| { |
| "task_name": "make pizza", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 12465, |
| "valid_duration": [ |
| 12, |
| 12477 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12, |
| 767 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 767, |
| 969 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 969, |
| 1194 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0", |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 1194, |
| 1260 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1260, |
| 1560 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1560, |
| 1668 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "in_front_of" |
| ] |
| ], |
| "frame_duration": [ |
| 1668, |
| 1770 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_80", |
| "vidalia_onion_80" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "vidalia_onion_80" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1770, |
| 1932 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1932, |
| 2277 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 2277, |
| 2565 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_80", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "vidalia_onion_80" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2565, |
| 2739 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2739, |
| 2841 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "vidalia_onion_80" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2841, |
| 2928 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "half_vidalia_onion_80_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2928, |
| 2970 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "half_vidalia_onion_80_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2970, |
| 3033 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 3033, |
| 3147 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3147, |
| 3393 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__vidalia_onion" |
| ], |
| "chopping_board_78", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3393, |
| 3843 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 3843, |
| 4005 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4005, |
| 4197 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 4197, |
| 4647 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_4" |
| ] |
| ], |
| "frame_duration": [ |
| 4647, |
| 4842 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_5" |
| ] |
| ], |
| "frame_duration": [ |
| 4842, |
| 5052 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5052, |
| 5211 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "bar_egwapq_0", |
| "baking_sheet_79" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 5211, |
| 5367 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5367, |
| 5412 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "mushroom_81", |
| "mushroom_82" |
| ], |
| "tupperware_74", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5412, |
| 5550 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5550, |
| 5685 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5685, |
| 5919 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 5919, |
| 6315 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 6315, |
| 6657 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_6" |
| ] |
| ], |
| "frame_duration": [ |
| 6657, |
| 6918 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 6918, |
| 7242 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7242, |
| 7431 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "pepperoni_83", |
| "pepperoni_84", |
| "pepperoni_85", |
| "pepperoni_86" |
| ], |
| "tupperware_73", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7431, |
| 7605 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7605, |
| 7677 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "tupperware_74" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7677, |
| 7767 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7767, |
| 7917 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 38, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "mushroom_81" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7917, |
| 8067 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "mushroom_82" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8067, |
| 8163 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8163, |
| 8211 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8211, |
| 8427 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 42, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "half_mushroom_81_0", |
| "half_mushroom_81_1", |
| "half_mushroom_82_0", |
| "half_mushroom_82_1" |
| ], |
| "chopping_board_78", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8427, |
| 8703 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 43, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8703, |
| 8889 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 44, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8889, |
| 9006 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 45, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9006, |
| 9204 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 46, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "pepperoni_83", |
| "pepperoni_84", |
| "pepperoni_85", |
| "pepperoni_86", |
| "half_mushroom_81_0", |
| "half_mushroom_81_1", |
| "half_mushroom_82_0", |
| "half_mushroom_82_1", |
| "diced__vidalia_onion" |
| ], |
| "bowl_76", |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9204, |
| 9330 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 47, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9330, |
| 9447 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76", |
| "tupperware_73" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9447, |
| 9498 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9498, |
| 9606 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9606, |
| 9657 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "grated_cheese" |
| ], |
| "tupperware_75", |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9657, |
| 9783 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 52, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9783, |
| 9882 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 53, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9882, |
| 10326 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 54, |
| "skill_id": [ |
| 101 |
| ], |
| "skill_description": [ |
| "pull tray" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 10326, |
| 11094 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 55, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11094, |
| 11277 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 56, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11277, |
