| { |
| "task_name": "make pizza", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 13058, |
| "valid_duration": [ |
| 21, |
| 13079 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 21, |
| 471 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 471, |
| 906 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 906, |
| 1143 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 1143, |
| 1203 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 1203, |
| 1425 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1425, |
| 1597 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1597, |
| 1717 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0", |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 1717, |
| 1864 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_80" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1864, |
| 1888 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_80", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "vidalia_onion_80" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1888, |
| 2080 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2080, |
| 2358 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 2358, |
| 2427 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_80", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "vidalia_onion_80" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2427, |
| 2574 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2574, |
| 2696 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "vidalia_onion_80" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2696, |
| 2783 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_vidalia_onion_80_0", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_vidalia_onion_80_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "center" |
| ] |
| ], |
| "frame_duration": [ |
| 2783, |
| 2963 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_vidalia_onion_80_1", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_vidalia_onion_80_1" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "center" |
| ] |
| ], |
| "frame_duration": [ |
| 2963, |
| 3092 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "half_vidalia_onion_80_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3092, |
| 3200 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "half_vidalia_onion_80_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3200, |
| 3242 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 3242, |
| 3326 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3326, |
| 3644 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__vidalia_onion" |
| ], |
| "chopping_board_78", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3644, |
| 3950 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 3950, |
| 4107 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4107, |
| 4301 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 4301, |
| 4688 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_5" |
| ] |
| ], |
| "frame_duration": [ |
| 4688, |
| 4948 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4948, |
| 5089 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "mushroom_81", |
| "mushroom_82" |
| ], |
| "tupperware_74", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5089, |
| 5308 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5308, |
| 5464 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5464, |
| 5623 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 5623, |
| 5923 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 5923, |
| 6257 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_4" |
| ] |
| ], |
| "frame_duration": [ |
| 6257, |
| 6554 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_5" |
| ] |
| ], |
| "frame_duration": [ |
| 6554, |
| 6799 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 6799, |
| 7249 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7249, |
| 7438 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "bar_egwapq_0", |
| "baking_sheet_79" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 7438, |
| 7558 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7558, |
| 7711 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 38, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "pepperoni_83", |
| "pepperoni_84", |
| "pepperoni_85", |
| "pepperoni_86" |
| ], |
| "tupperware_73", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7711, |
| 7885 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "tupperware_74" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7885, |
| 8178 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8178, |
| 8349 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "mushroom_81" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8349, |
| 8556 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 42, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "mushroom_82" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8556, |
| 8643 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 43, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8643, |
| 8754 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 44, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8754, |
| 9061 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 45, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "half_mushroom_81_0", |
| "half_mushroom_81_1", |
| "half_mushroom_82_0", |
| "half_mushroom_82_1" |
| ], |
| "chopping_board_78", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9061, |
| 9181 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 46, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9181, |
| 9286 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 47, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9286, |
| 9403 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9403, |
| 9547 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__vidalia_onion", |
| "half_mushroom_81_0", |
| "half_mushroom_81_1", |
| "half_mushroom_82_0", |
| "half_mushroom_82_1", |
| "pepperoni_83", |
| "pepperoni_84", |
| "pepperoni_85", |
| "pepperoni_86" |
| ], |
| "bowl_76", |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9547, |
| 9734 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9734, |
| 9779 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76", |
| "tupperware_73" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9779, |
| 9875 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 52, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9875, |
| 10075 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 53, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "grated_cheese" |
| ], |
| "tupperware_75", |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10075, |
| 10216 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 54, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10216, |
| 10357 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 55, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10357, |
| 10864 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 56, |
| "skill_id": [ |
| 101 |
| ], |
| "skill_description": [ |
| "pull tray" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 10864, |
| 11580 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 57, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11580, |
| 11763 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 58, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11763, |
