| { |
| "task_name": "cook cabbage", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 14523, |
| "valid_duration": [ |
| 27, |
| 14550 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 27, |
| 700 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 700, |
| 1799 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "chili_211", |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chili_211" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "low_level" |
| ] |
| ], |
| "frame_duration": [ |
| 1799, |
| 2695 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "head_cabbage_212", |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "head_cabbage_212" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 2695, |
| 3350 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3350, |
| 4286 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_210" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4286, |
| 4505 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "head_cabbage_212", |
| "cutting_board_210" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "head_cabbage_212" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4505, |
| 5122 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "plate_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5122, |
| 5288 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "chili_211", |
| "plate_207" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chili_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5288, |
| 6142 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "frying_pan_208", |
| "countertop_kelker_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "frying_pan_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6142, |
| 6982 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6982, |
| 7171 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "frying_pan_208", |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "frying_pan_208" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 7171, |
| 7452 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7452, |
| 7522 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| "countertop_kelker_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7522, |
| 8111 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "head_cabbage_212" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8111, |
| 8377 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| "head_cabbage_212" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8377, |
| 8493 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| "half_head_cabbage_212_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8493, |
| 8540 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| "half_head_cabbage_212_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8540, |
| 8667 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| "countertop_kelker_0", |
| "cutting_board_210" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 8667, |
| 8872 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_210", |
| "countertop_kelker_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8872, |
| 9391 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__head_cabbage" |
| ], |
| "cutting_board_210", |
| "frying_pan_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9391, |
| 9702 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_210", |
| "countertop_kelker_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_210" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 9702, |
| 10079 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chili_211" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10079, |
| 10232 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "chili_211", |
| "plate_207" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chili_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10232, |
| 11113 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_210" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11113, |
| 11767 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "chili_211", |
| "cutting_board_210" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chili_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11767, |
| 12099 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| "countertop_kelker_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12099, |
| 12531 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| "chili_211" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12531, |
| 12780 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| "half_chili_211_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12780, |
| 12840 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| "half_chili_211_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12840, |
| 12972 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| "countertop_kelker_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12972, |
| 13074 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_210", |
| "countertop_kelker_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13074, |
| 13516 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__chili" |
| ], |
| "cutting_board_210", |
| "frying_pan_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13516, |
| 13696 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_210", |
| "countertop_kelker_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13696, |
| 14001 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [ |
| 69 |
| ], |
| "skill_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "burner_mjvqii_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14001, |
| 14550 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 27, |
| 1799 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "chili_211", |
| "head_cabbage_212" |
| ], |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "chili_211", |
| "head_cabbage_212" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "low_level", |
| "high_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 1799, |
| 3350 |
| ], |
| "skill_idxes": [ |
| 2, |
| 3 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3350, |
| 4286 |
| ], |
| "skill_idxes": [ |
| 4 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "head_cabbage_212", |
| "cutting_board_210" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "head_cabbage_212" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4286, |
| 5122 |
| ], |
| "skill_idxes": [ |
| 5, |
| 6 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "chili_211", |
| "plate_207" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chili_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5122, |
| 6142 |
| ], |
| "skill_idxes": [ |
| 7, |
| 8 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "frying_pan_208", |
| "countertop_kelker_0" |
| ], |
| [ |
| "frying_pan_208", |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "frying_pan_208", |
| "frying_pan_208" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6142, |
| 7452 |
| ], |
| "skill_idxes": [ |
| 9, |
| 10, |
| 11 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| [ |
| "head_cabbage_212", |
| "half_head_cabbage_212_1", |
| "half_head_cabbage_212_0" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7452, |
| 8872 |
| ], |
| "skill_idxes": [ |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18 |
| ] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__head_cabbage" |
| ], |
| "cutting_board_210", |
| "frying_pan_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8872, |
| 10079 |
| ], |
| "skill_idxes": [ |
| 19, |
| 20, |
| 21 |
| ] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "chili_211", |
| "plate_207" |
| ], |
| [ |
| "chili_211", |
| "cutting_board_210" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chili_211", |
| "chili_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10079, |
| 12099 |
| ], |
| "skill_idxes": [ |
| 22, |
| 23, |
| 24, |
| 25 |
| ] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| [ |
| "chili_211", |
| "half_chili_211_1", |
| "half_chili_211_0" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12099, |
| 13074 |
| ], |
| "skill_idxes": [ |
| 26, |
| 27, |
| 28, |
| 29, |
| 30 |
| ] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__chili" |
| ], |
| "cutting_board_210", |
| "frying_pan_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13074, |
| 14001 |
| ], |
| "skill_idxes": [ |
| 31, |
| 32, |
| 33 |
| ] |
| }, |
| { |
| "primitive_idx": 11, |
| "primitive_id": [ |
| 69 |
| ], |
| "primitive_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "burner_mjvqii_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14001, |
| 14550 |
| ], |
| "skill_idxes": [ |
| 34 |
| ] |
| } |
| ] |
| } |
