| { |
| "task_name": "canning food", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 16621, |
| "valid_duration": [ |
| 119, |
| 16740 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 119, |
| 422 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 422, |
| 725 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 725, |
| 1208 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1208, |
| 1310 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1310, |
| 1481 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0", |
| "carving_knife_207" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 1481, |
| 1979 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1979, |
| 2342 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2342, |
| 2942 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "steak_212", |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "steak_212" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "middle_level" |
| ] |
| ], |
| "frame_duration": [ |
| 2942, |
| 3524 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211", |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pineapple_211" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "low_level" |
| ] |
| ], |
| "frame_duration": [ |
| 3524, |
| 4085 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4085, |
| 4922 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4922, |
| 5078 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pineapple_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5078, |
| 5309 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "steak_212", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "steak_212" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5309, |
| 5441 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5441, |
| 5720 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "steak_212" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5720, |
| 5798 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "half_steak_212_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5798, |
| 5870 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "half_steak_212_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5870, |
| 5912 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "countertop_kelzer_0", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 5912, |
| 6017 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6017, |
| 6299 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 6299, |
| 6842 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_210", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_210" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_2" |
| ] |
| ], |
| "frame_duration": [ |
| 6842, |
| 7535 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_5" |
| ] |
| ], |
| "frame_duration": [ |
| 7535, |
| 7994 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 7994, |
| 8303 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8303, |
| 8657 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "countertop_kelzer_0", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 8657, |
| 8849 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bowl_210", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8849, |
| 9098 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9098, |
| 9440 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__steak" |
| ], |
| "cutting_board_208", |
| "bowl_210" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9440, |
| 9821 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9821, |
| 9920 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_210", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9920, |
| 10214 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10214, |
| 10394 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 10394, |
| 11159 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bowl_210", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_210" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_4" |
| ] |
| ], |
| "frame_duration": [ |
| 11159, |
| 11430 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11430, |
| 11552 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pineapple_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11552, |
| 11918 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11918, |
| 11948 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pineapple_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11948, |
| 12140 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 38, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12140, |
| 12327 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "pineapple_211" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12327, |
| 12410 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "half_pineapple_211_1", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_pineapple_211_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12410, |
| 12659 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "half_pineapple_211_1", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_pineapple_211_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12659, |
| 12761 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 42, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_pineapple_211_0", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_pineapple_211_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "center" |
| ] |
| ], |
| "frame_duration": [ |
| 12761, |
| 13004 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 43, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "half_pineapple_211_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13004, |
| 13049 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 44, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "countertop_kelzer_0", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 13049, |
| 13213 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 45, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13213, |
| 13381 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 46, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13381, |
| 13510 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 47, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13510, |
| 13882 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__pineapple" |
| ], |
| "cutting_board_208", |
| "bowl_209" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13882, |
| 14410 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14410, |
| 14491 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "half_pineapple_211_1", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_pineapple_211_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14491, |
| 14662 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "half_pineapple_211_1", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_pineapple_211_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14662, |
| 14734 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 52, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14734, |
| 14992 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 53, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "half_pineapple_211_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14992, |
| 15061 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 54, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "countertop_kelzer_0", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 15061, |
| 15178 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 55, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15178, |
| 15424 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 56, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__pineapple" |
| ], |
| "cutting_board_208", |
| "bowl_209" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15424, |
| 15586 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 57, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15586, |
