
"bar_byvbuc_0"
],
[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
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"popcorn_bag_73",
"popcorn_bag_73"
],
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1572,
3254
],
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2,
3,
4,
5
]
},
{
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"primitive_id": [
12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
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"spatial_prefix": [],
"frame_duration": [
3313,
3600
],
"skill_idxes": [
6
]
},
{
"primitive_idx": 3,
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69
],
"primitive_description": [
"turn on switch"
],
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[
"microwave_hjjxmi_0"
]
],
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"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
3705,
3960
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3407,
"valid_duration": [
0,
3407
]
}
|
[
{
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1
],
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"move to"
],
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[
"microwave_hjjxmi_0"
]
],
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"frame_duration": [
0,
445
],
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]
},
{
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10
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"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
445,
993
],
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]
},
{
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1
],
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"move to"
],
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[
"popcorn_bag_73"
]
],
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"frame_duration": [
993,
1367
],
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]
},
{
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2
],
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"pick up from"
],
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[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
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"popcorn_bag_73"
],
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"frame_duration": [
1457,
1884
],
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]
},
{
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1
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"move to"
],
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[
"microwave_hjjxmi_0"
]
],
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1884,
2201
],
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]
},
{
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4
],
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"place in"
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[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
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2339,
2726
],
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]
},
{
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12
],
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"close door"
],
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[
"microwave_hjjxmi_0"
]
],
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2726,
2999
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]
},
{
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69
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"turn on switch"
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[
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]
],
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],
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3097,
3407
],
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"uncoordinated"
]
}
] |
[
{
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10
],
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"open door"
],
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[
"microwave_hjjxmi_0"
]
],
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"frame_duration": [
0,
993
],
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0,
1
]
},
{
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2,
4
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"pick up from",
"place in"
],
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[
"popcorn_bag_73",
"bar_byvbuc_0"
],
[
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"microwave_hjjxmi_0"
]
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"popcorn_bag_73",
"popcorn_bag_73"
],
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993,
2726
],
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2,
3,
4,
5
]
},
{
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12
],
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"close door"
],
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[
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]
],
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"frame_duration": [
2726,
2999
],
"skill_idxes": [
6
]
},
{
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69
],
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"turn on switch"
],
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[
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]
],
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"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
3097,
3407
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 2620,
"valid_duration": [
0,
2620
]
}
|
[
{
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1
],
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"move to"
],
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[
"microwave_hjjxmi_0"
]
],
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0,
330
],
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]
},
{
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10
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"open door"
],
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[
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]
],
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330,
727
],
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]
},
{
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1
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[
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]
],
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729,
928
],
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]
},
{
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2
],
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"pick up from"
],
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[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
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"popcorn_bag_73"
],
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"frame_duration": [
1020,
1306
],
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]
},
{
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1
],
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"move to"
],
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[
"microwave_hjjxmi_0"
]
],
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"spatial_prefix": [],
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1390,
1554
],
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]
},
{
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4
],
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"place in"
],
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[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
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"popcorn_bag_73"
],
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1589,
1983
],
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]
},
{
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12
],
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"close door"
],
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[
"microwave_hjjxmi_0"
]
],
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2000,
2286
],
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]
},
{
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69
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"turn on switch"
],
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[
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]
],
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],
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2400,
2620
],
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"uncoordinated"
]
}
] |
[
{
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10
],
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"open door"
],
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[
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]
],
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0,
727
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0,
1
]
},
{
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2,
4
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],
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729,
1983
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3,
4,
5
]
},
{
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12
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[
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]
],
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2000,
2286
],
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6
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},
{
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69
],
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],
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[
"microwave_hjjxmi_0"
]
],
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"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
2400,
2620
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 2910,
"valid_duration": [
0,
2910
]
}
|
[
{
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1
],
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"move to"
],
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[
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]
],
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0,
381
],
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]
},
{
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10
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],
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[
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]
],
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381,
954
],
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{
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1
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"move to"
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[
"popcorn_bag_73"
]
],
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957,
1140
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]
},
{
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2
],
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"pick up from"
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[
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"bar_byvbuc_0"
]
],
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"popcorn_bag_73"
],
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1140,
1410
],
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]
},
{
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1
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"move to"
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[
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]
],
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1410,
1716
],
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},
{
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4
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1716,
2295
],
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},
{
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12
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[
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],
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2295,
2535
],
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]
},
{
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69
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2535,
2910
],
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"uncoordinated"
]
}
] |
[
{
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10
],
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],
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[
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0,
954
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1
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},
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4
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957,
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3,
4,
5
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},
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12
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[
