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| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 11790, |
| 12371 |
| ], |
| "skill_idxes": [ |
| 25 |
| ] |
| } |
| ] |
| } |