| 15691 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 58, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15691, |
| 16024 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 59, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16024, |
| 16342 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 60, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_3" |
| ] |
| ], |
| "frame_duration": [ |
| 16342, |
| 16558 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 61, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 16558, |
| 16740 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 2, |
| 3, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "carving_knife_207", |
| "cutting_board_208" |
| ], |
| [ |
| "cutting_board_208", |
| "countertop_kelzer_0" |
| ] |
| ], |
| [ |
| "carving_knife_207", |
| "countertop_kelzer_0" |
| ], |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0", |
| "carving_knife_207" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "carving_knife_207", |
| "cutting_board_208" |
| ], |
| "carving_knife_207", |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [ |
| [], |
| [], |
| [ |
| [], |
| [], |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 119, |
| 1979 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1979, |
| 2942 |
| ], |
| "skill_idxes": [ |
| 6, |
| 7 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "steak_212", |
| "pineapple_211" |
| ], |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "steak_212", |
| "pineapple_211" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "middle_level", |
| "low_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 2942, |
| 4085 |
| ], |
| "skill_idxes": [ |
| 8, |
| 9 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4085, |
| 4922 |
| ], |
| "skill_idxes": [ |
| 10 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "pineapple_211", |
| "steak_212" |
| ], |
| [ |
| "countertop_kelzer_0", |
| "cutting_board_208" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "pineapple_211", |
| "steak_212" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4922, |
| 5441 |
| ], |
| "skill_idxes": [ |
| 11, |
| 12, |
| 13 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| [ |
| "steak_212", |
| "half_steak_212_0", |
| "half_steak_212_1" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5441, |
| 6017 |
| ], |
| "skill_idxes": [ |
| 14, |
| 15, |
| 16, |
| 17, |
| 18 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6017, |
| 6842 |
| ], |
| "skill_idxes": [ |
| 19, |
| 20 |
| ] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "bowl_210", |
| "bowl_209" |
| ], |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "bowl_210", |
| "bowl_209" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "layer_2", |
| "layer_5" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6842, |
| 7994 |
| ], |
| "skill_idxes": [ |
| 21, |
| 22 |
| ] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 7994, |
| 8303 |
| ], |
| "skill_idxes": [ |
| 23 |
| ] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [ |
| 91, |
| 4 |
| ], |
| "primitive_description": [ |
| "place on next to", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "countertop_kelzer_0", |
| "drop_in_sink_awvzkn_0" |
| ], |
| [ |
| "bowl_210", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209", |
| "bowl_210" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [], |
| [ |
| "right" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 8303, |
| 9098 |
| ], |
| "skill_idxes": [ |
| 24, |
| 25, |
| 26 |
| ] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__steak" |
| ], |
| "cutting_board_208", |
| "bowl_210" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9098, |
| 9920 |
| ], |
| "skill_idxes": [ |
| 27, |
| 28, |
| 29 |
| ] |
| }, |
| { |
| "primitive_idx": 11, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_210", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9920, |
| 10214 |
| ], |
| "skill_idxes": [ |
| 30 |
| ] |
| }, |
| { |
| "primitive_idx": 12, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 10214, |
| 11159 |
| ], |
| "skill_idxes": [ |
| 31, |
| 32 |
| ] |
| }, |
| { |
| "primitive_idx": 13, |
| "primitive_id": [ |
| 4 |
| ], |
| "primitive_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bowl_210", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_210" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "layer_4" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 11159, |
| 11430 |
| ], |
| "skill_idxes": [ |
| 33 |
| ] |
| }, |
| { |
| "primitive_idx": 14, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211", |
| "countertop_kelzer_0" |
| ], |
| [ |
| "pineapple_211", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pineapple_211", |
| "pineapple_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11430, |
| 12140 |
| ], |
| "skill_idxes": [ |
| 34, |
| 35, |
| 36, |
| 37 |
| ] |
| }, |
| { |
| "primitive_idx": 15, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "pineapple_211" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12140, |
| 12410 |
| ], |
| "skill_idxes": [ |
| 38, |
| 39 |
| ] |
| }, |
| { |
| "primitive_idx": 16, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "half_pineapple_211_1", |
| "cutting_board_208" |
| ], |
| [ |
| "half_pineapple_211_1", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_pineapple_211_1", |
| "half_pineapple_211_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12410, |
| 12761 |
| ], |
| "skill_idxes": [ |
| 40, |
| 41 |
| ] |
| }, |
| { |
| "primitive_idx": 17, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "half_pineapple_211_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12761, |
| 13213 |
| ], |
| "skill_idxes": [ |
| 42, |
| 43, |
| 44 |
| ] |
| }, |
| { |
| "primitive_idx": 18, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "countertop_kelzer_0" |
| ], |
| [ |
| "bowl_209", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209", |
| "bowl_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13213, |
| 13510 |
| ], |
| "skill_idxes": [ |
| 45, |
| 46 |
| ] |
| }, |
| { |
| "primitive_idx": 19, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__pineapple" |
| ], |
| "cutting_board_208", |
| "bowl_209" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13510, |
| 14491 |
| ], |
| "skill_idxes": [ |
| 47, |
| 48, |
| 49 |
| ] |
| }, |
| { |
| "primitive_idx": 20, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "half_pineapple_211_1", |
| "countertop_kelzer_0" |
| ], |
| [ |
| "half_pineapple_211_1", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_pineapple_211_1", |
| "half_pineapple_211_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14491, |
| 14734 |
| ], |
| "skill_idxes": [ |
| 50, |
| 51 |
| ] |
| }, |
| { |
| "primitive_idx": 21, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "half_pineapple_211_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14734, |
| 15178 |
| ], |
| "skill_idxes": [ |
| 52, |
| 53, |
| 54 |
| ] |
| }, |
| { |
| "primitive_idx": 22, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__pineapple" |
| ], |
| "cutting_board_208", |
| "bowl_209" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15178, |
| 15691 |
| ], |
| "skill_idxes": [ |
| 55, |
| 56, |
| 57 |
| ] |
| }, |
| { |
| "primitive_idx": 23, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "drop_in_sink_awvzkn_0" |
| ], |
| [ |
| "bowl_209", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209", |
| "bowl_209" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "layer_3" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 15691, |
| 16558 |
| ], |
| "skill_idxes": [ |
| 58, |
| 59, |
| 60 |
| ] |
| }, |
| { |
| "primitive_idx": 24, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 16558, |
| 16740 |
| ], |
| "skill_idxes": [ |
| 61 |
| ] |
| } |
| ] |
| } |