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],
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2295,
2535
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6
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},
{
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69
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],
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2535,
2910
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3750,
"valid_duration": [
0,
3750
]
}
|
[
{
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1
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"move to"
],
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[
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]
],
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0,
373
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]
},
{
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10
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]
],
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374,
1221
],
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},
{
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1
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]
],
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1236,
1443
],
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]
},
{
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2
],
"skill_description": [
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12
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3357
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69
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3391,
3750
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}
] |
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10
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1221
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1
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4
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5
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12
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3003,
3357
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3391,
3750
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
3271
]
}
|
[
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296
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303,
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747,
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1320,
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2968
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3075,
3271
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]
}
] |
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10
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0,
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1
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4
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4,
5
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2716,
2968
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3075,
3271
],
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7
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}
] |
|
make microwave popcorn
|
{
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0,
4314
]
}
|
[
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1
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1140
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4068,
4314
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] |
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10
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4068,
4314
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7
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}
] |
|
make microwave popcorn
|
{
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0,
3141
]
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|
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291
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771,
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1182,
1625
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2889,
3141
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] |
|
make microwave popcorn
|
{
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0,
3807
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|
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522,
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999,
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12
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3075,
3338
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69
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3417,
3807
],
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"uncoordinated"
]
}
] |
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10
],
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"open door"
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[
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],
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0,
996
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0,
1
]
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4
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999,
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3,
4,
5
]
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{
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12
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[
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],
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3075,
3338
],
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6
]
},
{
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69
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[
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],
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],
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"frame_duration": [
3417,
3807
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
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"valid_duration": [
0,
2931
]
}
|
[
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1
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"move to"
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[
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0,
572
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},
{
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10
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],
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[
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]
],
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"frame_duration": [
572,
1002
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{
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1
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[
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]
],
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1020,
1371
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},
{
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2
],
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[
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]
],
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1371,
1686
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{
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1
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1960
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},
{
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4
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1961,
2297
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},
{
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12
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[
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2373,
2577
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},
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69
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2709,
2931
],
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"uncoordinated"
]
}
] |
[
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10
],
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],
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[
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]
],
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0,
1002
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0,
1
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},
{
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2,
4
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"popcorn_bag_73"
],
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1020,
2297
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2,
3,
4,
5
]
},
{
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12
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[
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],
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2373,
2577
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6
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},
{
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69
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[
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],
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],
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2709,
2931
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3445,
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0,
3445
]
}
|
[
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1
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"move to"
],
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[
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0,
681
],
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{
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10
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],
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719,
1131
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{
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1
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1152,
1551
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},
{
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2
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[
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],
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1589,
2130
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{
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1
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2134,
2400
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},
{
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4
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2424,
2779
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},
{
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12
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[
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2850,
3089
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69
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3258,
3445
],
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]
}
] |
[
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10
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0,
1131
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1
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4
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2850,
3089
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6
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69
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],
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3258,
3445
],
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7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 2909,
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0,
2909
]
}
|
[
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1
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0,
390
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10
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412,
1080
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1080,
1231
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2
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1231,
1530
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1
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1530,
1878
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4
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1878,
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12
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2310,
2550
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69
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2640,
2909
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] |
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2640,
2909
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7
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}
] |
|
make microwave popcorn
|
{