| 11856 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 59, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 11856, |
| 12278 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 60, |
| "skill_id": [ |
| 100 |
| ], |
| "skill_description": [ |
| "push tray" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 12278, |
| 12353 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 61, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12353, |
| 12674 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 62, |
| "skill_id": [ |
| 69 |
| ], |
| "skill_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12674, |
| 12776 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 63, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12776, |
| 13079 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 21, |
| 906 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76", |
| "bar_egwapq_0" |
| ], |
| [ |
| "bowl_76", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76", |
| "bowl_76" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "to_the_edge_of" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 906, |
| 1203 |
| ], |
| "skill_idxes": [ |
| 2, |
| 3 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 91 |
| ], |
| "primitive_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [], |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 1203, |
| 1425 |
| ], |
| "skill_idxes": [ |
| 4 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0" |
| ], |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0", |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79", |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 1425, |
| 1864 |
| ], |
| "skill_idxes": [ |
| 5, |
| 6, |
| 7 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_80", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "vidalia_onion_80" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1864, |
| 2080 |
| ], |
| "skill_idxes": [ |
| 8, |
| 9 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0" |
| ], |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78", |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 2080, |
| 2427 |
| ], |
| "skill_idxes": [ |
| 10, |
| 11 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_80", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "vidalia_onion_80" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2427, |
| 2574 |
| ], |
| "skill_idxes": [ |
| 12 |
| ] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| [ |
| "vidalia_onion_80", |
| "half_vidalia_onion_80_1", |
| "half_vidalia_onion_80_0" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2574, |
| 3326 |
| ], |
| "skill_idxes": [ |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19 |
| ] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__vidalia_onion" |
| ], |
| "chopping_board_78", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3326, |
| 4107 |
| ], |
| "skill_idxes": [ |
| 20, |
| 21, |
| 22 |
| ] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 4107, |
| 4688 |
| ], |
| "skill_idxes": [ |
| 23, |
| 24 |
| ] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [ |
| 2, |
| 28 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "fridge_petcxr_0" |
| ], |
| [ |
| [ |
| "mushroom_81", |
| "mushroom_82" |
| ], |
| "tupperware_74", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74", |
| "tupperware_74" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "layer_5" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 4688, |
| 5464 |
| ], |
| "skill_idxes": [ |
| 25, |
| 26, |
| 27, |
| 28 |
| ] |
| }, |
| { |
| "primitive_idx": 11, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 5464, |
| 5923 |
| ], |
| "skill_idxes": [ |
| 29, |
| 30 |
| ] |
| }, |
| { |
| "primitive_idx": 12, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 5923, |
| 6257 |
| ], |
| "skill_idxes": [ |
| 31 |
| ] |
| }, |
| { |
| "primitive_idx": 13, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "tupperware_75", |
| "tupperware_73" |
| ], |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "tupperware_75", |
| "tupperware_73" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "layer_4", |
| "layer_5" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6257, |
| 6799 |
| ], |
| "skill_idxes": [ |
| 32, |
| 33 |
| ] |
| }, |
| { |
| "primitive_idx": 14, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6799, |
| 7249 |
| ], |
| "skill_idxes": [ |
| 34 |
| ] |
| }, |
| { |
| "primitive_idx": 15, |
| "primitive_id": [ |
| 91, |
| 28 |
| ], |
| "primitive_description": [ |
| "place on next to", |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "bar_egwapq_0", |
| "baking_sheet_79" |
| ], |
| [ |
| [ |
| "pepperoni_83", |
| "pepperoni_84", |
| "pepperoni_85", |
| "pepperoni_86" |
| ], |
| "tupperware_73", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75", |
| "tupperware_73" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [], |
| [ |
| "left" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 7249, |
| 8178 |
| ], |
| "skill_idxes": [ |
| 35, |
| 36, |
| 37, |
| 38, |
| 39 |
| ] |
| }, |
| { |
| "primitive_idx": 16, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| [ |
| "mushroom_81", |
| "mushroom_82" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8178, |
| 8754 |
| ], |
| "skill_idxes": [ |
| 40, |
| 41, |
| 42, |
| 43 |
| ] |
| }, |
| { |
| "primitive_idx": 17, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "half_mushroom_81_0", |
| "half_mushroom_81_1", |
| "half_mushroom_82_0", |
| "half_mushroom_82_1" |
| ], |
| "chopping_board_78", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8754, |
| 9286 |
| ], |
| "skill_idxes": [ |
| 44, |
| 45, |
| 46 |
| ] |
| }, |
| { |
| "primitive_idx": 18, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__vidalia_onion", |
| "half_mushroom_81_0", |
| "half_mushroom_81_1", |
| "half_mushroom_82_0", |
| "half_mushroom_82_1", |
| "pepperoni_83", |
| "pepperoni_84", |
| "pepperoni_85", |
| "pepperoni_86" |
| ], |
| "bowl_76", |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9286, |
| 9875 |
| ], |
| "skill_idxes": [ |
| 47, |
| 48, |
| 49, |
| 50, |
| 51 |
| ] |
| }, |
| { |
| "primitive_idx": 19, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "grated_cheese" |
| ], |
| "tupperware_75", |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9875, |
| 10357 |
| ], |
| "skill_idxes": [ |
| 52, |
| 53, |
| 54 |
| ] |
| }, |
| { |
| "primitive_idx": 20, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10357, |
| 11580 |
| ], |
| "skill_idxes": [ |
| 55, |
| 56 |
| ] |
| }, |
| { |
| "primitive_idx": 21, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0" |
| ], |
| [ |
| "baking_sheet_79", |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79", |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "high_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 11580, |
| 12353 |
| ], |
| "skill_idxes": [ |
| 57, |
| 58, |
| 59, |
| 60 |
| ] |
| }, |
| { |
| "primitive_idx": 22, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12353, |
| 12674 |
| ], |
| "skill_idxes": [ |
| 61 |
| ] |
| }, |
| { |
| "primitive_idx": 23, |
| "primitive_id": [ |
| 69 |
| ], |
| "primitive_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12674, |
| 12776 |
| ], |
| "skill_idxes": [ |
| 62 |
| ] |
| }, |
| { |
| "primitive_idx": 24, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12776, |
| 13079 |
| ], |
| "skill_idxes": [ |
| 63 |
| ] |
| } |
| ] |
| } |