| { |
| "task_name": "cook cabbage", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 11090, |
| "valid_duration": [ |
| 0, |
| 11090 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 705 |
| ], |
| "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": [ |
| 705, |
| 1611 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "head_cabbage_212", |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "head_cabbage_212" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "middle_level" |
| ] |
| ], |
| "frame_duration": [ |
| 1611, |
| 2027 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "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": [ |
| 2027, |
| 2606 |
| ], |
| "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": [ |
| 2606, |
| 3450 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "plate_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3450, |
| 3819 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "chili_211", |
| "plate_207" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chili_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3819, |
| 4128 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "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": [ |
| 4128, |
| 4544 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "frying_pan_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4544, |
| 4703 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "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": [ |
| 4703, |
| 4993 |
| ], |
| "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": [ |
| 4993, |
| 5168 |
| ], |
| "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": [ |
| 5168, |
| 5391 |
| ], |
| "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": [ |
| 5391, |
| 5493 |
| ], |
| "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": [ |
| 5493, |
| 5970 |
| ], |
| "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": [ |
| 5970, |
| 6208 |
| ], |
| "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": [ |
| 6208, |
| 6384 |
| ], |
| "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": [ |
| 6384, |
| 6448 |
| ], |
| "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": [ |
| 6448, |
| 6543 |
| ], |
| "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": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 6543, |
| 6724 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_210", |
| "countertop_kelker_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_210" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 6724, |
| 7728 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "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": [ |
| 7728, |
| 8136 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "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": [ |
| 8136, |
| 8382 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "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": [ |
| 8382, |
| 8658 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chili_211" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8658, |
| 8729 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "chili_211", |
| "plate_207" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chili_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8729, |
| 8838 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_210" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8838, |
| 8946 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "chili_211", |
| "cutting_board_210" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chili_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8946, |
| 9123 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "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": [ |
| 9123, |
| 9431 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_209", |
| "chili_211" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9431, |
| 9618 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "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": [ |
| 9618, |
| 9693 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "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": [ |
| 9693, |
| 9771 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "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": [ |
| 9771, |
| 9933 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "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": [ |
| 9933, |
| 10292 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 33, |
| "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": [ |
| 10292, |
| 10501 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 34, |
| "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": [ |
| 10501, |
| 10779 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [ |
| 69 |
| ], |
| "skill_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "burner_mjvqii_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10779, |
| 11090 |
| ], |
| "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": [ |
| 0, |
| 1611 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "head_cabbage_212", |
| "chili_211" |
| ], |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "head_cabbage_212", |
| "chili_211" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "middle_level", |
| "low_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 1611, |
| 2606 |
| ], |
| "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": [ |
| 2606, |
| 3450 |
| ], |
| "skill_idxes": [ |
| 4 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "chili_211", |
| "plate_207" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chili_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3450, |
| 4128 |
| ], |
| "skill_idxes": [ |
| 5, |
| 6 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "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": [ |
| 4128, |
| 4544 |
| ], |
| "skill_idxes": [ |
| 7 |
| ] |
| }, |
| { |
| "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": [ |
| 4544, |
| 5391 |
| ], |
| "skill_idxes": [ |
| 8, |
| 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": [ |
| 5391, |
| 6724 |
| ], |
| "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": [ |
| 6724, |
| 8658 |
| ], |
| "skill_idxes": [ |
| 19, |
| 20, |
| 21, |
| 22 |
| ] |
| }, |
| { |
| "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": [ |
| 8658, |
| 9123 |
| ], |
| "skill_idxes": [ |
| 23, |
| 24, |
| 25, |
| 26 |
| ] |
| }, |
| { |
| "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": [ |
| 9123, |
| 9933 |
| ], |
| "skill_idxes": [ |
| 27, |
| 28, |
| 29, |
| 30, |
| 31 |
| ] |
| }, |
| { |
| "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": [ |
| 9933, |
| 10779 |
| ], |
| "skill_idxes": [ |
| 32, |
| 33, |
| 34 |
| ] |
| }, |
| { |
| "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": [ |
| 10779, |
| 11090 |
| ], |
| "skill_idxes": [ |
| 35 |
| ] |
| } |
| ] |
| } |