| { |
| "task_name": "canning food", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 27900, |
| "valid_duration": [ |
| 18, |
| 27918 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 18, |
| 36 |
| ], |
| "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": [ |
| 36, |
| 378 |
| ], |
| "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": [ |
| 378, |
| 978 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 978, |
| 1044 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "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": [ |
| 1044, |
| 1431 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "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": [ |
| 1431, |
| 1905 |
| ], |
| "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": [ |
| 1905, |
| 2460 |
| ], |
| "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": [ |
| 2460, |
| 3582 |
| ], |
| "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": [ |
| 3582, |
| 4476 |
| ], |
| "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": [ |
| 4476, |
| 5400 |
| ], |
| "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": [ |
| 5400, |
| 6567 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6567, |
| 7149 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "steak_212", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "steak_212" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7149, |
| 7392 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pineapple_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7392, |
| 7620 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7620, |
| 7686 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "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": [ |
| 7686, |
| 7901 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "steak_212" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7901, |
| 8004 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "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": [ |
| 8004, |
| 8061 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "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": [ |
| 8061, |
| 8130 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "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": [ |
| 8130, |
| 8334 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8334, |
| 9156 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 9156, |
| 10056 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_210", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_210" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_4" |
| ] |
| ], |
| "frame_duration": [ |
| 10056, |
| 10779 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "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": [ |
| 10779, |
| 11640 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 11640, |
| 12894 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12894, |
| 13926 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "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": [ |
| 13926, |
| 14145 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "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": [ |
| 14145, |
| 14553 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14553, |
| 14655 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "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": [ |
| 14655, |
| 15048 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "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": [ |
| 15048, |
| 15741 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "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": [ |
| 15741, |
| 15900 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_210" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15900, |
| 15975 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 33, |
| "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": [ |
| 15975, |
| 16238 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16238, |
| 17148 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 17148, |
| 18075 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 36, |
| "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": [ |
| 18075, |
| 18693 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 18693, |
| 19395 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 38, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pineapple_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19395, |
| 19710 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19710, |
| 19752 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pineapple_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19752, |
| 20220 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 20220, |
| 20250 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 42, |
| "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": [ |
| 20250, |
| 20487 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 43, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "pineapple_211" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 20487, |
| 20703 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 44, |
| "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": [ |
| 20703, |
| 20973 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 45, |
| "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": [ |
| 20973, |
| 21045 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 46, |
| "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": [ |
| 21045, |
| 21258 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 47, |
| "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": [ |
| 21258, |
| 21468 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 21468, |
| 21513 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 21513, |
| 21630 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 50, |
| "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": [ |
| 21630, |
| 21948 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 21948, |
| 21975 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 52, |
| "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": [ |
| 21975, |
| 22453 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 53, |
| "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": [ |
| 22453, |
| 23593 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 54, |
| "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": [ |