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0,
2901
]
}
|
[
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399
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10
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424,
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836,
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12
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2691,
2901
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] |
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2691,
2901
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] |
|
make microwave popcorn
|
{
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0,
3876
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|
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3876
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3617,
3876
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] |
|
make microwave popcorn
|
{
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21,
4070
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|
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3789,
4070
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] |
|
make microwave popcorn
|
{
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0,
3466
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|
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|
make microwave popcorn
|
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2700
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|
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2415,
2700
],
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
3872
]
}
|
[
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1
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0,
1186
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10
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1744,
1951
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2
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1980,
2416
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4
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{
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12
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3221,
3449
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69
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3630,
3872
],
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]
}
] |
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10
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0,
1743
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1
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4
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[
"popcorn_bag_73",
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"popcorn_bag_73"
],
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1744,
3174
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2,
3,
4,
5
]
},
{
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12
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[
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]
],
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3221,
3449
],
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6
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},
{
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69
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],
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],
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3630,
3872
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 2928,
"valid_duration": [
0,
2928
]
}
|
[
{
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1
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"move to"
],
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0,
230
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{
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],
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269,
760
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{
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776,
938
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2
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]
],
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990,
1370
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{
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1402,
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},
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4
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1796,
2198
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},
{
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12
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2276,
2527
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{
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69
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2602,
2928
],
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]
}
] |
[
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10
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],
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]
],
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0,
760
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1
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4
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776,
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3,
4,
5
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},
{
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12
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[
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2276,
2527
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6
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},
{
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69
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],
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],
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"frame_duration": [
2602,
2928
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 2346,
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0,
2346
]
}
|
[
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1
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0,
89
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{
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10
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]
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99,
555
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{
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555,
721
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{
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2
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722,
1180
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{
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1180,
1452
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{
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4
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1850
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{
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12
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1850,
2047
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69
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2085,
2346
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}
] |
[
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10
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555
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2047
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6
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2085,
2346
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
3386
]
}
|
[
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714
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10
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714,
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1255,
1423
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1423,
1831
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12
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69
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3094,
3386
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] |
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3094,
3386
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7
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}
] |
|
make microwave popcorn
|
{
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0,
3350
]
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|
[
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554
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{
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554,
1027
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1
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]
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1028,
1291
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{
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2
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"pick up from"
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[
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],
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1465,
1755
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{
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1
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1764,
2169
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{
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4
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2169,
2579
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},
{
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12
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[
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]
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2643,
2903
],
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},
{
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69
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]
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3090,
3350
],
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"uncoordinated"
]
}
] |
[
{
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10
],
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],
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[
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]
],
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0,
1027
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0,
1
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4
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"popcorn_bag_73"
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2579
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3,
4,
5
]
},
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12
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[
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]
],
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2643,
2903
],
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6
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},
{
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69
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[
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],
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],
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3090,
3350
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3046,
"valid_duration": [
0,
3046
]
}
|
[
{
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1
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"move to"
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[
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]
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0,
195
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},
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10
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]
],
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195,
790
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},
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1
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]
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811,
918
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},
{
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2
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"pick up from"
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[
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]
],
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918,
1488
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{
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1
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1488,
1842
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},
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4
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2423
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},
{