| 11382 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 57, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 11382, |
| 11817 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 58, |
| "skill_id": [ |
| 100 |
| ], |
| "skill_description": [ |
| "push tray" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 11817, |
| 11907 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 59, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11907, |
| 12129 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 60, |
| "skill_id": [ |
| 69 |
| ], |
| "skill_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12129, |
| 12222 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 61, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12222, |
| 12477 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0" |
| ], |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0", |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79", |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 12, |
| 1260 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0" |
| ], |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77", |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "in_front_of" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 1260, |
| 1770 |
| ], |
| "skill_idxes": [ |
| 4, |
| 5, |
| 6 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_80", |
| "vidalia_onion_80" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "vidalia_onion_80" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1770, |
| 1932 |
| ], |
| "skill_idxes": [ |
| 7 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0" |
| ], |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78", |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 1932, |
| 2565 |
| ], |
| "skill_idxes": [ |
| 8, |
| 9 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_80", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "vidalia_onion_80" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2565, |
| 2739 |
| ], |
| "skill_idxes": [ |
| 10 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| [ |
| "vidalia_onion_80", |
| "half_vidalia_onion_80_1", |
| "half_vidalia_onion_80_0" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2739, |
| 3147 |
| ], |
| "skill_idxes": [ |
| 11, |
| 12, |
| 13, |
| 14, |
| 15 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__vidalia_onion" |
| ], |
| "chopping_board_78", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3147, |
| 4005 |
| ], |
| "skill_idxes": [ |
| 16, |
| 17, |
| 18 |
| ] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 4005, |
| 4647 |
| ], |
| "skill_idxes": [ |
| 19, |
| 20 |
| ] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [ |
| 2, |
| 91, |
| 28 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to", |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "tupperware_74", |
| "tupperware_75" |
| ], |
| "fridge_petcxr_0" |
| ], |
| [ |
| "tupperware_75", |
| "bar_egwapq_0", |
| "baking_sheet_79" |
| ], |
| [ |
| [ |
| "mushroom_81", |
| "mushroom_82" |
| ], |
| "tupperware_74", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "tupperware_74", |
| "tupperware_75" |
| ], |
| "tupperware_75", |
| "tupperware_74" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "layer_4", |
| "layer_5" |
| ] |
| ], |
| [ |
| [], |
| [], |
| [ |
| "left" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 4647, |
| 5685 |
| ], |
| "skill_idxes": [ |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27 |
| ] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 5685, |
| 6315 |
| ], |
| "skill_idxes": [ |
| 28, |
| 29 |
| ] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6315, |
| 6657 |
| ], |
| "skill_idxes": [ |
| 30 |
| ] |
| }, |
| { |
| "primitive_idx": 11, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "layer_6" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6657, |
| 6918 |
| ], |
| "skill_idxes": [ |
| 31 |
| ] |
| }, |
| { |
| "primitive_idx": 12, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6918, |
| 7242 |
| ], |
| "skill_idxes": [ |
| 32 |
| ] |
| }, |
| { |
| "primitive_idx": 13, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "pepperoni_83", |
| "pepperoni_84", |
| "pepperoni_85", |
| "pepperoni_86" |
| ], |
| "tupperware_73", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7242, |
| 7767 |
| ], |
| "skill_idxes": [ |
| 33, |
| 34, |
| 35, |
| 36 |
| ] |
| }, |
| { |
| "primitive_idx": 14, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| [ |
| "mushroom_81", |
| "mushroom_82" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7767, |
| 8211 |
| ], |
| "skill_idxes": [ |
| 37, |
| 38, |
| 39, |
| 40 |
| ] |
| }, |
| { |
| "primitive_idx": 15, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "half_mushroom_81_0", |
| "half_mushroom_81_1", |
| "half_mushroom_82_0", |
| "half_mushroom_82_1" |
| ], |
| "chopping_board_78", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8211, |
| 8889 |
| ], |
| "skill_idxes": [ |
| 41, |
| 42, |
| 43 |
| ] |
| }, |
| { |
| "primitive_idx": 16, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "pepperoni_83", |
| "pepperoni_84", |
| "pepperoni_85", |
| "pepperoni_86", |
| "half_mushroom_81_0", |
| "half_mushroom_81_1", |
| "half_mushroom_82_0", |
| "half_mushroom_82_1", |
| "diced__vidalia_onion" |
| ], |
| "bowl_76", |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8889, |
| 9498 |
| ], |
| "skill_idxes": [ |
| 44, |
| 45, |
| 46, |
| 47, |
| 48 |
| ] |
| }, |
| { |
| "primitive_idx": 17, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "grated_cheese" |
| ], |
| "tupperware_75", |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9498, |
| 9882 |
| ], |
| "skill_idxes": [ |
| 49, |
| 50, |
| 51, |
| 52 |
| ] |
| }, |
| { |
| "primitive_idx": 18, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9882, |
| 11094 |
| ], |
| "skill_idxes": [ |
| 53, |
| 54 |
| ] |
| }, |
| { |
| "primitive_idx": 19, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0" |
| ], |
| [ |
| "baking_sheet_79", |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79", |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "high_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 11094, |
| 11907 |
| ], |
| "skill_idxes": [ |
| 55, |
| 56, |
| 57, |
| 58 |
| ] |
| }, |
| { |
| "primitive_idx": 20, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11907, |
| 12129 |
| ], |
| "skill_idxes": [ |
| 59 |
| ] |
| }, |
| { |
| "primitive_idx": 21, |
| "primitive_id": [ |
| 69 |
| ], |
| "primitive_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12129, |
| 12222 |
| ], |
| "skill_idxes": [ |
| 60 |
| ] |
| }, |
| { |
| "primitive_idx": 22, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12222, |
| 12477 |
| ], |
| "skill_idxes": [ |
| 61 |
| ] |
| } |
| ] |
| } |