| 23593, |
| 23754 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 55, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "half_pineapple_211_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 23754, |
| 23787 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 56, |
| "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": [ |
| 23787, |
| 23889 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 57, |
| "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": [ |
| 23889, |
| 24087 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 58, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 24087, |
| 24138 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 59, |
| "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": [ |
| 24138, |
| 24408 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 60, |
| "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": [ |
| 24408, |
| 24526 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 61, |
| "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": [ |
| 24526, |
| 24720 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 62, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 24720, |
| 24747 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 63, |
| "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": [ |
| 24747, |
| 25077 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 64, |
| "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": [ |
| 25077, |
| 25665 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 65, |
| "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": [ |
| 25665, |
| 25974 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 66, |
| "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": [ |
| 25974, |
| 26325 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 67, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 26325, |
| 27039 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 68, |
| "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": [ |
| 27039, |
| 27402 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 69, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 27402, |
| 27918 |
| ], |
| "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" |
| ] |
| ], |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0" |
| ], |
| [ |
| "carving_knife_207", |
| "countertop_kelzer_0", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "carving_knife_207", |
| "cutting_board_208" |
| ], |
| "cutting_board_208", |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [ |
| [], |
| [], |
| [ |
| [], |
| [], |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 18, |
| 1905 |
| ], |
| "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": [ |
| 1905, |
| 3582 |
| ], |
| "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": [ |
| 3582, |
| 5400 |
| ], |
| "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": [ |
| 5400, |
| 6567 |
| ], |
| "skill_idxes": [ |
| 10 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "steak_212", |
| "pineapple_211" |
| ], |
| [ |
| "cutting_board_208", |
| "countertop_kelzer_0" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "steak_212", |
| "pineapple_211" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6567, |
| 7620 |
| ], |
| "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": [ |
| 7620, |
| 8334 |
| ], |
| "skill_idxes": [ |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19 |
| ] |
| }, |
| { |
| "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": [ |
| 8334, |
| 10056 |
| ], |
| "skill_idxes": [ |
| 20, |
| 21 |
| ] |
| }, |
| { |
| "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_4", |
| "layer_5" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 10056, |
| 11640 |
| ], |
| "skill_idxes": [ |
| 22, |
| 23 |
| ] |
| }, |
| { |
| "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": [ |
| 11640, |
| 12894 |
| ], |
| "skill_idxes": [ |
| 24 |
| ] |
| }, |
| { |
| "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": [ |
| 12894, |
| 14553 |
| ], |
| "skill_idxes": [ |
| 25, |
| 26, |
| 27 |
| ] |
| }, |
| { |
| "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": [ |
| 14553, |
| 15900 |
| ], |
| "skill_idxes": [ |
| 28, |
| 29, |
| 30, |
| 31 |
| ] |
| }, |
| { |
| "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": [ |
| 15900, |
| 16238 |
| ], |
| "skill_idxes": [ |
| 32, |
| 33 |
| ] |
| }, |
| { |
| "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": [ |
| 16238, |
| 18075 |
| ], |
| "skill_idxes": [ |
| 34, |
| 35 |
| ] |
| }, |
| { |
| "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": [ |
| 18075, |
| 18693 |
| ], |
| "skill_idxes": [ |
| 36 |
| ] |
| }, |
| { |
| "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": [ |
| 18693, |
| 20220 |
| ], |
| "skill_idxes": [ |
| 37, |
| 38, |
| 39, |
| 40 |
| ] |
| }, |
| { |
| "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": [ |
| 20220, |
| 20703 |
| ], |
| "skill_idxes": [ |
| 41, |
| 42, |
| 43 |
| ] |
| }, |
| { |
| "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": [ |
| 20703, |
| 21045 |
| ], |
| "skill_idxes": [ |
| 44, |
| 45 |
| ] |
| }, |
| { |
| "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": [ |
| 21045, |
| 21468 |
| ], |
| "skill_idxes": [ |
| 46, |
| 47 |
| ] |
| }, |
| { |
| "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": [ |
| 21468, |
| 21948 |
| ], |
| "skill_idxes": [ |
| 48, |
| 49, |
| 50 |
| ] |
| }, |
| { |
| "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": [ |
| 21948, |
| 23754 |
| ], |
| "skill_idxes": [ |
| 51, |
| 52, |
| 53, |
| 54 |
| ] |
| }, |
| { |
| "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": [ |
| 23754, |
| 24087 |
| ], |
| "skill_idxes": [ |
| 55, |
| 56, |
| 57 |
| ] |
| }, |
| { |
| "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": [ |
| 24087, |
| 24720 |
| ], |
| "skill_idxes": [ |
| 58, |
| 59, |
| 60, |
| 61 |
| ] |
| }, |
| { |
| "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": [ |
| 24720, |
| 25974 |
| ], |
| "skill_idxes": [ |
| 62, |
| 63, |
| 64, |
| 65 |
| ] |
| }, |
| { |
| "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": [ |
| 25974, |
| 27402 |
| ], |
| "skill_idxes": [ |
| 66, |
| 67, |
| 68 |
| ] |
| }, |
| { |
| "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": [ |
| 27402, |
| 27918 |
| ], |
| "skill_idxes": [ |
| 69 |
| ] |
| } |
| ] |
| } |