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12
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[
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2441,
2663
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},
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69
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],
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2806,
3046
],
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"uncoordinated"
]
}
] |
[
{
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10
],
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],
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[
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]
],
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0,
790
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0,
1
]
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2,
4
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"popcorn_bag_73"
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811,
2423
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3,
4,
5
]
},
{
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12
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[
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2441,
2663
],
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6
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},
{
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69
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],
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],
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"frame_duration": [
2806,
3046
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3467,
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0,
3467
]
}
|
[
{
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1
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"move to"
],
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0,
466
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{
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479,
1002
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{
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1005,
1176
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{
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2
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1287,
1636
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{
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1
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1636,
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{
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4
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2079,
2790
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},
{
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12
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[
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2910,
3145
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69
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3211,
3467
],
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]
}
] |
[
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10
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],
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0,
1002
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1
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4
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4,
5
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12
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2910,
3145
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6
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{
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69
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],
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3211,
3467
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3177,
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0,
3177
]
}
|
[
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1
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0,
161
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10
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]
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161,
839
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840,
1023
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2
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1023,
1480
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1
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1481,
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4
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2595
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12
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2833
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69
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2875,
3177
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}
] |
[
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2875,
3177
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7
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}
] |
|
make microwave popcorn
|
{
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29,
2985
]
}
|
[
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29,
363
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10
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370,
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1034,
1250
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1253,
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1513,
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2668
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69
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2704,
2985
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}
] |
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10
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29,
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1
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4
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5
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[
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2486,
2668
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{
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69
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2704,
2985
],
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
3243
]
}
|
[
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1
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546
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581,
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1320
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2918
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69
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3018,
3243
],
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]
}
] |
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10
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0,
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1
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4
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4,
5
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2593,
2918
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],
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3018,
3243
],
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
4187
]
}
|
[
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832
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849,
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1844,
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3446,
3671
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69
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3854,
4187
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}
] |
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10
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1365
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3671
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69
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3854,
4187
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7
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}
] |
|
make microwave popcorn
|
{
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0,
3546
]
}
|
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323
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902,
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1182,
1664
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3309,
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] |
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3309,
3546
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] |
|
make microwave popcorn
|
{
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0,
3022
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|
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396,
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916,
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2751,
3022
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}
] |
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10
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0,
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1
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4
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5
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12
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2382,
2632
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6
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69
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2751,
3022
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
3480
]
}
|
[
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1
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0,
660
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660,
1230
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1230,
1420
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1969
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69
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3099,
3480
],
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]
}
] |
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10
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0,
1230
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1
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4
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2876
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3,
4,
5
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12
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2877,
3099
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69
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],
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3099,
3480
],
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
3234
]
}
|
[
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1
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0,
554
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{
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554,
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1200,
1341
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2
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1495,
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1917,
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4
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12
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2702,
2921
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69
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2941,
3234
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] |
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10
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2921
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69
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2941,
3234
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7
]
}
] |
|
make microwave popcorn
|
{
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0,
3143
]
}
|
[
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375
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994,
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2
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3143
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] |
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2886,
3143
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] |
|
make microwave popcorn
|
{
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0,
3243
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|
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1113,
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2794,
3243
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] |
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5
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},
{
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12
