| { |
| "task_name": "make pizza", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 14637, |
| "valid_duration": [ |
| 63, |
| 14700 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 63, |
| 291 |
| ], |
| "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": [ |
| 291, |
| 501 |
| ], |
| "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": [ |
| 501, |
| 690 |
| ], |
| "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": [ |
| 690, |
| 858 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 858, |
| 965 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "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": [ |
| 965, |
| 1380 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "vidalia_onion_80" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1380, |
| 1512 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_vidalia_onion_80_1", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_vidalia_onion_80_1" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "center" |
| ] |
| ], |
| "frame_duration": [ |
| 1512, |
| 1797 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "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": [ |
| 1797, |
| 1911 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "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": [ |
| 1911, |
| 1992 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "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": [ |
| [ |
| "", |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 1992, |
| 2097 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "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": [ |
| 2097, |
| 2373 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2373, |
| 2595 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "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": [ |
| 2595, |
| 2718 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "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": [ |
| 2718, |
| 2856 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2856, |
| 3009 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3009, |
| 3660 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "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": [ |
| 3660, |
| 3875 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3875, |
| 4110 |
| ], |
| "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": [ |
| 4110, |
| 4542 |
| ], |
| "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": [ |
| 4542, |
| 5067 |
| ], |
| "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": [ |
| 5067, |
| 5340 |
| ], |
| "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": [ |
| 5340, |
| 5640 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5640, |
| 5847 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "bar_egwapq_0", |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 5847, |
| 5889 |
| ], |
| "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": [ |
| 5889, |
| 5982 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "bar_egwapq_0", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "in_front_of" |
| ] |
| ], |
| "frame_duration": [ |
| 5982, |
| 6099 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6099, |
| 6369 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 6369, |
| 6831 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 6831, |
| 7290 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_4" |
| ] |
| ], |
| "frame_duration": [ |
| 7290, |
| 7494 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 7494, |
| 7706 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7706, |
| 7914 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 33, |
| "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": [ |
| 7914, |
| 8214 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8214, |
| 8424 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8424, |
| 8571 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 36, |
| "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": [ |
| 8571, |
| 8724 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "tupperware_73" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8724, |
| 8868 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 38, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8868, |
| 8913 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 39, |
| "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": [ |
| 8913, |
| 9108 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "mushroom_82" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9108, |
| 9183 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "mushroom_81" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9183, |
| 9303 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 42, |
| "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": [ |
| 9303, |
| 9369 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 43, |
| "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": [ |
| 9369, |
| 9678 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 44, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9678, |
| 9909 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 45, |
| "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": [ |
| 9909, |
| 10026 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 46, |
| "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": [ |
| 10026, |
| 10152 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 47, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10152, |
| 10311 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10311, |
| 10536 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 49, |
| "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": [ |
| 10536, |
| 11082 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11082, |
| 11292 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "bowl_76", |
| "tupperware_74" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11292, |
| 11391 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 52, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11391, |
| 11526 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 53, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11526, |
| 11616 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 54, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "grated_cheese" |
| ], |
| "tupperware_75", |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11616, |
| 12066 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 55, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_75", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12066, |
| 12327 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 56, |
| "skill_id": [ |
| 101 |
| ], |
| "skill_description": [ |
| "pull tray" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 12327, |
| 12867 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 57, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12867, |
| 13008 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 58, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13008, |
