| { |
| "task_name": "make pizza", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 24788, |
| "valid_duration": [ |
| 10, |
| 24798 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10, |
| 445 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "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": [ |
| 445, |
| 1115 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1115, |
| 1372 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "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": [ |
| 1372, |
| 1687 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1687, |
| 1875 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "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": [ |
| 1875, |
| 2583 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2583, |
| 2742 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "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": [ |
| 2742, |
| 2925 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2925, |
| 3139 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "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": [ |
| 3139, |
| 3445 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "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": [ |
| 3445, |
| 4237 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "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": [ |
| 4237, |
| 4637 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "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": [ |
| 4637, |
| 5043 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "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": [ |
| 5043, |
| 5399 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "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": [ |
| 5399, |
| 5733 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "vidalia_onion_80" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5733, |
| 5916 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "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": [ |
| 5916, |
| 5968 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "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": [ |
| 5968, |
| 6067 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "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": [ |
| 6067, |
| 6173 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "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": [ |
| 6173, |
| 6433 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "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": [ |
| 6433, |
| 6721 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "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": [ |
| 6721, |
| 6954 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6954, |
| 7349 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 7349, |
| 8488 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_4" |
| ] |
| ], |
| "frame_duration": [ |
| 8488, |
| 9307 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_5" |
| ] |
| ], |
| "frame_duration": [ |
| 9307, |
| 9871 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9871, |
| 10183 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "drop_in_sink_lkklqs_0", |
| "baking_sheet_79" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 10183, |
| 10460 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "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": [ |
| 10460, |
| 10867 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "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": [ |
| 10867, |
| 11268 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11268, |
| 11844 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 11844, |
| 12408 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 12408, |
| 13963 |
| ], |
| "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_4" |
| ] |
| ], |
| "frame_duration": [ |
| 13963, |
| 14629 |
| ], |
| "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": [ |
| 14629, |
| 15682 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15682, |
| 15999 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 36, |
| "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": [ |
| 15999, |
| 16364 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "tupperware_74" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16364, |
| 16639 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 38, |
| "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": [ |
| 16639, |
| 17026 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "mushroom_81" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17026, |
| 17187 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "mushroom_82" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17187, |
| 17251 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 41, |
| "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": [ |
| 17251, |
| 17392 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 42, |
| "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": [ |
| 17392, |
| 17688 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 43, |
| "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": [ |
| 17688, |
| 17924 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 44, |
| "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": [ |
| 17924, |
| 18198 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 45, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 18198, |
| 18472 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 46, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 18472, |
| 18690 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 47, |
| "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": [ |
| 18690, |
| 18895 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 18895, |
| 18948 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76", |
| "tupperware_73" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 18948, |
| 19123 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19123, |
| 19342 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "grated_cheese" |
| ], |
| "tupperware_75", |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19342, |
| 19708 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 52, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19708, |