],
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"close door"
],
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[
"microwave_hjjxmi_0"
]
],
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"frame_duration": [
2516,
2794
],
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6
]
},
{
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69
],
"primitive_description": [
"turn on switch"
],
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[
"microwave_hjjxmi_0"
]
],
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"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
2794,
3243
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3133,
"valid_duration": [
0,
3133
]
}
|
[
{
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1
],
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"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
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"frame_duration": [
0,
420
],
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]
},
{
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10
],
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"open door"
],
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[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
516,
1108
],
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]
},
{
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1
],
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"move to"
],
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[
"popcorn_bag_73"
]
],
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1108,
1265
],
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"navigation"
]
},
{
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"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
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"popcorn_bag_73"
],
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"frame_duration": [
1265,
1668
],
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]
},
{
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1
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"move to"
],
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[
"microwave_hjjxmi_0"
]
],
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1669,
2025
],
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]
},
{
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4
],
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"place in"
],
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[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
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"popcorn_bag_73"
],
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2025,
2570
],
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]
},
{
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12
],
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"close door"
],
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[
"microwave_hjjxmi_0"
]
],
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2571,
2771
],
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"uncoordinated"
]
},
{
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69
],
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"turn on switch"
],
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[
"microwave_hjjxmi_0"
]
],
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"microwave_hjjxmi_0"
],
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"frame_duration": [
2832,
3133
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
] |
[
{
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10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
1108
],
"skill_idxes": [
0,
1
]
},
{
"primitive_idx": 1,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
],
[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73",
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
1108,
2570
],
"skill_idxes": [
2,
3,
4,
5
]
},
{
"primitive_idx": 2,
"primitive_id": [
12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2571,
2771
],
"skill_idxes": [
6
]
},
{
"primitive_idx": 3,
"primitive_id": [
69
],
"primitive_description": [
"turn on switch"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
2832,
3133
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 2131,
"valid_duration": [
0,
2131
]
}
|
[
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
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"frame_duration": [
0,
344
],
"mp_ef": [],
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]
},
{
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10
],
"skill_description": [
"open door"
],
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[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
344,
817
],
"mp_ef": [],
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"uncoordinated"
]
},
{
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1
],
"skill_description": [
"move to"
],
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[
"popcorn_bag_73"
]
],
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"frame_duration": [
817,
935
],
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"navigation"
]
},
{
"skill_idx": 3,
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2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
935,
1203
],
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"uncoordinated"
]
},
{
"skill_idx": 4,
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1
],
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"move to"
],
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[
"microwave_hjjxmi_0"
]
],
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"frame_duration": [
1203,
1471
],
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]
},
{
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4
],
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"place in"
],
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[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
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"popcorn_bag_73"
],
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1471,
1699
],
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"uncoordinated"
]
},
{
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12
],
"skill_description": [
"close door"
],
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[
"microwave_hjjxmi_0"
]
],
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"frame_duration": [
1699,
1935
],
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"uncoordinated"
]
},
{
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69
],
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"turn on switch"
],
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[
"microwave_hjjxmi_0"
]
],
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"microwave_hjjxmi_0"
],
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"frame_duration": [
1935,
2131
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
] |
[
{
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"primitive_id": [
10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
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"frame_duration": [
0,
817
],
"skill_idxes": [
0,
1
]
},
{
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2,
4
],
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"pick up from",
"place in"
],
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[
"popcorn_bag_73",
"bar_byvbuc_0"
],
[
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"microwave_hjjxmi_0"
]
],
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"popcorn_bag_73",
"popcorn_bag_73"
],
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817,
1699
],
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2,
3,
4,
5
]
},
{
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12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1699,
1935
],
"skill_idxes": [
6
]
},
{
"primitive_idx": 3,
"primitive_id": [
69
],
"primitive_description": [
"turn on switch"
],
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[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
1935,
2131
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3058,
"valid_duration": [
0,
3058
]
}
|
[
{
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1
],
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"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
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"frame_duration": [
0,
506
],
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]
},
{
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10
],
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],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
512,
1132
],
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]
},
{
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1
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"move to"
],
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[
"popcorn_bag_73"
]
],
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1149,
1399
],
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]
},
{
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2
],
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"pick up from"
],
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[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
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"popcorn_bag_73"
],
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"frame_duration": [
1521,
1860
],
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]
},
{
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1
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"move to"
],
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[
"microwave_hjjxmi_0"
]
],
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1874,
2087
],
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]
},
{
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4
],
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"place in"
],
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[
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"microwave_hjjxmi_0"
]
],
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"popcorn_bag_73"
],
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2087,
2583
],
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]
},
{
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12
],
"skill_description": [
"close door"
],
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[
"microwave_hjjxmi_0"
]
],
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2602,
2790
],
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]
},
{
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69
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],
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[
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]
],
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],
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"frame_duration": [
2810,
3058
],
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"uncoordinated"
]
}
] |
[
{
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10
],
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"open door"
],
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[
"microwave_hjjxmi_0"
]
],
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0,
1132
],
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0,
1
]
},
{
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2,
4
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"popcorn_bag_73"
],
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1149,
2583
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2,
3,
4,
5
]
},
{
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12
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[
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],
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2602,
2790
],
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6
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},
{
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69
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[
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]
],
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],
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"frame_duration": [
2810,
3058
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3450,
"valid_duration": [
0,
3450
]
}
|
[
{
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1
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"move to"
],
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[
"microwave_hjjxmi_0"
]
],
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"frame_duration": [
0,
705
],
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]
},
{
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10
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],
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[
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]
],
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747,
1324
],
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]
},
{