| 13161 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 59, |
| "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": [ |
| 13161, |
| 13290 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 60, |
| "skill_id": [ |
| 100 |
| ], |
| "skill_description": [ |
| "push tray" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 13290, |
| 13481 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 61, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13481, |
| 13911 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 62, |
| "skill_id": [ |
| 69 |
| ], |
| "skill_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13911, |
| 14010 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 63, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14010, |
| 14271 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 64, |
| "skill_id": [ |
| 101 |
| ], |
| "skill_description": [ |
| "pull tray" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 14271, |
| 14700 |
| ], |
| "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": [ |
| 63, |
| 858 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 34, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "chop", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0" |
| ], |
| [ |
| "carving_knife_77", |
| [ |
| "vidalia_onion_80", |
| "half_vidalia_onion_80_1", |
| "half_vidalia_onion_80_0" |
| ] |
| ], |
| [ |
| "carving_knife_77", |
| "bar_egwapq_0", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77", |
| "carving_knife_77", |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [ |
| [], |
| [], |
| [ |
| [], |
| [], |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 858, |
| 2097 |
| ], |
| "skill_idxes": [ |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 28 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| "chopping_board_78", |
| "bar_egwapq_0" |
| ], |
| [ |
| [ |
| "diced__vidalia_onion" |
| ], |
| "chopping_board_78", |
| "bowl_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "chopping_board_78", |
| "chopping_board_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2097, |
| 2856 |
| ], |
| "skill_idxes": [ |
| 11, |
| 12, |
| 13, |
| 14 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2856, |
| 3660 |
| ], |
| "skill_idxes": [ |
| 15, |
| 16 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3660, |
| 4110 |
| ], |
| "skill_idxes": [ |
| 17, |
| 18 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 4110, |
| 5067 |
| ], |
| "skill_idxes": [ |
| 19, |
| 20 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "tupperware_74", |
| "tupperware_75" |
| ], |
| "fridge_petcxr_0" |
| ], |
| [ |
| [ |
| "tupperware_75", |
| "tupperware_74" |
| ], |
| "bar_egwapq_0", |
| [ |
| "oven_ffitak_0", |
| "chopping_board_78" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "tupperware_74", |
| "tupperware_75" |
| ], |
| [ |
| "tupperware_75", |
| "tupperware_74" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "layer_4", |
| "layer_5" |
| ] |
| ], |
| [ |
| [], |
| [], |
| [ |
| "left", |
| "in_front_of" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 5067, |
| 6099 |
| ], |
| "skill_idxes": [ |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26 |
| ] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6099, |
| 6831 |
| ], |
| "skill_idxes": [ |
| 27, |
| 28 |
| ] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6831, |
| 7290 |
| ], |
| "skill_idxes": [ |
| 29 |
| ] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "layer_4" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 7290, |
| 7494 |
| ], |
| "skill_idxes": [ |
| 30 |
| ] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 7494, |
| 7706 |
| ], |
| "skill_idxes": [ |
| 31 |
| ] |
| }, |
| { |
| "primitive_idx": 11, |
| "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": [ |
| 7706, |
| 8424 |
| ], |
| "skill_idxes": [ |
| 32, |
| 33, |
| 34 |
| ] |
| }, |
| { |
| "primitive_idx": 12, |
| "primitive_id": [ |
| 2, |
| 28 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "bar_egwapq_0" |
| ], |
| [ |
| [ |
| "mushroom_81", |
| "mushroom_82" |
| ], |
| "tupperware_74", |
| "chopping_board_78" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74", |
| "tupperware_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8424, |
| 8868 |
| ], |
| "skill_idxes": [ |
| 35, |
| 36, |
| 37 |
| ] |
| }, |
| { |
| "primitive_idx": 13, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_77", |
| [ |
| "mushroom_82", |
| "mushroom_81" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8868, |
| 9369 |
| ], |
| "skill_idxes": [ |
| 38, |
| 39, |
| 40, |
| 41, |
| 42 |
| ] |
| }, |
| { |
| "primitive_idx": 14, |
| "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": [ |
| 9369, |
| 10152 |
| ], |
| "skill_idxes": [ |
| 43, |
| 44, |
| 45, |
| 46 |
| ] |
| }, |
| { |
| "primitive_idx": 15, |
| "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": [ |
| 10152, |
| 11391 |
| ], |
| "skill_idxes": [ |
| 47, |
| 48, |
| 49, |
| 50, |
| 51 |
| ] |
| }, |
| { |
| "primitive_idx": 16, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "grated_cheese" |
| ], |
| "tupperware_75", |
| "pizza_dough_87" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11391, |
| 12327 |
| ], |
| "skill_idxes": [ |
| 52, |
| 53, |
| 54, |
| 55 |
| ] |
| }, |
| { |
| "primitive_idx": 17, |
| "primitive_id": [ |
| 101 |
| ], |
| "primitive_description": [ |
| "pull tray" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| [ |
| "high_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 12327, |
| 12867 |
| ], |
| "skill_idxes": [ |
| 56 |
| ] |
| }, |
| { |
| "primitive_idx": 18, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "baking_sheet_79", |
| "oven_ffitak_0" |
| ], |
| [ |
| "baking_sheet_79", |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baking_sheet_79", |
| "baking_sheet_79" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "high_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 12867, |
| 13481 |
| ], |
| "skill_idxes": [ |
| 57, |
| 58, |
| 59, |
| 60 |
| ] |
| }, |
| { |
| "primitive_idx": 19, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13481, |
| 13911 |
| ], |
| "skill_idxes": [ |
| 61 |
| ] |
| }, |
| { |
| "primitive_idx": 20, |
| "primitive_id": [ |
| 69 |
| ], |
| "primitive_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13911, |
| 14010 |
| ], |
| "skill_idxes": [ |
| 62 |
| ] |
| }, |
| { |
| "primitive_idx": 21, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14010, |
| 14271 |
| ], |
| "skill_idxes": [ |
| 63 |
| ] |
| }, |
| { |
| "primitive_idx": 22, |
| "primitive_id": [ |
| 101 |
| ], |
| "primitive_description": [ |
| "pull tray" |
| ], |
| "object_id": [ |
| [ |
| "oven_ffitak_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "oven_ffitak_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| [ |
| "high_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 14271, |
| 14700 |
| ], |
| "skill_idxes": [ |
| 64 |
| ] |
| } |
| ] |
| } |