| 19958 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 53, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19958, |
| 20751 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 54, |
| "skill_id": [ |
| 101 |
| ], |
| "skill_description": [ |
| "pull tray" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 20751, |
| 21673 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 55, |
| "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": [ |
| 21673, |
| 22211 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 56, |
| "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": [ |
| 22211, |
| 22880 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 57, |
| "skill_id": [ |
| 100 |
| ], |
| "skill_description": [ |
| "push tray" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 22880, |
| 23268 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 58, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 23268, |
| 24012 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 59, |
| "skill_id": [ |
| 69 |
| ], |
| "skill_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 24012, |
| 24202 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 60, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 24202, |
| 24798 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "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": [ |
| 10, |
| 1687 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0" |
| ], |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77", |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 1687, |
| 2925 |
| ], |
| "skill_idxes": [ |
| 4, |
| 5, |
| 6, |
| 7 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "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": [ |
| 2925, |
| 3445 |
| ], |
| "skill_idxes": [ |
| 8, |
| 9 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "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": [ |
| 3445, |
| 4237 |
| ], |
| "skill_idxes": [ |
| 10 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "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": [ |
| 4237, |
| 5043 |
| ], |
| "skill_idxes": [ |
| 11, |
| 12 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "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": [ |
| 5043, |
| 5399 |
| ], |
| "skill_idxes": [ |
| 13 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "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": [ |
| 5399, |
| 6173 |
| ], |
| "skill_idxes": [ |
| 14, |
| 15, |
| 16, |
| 17, |
| 18 |
| ] |
| }, |
| { |
| "primitive_idx": 7, |
| "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": [ |
| 6173, |
| 6954 |
| ], |
| "skill_idxes": [ |
| 19, |
| 20, |
| 21 |
| ] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6954, |
| 8488 |
| ], |
| "skill_idxes": [ |
| 22, |
| 23 |
| ] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [ |
| 2, |
| 91, |
| 28 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to", |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "tupperware_74", |
| "tupperware_75" |
| ], |
| "fridge_petcxr_0" |
| ], |
| [ |
| "tupperware_75", |
| "drop_in_sink_lkklqs_0", |
| "baking_sheet_79" |
| ], |
| [ |
| [ |
| "mushroom_81", |
| "mushroom_82" |
| ], |
| "tupperware_74", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "tupperware_74", |
| "tupperware_75" |
| ], |
| "tupperware_75", |
| "tupperware_74" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "layer_4", |
| "layer_5" |
| ] |
| ], |
| [ |
| [], |
| [], |
| [ |
| "left" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 8488, |
| 11268 |
| ], |
| "skill_idxes": [ |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29 |
| ] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 11268, |
| 12408 |
| ], |
| "skill_idxes": [ |
| 30, |
| 31 |
| ] |
| }, |
| { |
| "primitive_idx": 11, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 12408, |
| 13963 |
| ], |
| "skill_idxes": [ |
| 32 |
| ] |
| }, |
| { |
| "primitive_idx": 12, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "layer_4" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 13963, |
| 14629 |
| ], |
| "skill_idxes": [ |
| 33 |
| ] |
| }, |
| { |
| "primitive_idx": 13, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 14629, |
| 15682 |
| ], |
| "skill_idxes": [ |
| 34 |
| ] |
| }, |
| { |
| "primitive_idx": 14, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_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": [ |
| 15682, |
| 16639 |
| ], |
| "skill_idxes": [ |
| 35, |
| 36, |
| 37 |
| ] |
| }, |
| { |
| "primitive_idx": 15, |
| "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": [ |
| 16639, |
| 17392 |
| ], |
| "skill_idxes": [ |
| 38, |
| 39, |
| 40, |
| 41 |
| ] |
| }, |
| { |
| "primitive_idx": 16, |
| "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": [ |
| 17392, |
| 18198 |
| ], |
| "skill_idxes": [ |
| 42, |
| 43, |
| 44 |
| ] |
| }, |
| { |
| "primitive_idx": 17, |
| "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": [ |
| 18198, |
| 19123 |
| ], |
| "skill_idxes": [ |
| 45, |
| 46, |
| 47, |
| 48, |
| 49 |
| ] |
| }, |
| { |
| "primitive_idx": 18, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "grated_cheese" |
| ], |
| "tupperware_75", |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19123, |
| 19958 |
| ], |
| "skill_idxes": [ |
| 50, |
| 51, |
| 52 |
| ] |
| }, |
| { |
| "primitive_idx": 19, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19958, |
| 21673 |
| ], |
| "skill_idxes": [ |
| 53, |
| 54 |
| ] |
| }, |
| { |
| "primitive_idx": 20, |
| "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": [ |
| 21673, |
| 23268 |
| ], |
| "skill_idxes": [ |
| 55, |
| 56, |
| 57 |
| ] |
| }, |
| { |
| "primitive_idx": 21, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 23268, |
| 24012 |
| ], |
| "skill_idxes": [ |
| 58 |
| ] |
| }, |
| { |
| "primitive_idx": 22, |
| "primitive_id": [ |
| 69 |
| ], |
| "primitive_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 24012, |
| 24202 |
| ], |
| "skill_idxes": [ |
| 59 |
| ] |
| }, |
| { |
| "primitive_idx": 23, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 24202, |
| 24798 |
| ], |
| "skill_idxes": [ |
| 60 |
| ] |
| } |
| ] |
| } |