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1
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"move to"
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[
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]
],
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1324,
1467
],
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]
},
{
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2
],
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"pick up from"
],
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[
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"bar_byvbuc_0"
]
],
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"popcorn_bag_73"
],
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"frame_duration": [
1467,
1864
],
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]
},
{
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1
],
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],
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[
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]
],
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"frame_duration": [
1894,
2139
],
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]
},
{
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4
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]
],
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],
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2139,
2880
],
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]
},
{
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12
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"close door"
],
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[
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]
],
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2886,
3166
],
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]
},
{
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69
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"turn on switch"
],
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[
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]
],
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],
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3166,
3450
],
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"uncoordinated"
]
}
] |
[
{
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10
],
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"open door"
],
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[
"microwave_hjjxmi_0"
]
],
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0,
1324
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0,
1
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},
{
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2,
4
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"popcorn_bag_73"
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1324,
2880
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2,
3,
4,
5
]
},
{
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12
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[
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],
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2886,
3166
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6
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},
{
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69
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],
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],
"spatial_prefix": [],
"frame_duration": [
3166,
3450
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3023,
"valid_duration": [
0,
3023
]
}
|
[
{
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1
],
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"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
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0,
375
],
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]
},
{
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10
],
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"open door"
],
"object_id": [
[
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]
],
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396,
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],
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},
{
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1
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],
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[
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]
],
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1082,
1340
],
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]
},
{
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2
],
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"pick up from"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
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"popcorn_bag_73"
],
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"frame_duration": [
1360,
1677
],
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]
},
{
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1
],
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"move to"
],
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]
],
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1698,
1952
],
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]
},
{
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4
],
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],
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[
"popcorn_bag_73",
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]
],
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],
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"frame_duration": [
1958,
2549
],
"mp_ef": [],
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]
},
{
"skill_idx": 6,
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12
],
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"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
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2570,
2748
],
"mp_ef": [],
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]
},
{
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69
],
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"turn on switch"
],
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[
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]
],
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],
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2774,
3023
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
] |
[
{
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10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
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"frame_duration": [
0,
1073
],
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0,
1
]
},
{
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2,
4
],
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"place in"
],
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[
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],
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1082,
2549
],
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2,
3,
4,
5
]
},
{
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12
],
"primitive_description": [
"close door"
],
"object_id": [
[
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]
],
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"spatial_prefix": [],
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2570,
2748
],
"skill_idxes": [
6
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},
{
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69
],
"primitive_description": [
"turn on switch"
],
"object_id": [
[
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]
],
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"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
2774,
3023
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 2931,
"valid_duration": [
0,
2931
]
}
|
[
{
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"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
370
],
"mp_ef": [],
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]
},
{
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"skill_id": [
10
],
"skill_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
381,
925
],
"mp_ef": [],
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"uncoordinated"
]
},
{
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1
],
"skill_description": [
"move to"
],
"object_id": [
[
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]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
954,
1090
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 3,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
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"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
1116,
1575
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
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1
],
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"move to"
],
"object_id": [
[
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]
],
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"spatial_prefix": [],
"frame_duration": [
1599,
1888
],
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]
},
{
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4
],
"skill_description": [
"place in"
],
"object_id": [
[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
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"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
1917,
2301
],
"mp_ef": [],
"skill_type": [
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]
},
{
"skill_idx": 6,
"skill_id": [
12
],
"skill_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2313,
2567
],
"mp_ef": [],
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"uncoordinated"
]
},
{
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69
],
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"turn on switch"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
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"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
2582,
2931
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
] |
[
{
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"primitive_id": [
10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
925
],
"skill_idxes": [
0,
1
]
},
{
"primitive_idx": 1,
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2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
],
[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73",
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
954,
2301
],
"skill_idxes": [
2,
3,
4,
5
]
},
{
"primitive_idx": 2,
"primitive_id": [
12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2313,
2567
],
"skill_idxes": [
6
]
},
{
"primitive_idx": 3,
"primitive_id": [
69
],
"primitive_description": [
"turn on switch"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
2582,
2931
],
"skill_idxes": [
7
]
}
] |
|
make microwave popcorn
|
{
"task_duration": 3089,
"valid_duration": [
0,
3089
]
}
|
[
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
417
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 1,
"skill_id": [
10
],
"skill_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
418,
1011
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 2,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"popcorn_bag_73"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1011,
1151
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 3,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
1152,
1699
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 4,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1699,
1951
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 5,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
1951,
2472
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 6,
"skill_id": [
12
],
"skill_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2472,
2734
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 7,
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69
],
"skill_description": [
"turn on switch"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
2734,
3089
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
] |
[
{
"primitive_idx": 0,
"primitive_id": [
10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
1011
],
"skill_idxes": [
0,
1
]
},
{
"primitive_idx": 1,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
"popcorn_bag_73",
"bar_byvbuc_0"
],
[
"popcorn_bag_73",
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"popcorn_bag_73",
"popcorn_bag_73"
],
"spatial_prefix": [],
"frame_duration": [
1011,
2472
],
"skill_idxes": [
2,
3,
4,
5
]
},
{
"primitive_idx": 2,
"primitive_id": [
12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2472,
2734
],
"skill_idxes": [
6
]
},
{
"primitive_idx": 3,
"primitive_id": [
69
],
"primitive_description": [
"turn on switch"
],
"object_id": [
[
"microwave_hjjxmi_0"
]
],
"manipulating_object_id": [
"microwave_hjjxmi_0"
],
"spatial_prefix": [],
"frame_duration": [
2734,
3089
],
"skill_idxes": [
7
]
}
] |
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