| { |
| "task_name": "canning food", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 18741, |
| "valid_duration": [ |
| 27, |
| 18768 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 27, |
| 417 |
| ], |
| "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": [ |
| 417, |
| 754 |
| ], |
| "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": [ |
| 754, |
| 1479 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "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": [ |
| 1479, |
| 1713 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "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": [ |
| 1713, |
| 1922 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1922, |
| 2328 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2328, |
| 2991 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "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": [ |
| 2991, |
| 3447 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "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": [ |
| 3447, |
| 4023 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4023, |
| 4924 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4924, |
| 5203 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pineapple_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5203, |
| 5533 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "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": [ |
| 5533, |
| 5700 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5700, |
| 6021 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 6021, |
| 6831 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "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": [ |
| 6831, |
| 7158 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "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": [ |
| 7158, |
| 7885 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 7885, |
| 8763 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8763, |
| 8979 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "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": [ |
| 8979, |
| 9201 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "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": [ |
| 9201, |
| 9474 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "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": [ |
| 9474, |
| 9627 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "steak_212" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9627, |
| 9753 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "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": [ |
| 9753, |
| 9831 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "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": [ |
| 9831, |
| 9888 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "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": [ |
| 9888, |
| 10089 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "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": [ |
| 10089, |
| 10491 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "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": [ |
| 10491, |
| 10698 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "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": [ |
| 10698, |
| 10833 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "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": [ |
| 10833, |
| 11112 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11112, |
| 11468 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 11468, |
| 12147 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "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": [ |
| 12147, |
| 12594 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12594, |
| 12843 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pineapple_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12843, |
| 13128 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13128, |
| 13176 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "pineapple_211", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pineapple_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13176, |
| 13414 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13414, |
| 13677 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 38, |
| "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": [ |
| 13677, |
| 13789 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13789, |
| 13867 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 40, |
| "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": [ |
| 13867, |
| 14012 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "pineapple_211" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14012, |
| 14114 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 42, |
| "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": [ |
| 14114, |
| 14335 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 43, |
| "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": [ |
| 14335, |
| 14417 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 44, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_pineapple_211_0", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_pineapple_211_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "center" |
| ] |
| ], |
| "frame_duration": [ |
| 14417, |
| 14599 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 45, |
| "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": [ |
| 14599, |
| 14856 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 46, |
| "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": [ |
| 14856, |
| 15017 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 47, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15017, |
| 15483 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__pineapple" |
| ], |
| "cutting_board_208", |
| "bowl_209" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15483, |
| 15953 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15953, |
| 16022 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "half_pineapple_211_1", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_pineapple_211_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16022, |
| 16238 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "half_pineapple_211_1", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_pineapple_211_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16238, |
| 16356 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 52, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16356, |
| 16629 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 53, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "half_pineapple_211_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16629, |
| 16737 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 54, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "countertop_kelzer_0", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 16737, |
| 16986 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 55, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16986, |
| 17296 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 56, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__pineapple" |
| ], |
| "cutting_board_208", |
| "bowl_209" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17287, |
| 17478 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 57, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_208", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17478, |
| 17581 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 58, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17581, |
| 17942 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 59, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17942, |
| 18264 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 60, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_3" |
| ] |
| ], |
| "frame_duration": [ |
| 18264, |
| 18453 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 61, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 18453, |
| 18768 |
| ], |
| "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": [ |
| 27, |
| 1922 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1922, |
| 2991 |
| ], |
| "skill_idxes": [ |
| 5, |
| 6 |
| ] |
| }, |
| { |
| "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": [ |
| 2991, |
| 4023 |
| ], |
| "skill_idxes": [ |
| 7, |
| 8 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4023, |
| 4924 |
| ], |
| "skill_idxes": [ |
| 9 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "pineapple_211", |
| "steak_212" |
| ], |
| [ |
| "countertop_kelzer_0", |
| "cutting_board_208" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "pineapple_211", |
| "steak_212" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4924, |
| 5700 |
| ], |
| "skill_idxes": [ |
| 10, |
| 11, |
| 12 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 5700, |
| 6831 |
| ], |
| "skill_idxes": [ |
| 13, |
| 14 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "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": [ |
| 6831, |
| 7885 |
| ], |
| "skill_idxes": [ |
| 15, |
| 16 |
| ] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 7885, |
| 8763 |
| ], |
| "skill_idxes": [ |
| 17 |
| ] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [ |
| 4, |
| 91 |
| ], |
| "primitive_description": [ |
| "place in", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_210", |
| "drop_in_sink_awvzkn_0" |
| ], |
| [ |
| "bowl_209", |
| "countertop_kelzer_0", |
| "drop_in_sink_awvzkn_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_210", |
| "bowl_209" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 8763, |
| 9474 |
| ], |
| "skill_idxes": [ |
| 18, |
| 19, |
| 20 |
| ] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| [ |
| "steak_212", |
| "half_steak_212_1", |
| "half_steak_212_0" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9474, |
| 10089 |
| ], |
| "skill_idxes": [ |
| 21, |
| 22, |
| 23, |
| 24, |
| 25 |
| ] |
| }, |
| { |
| "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": [ |
| 10089, |
| 10833 |
| ], |
| "skill_idxes": [ |
| 26, |
| 27, |
| 28 |
| ] |
| }, |
| { |
| "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": [ |
| 10833, |
| 11112 |
| ], |
| "skill_idxes": [ |
| 29 |
| ] |
| }, |
| { |
| "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": [ |
| 11112, |
| 12147 |
| ], |
| "skill_idxes": [ |
| 30, |
| 31 |
| ] |
| }, |
| { |
| "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": [ |
| 12147, |
| 12594 |
| ], |
| "skill_idxes": [ |
| 32 |
| ] |
| }, |
| { |
| "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": [ |
| 12594, |
| 13414 |
| ], |
| "skill_idxes": [ |
| 33, |
| 34, |
| 35, |
| 36 |
| ] |
| }, |
| { |
| "primitive_idx": 15, |
| "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": [ |
| 13414, |
| 13789 |
| ], |
| "skill_idxes": [ |
| 37, |
| 38 |
| ] |
| }, |
| { |
| "primitive_idx": 16, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "pineapple_211" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13789, |
| 14114 |
| ], |
| "skill_idxes": [ |
| 39, |
| 40, |
| 41 |
| ] |
| }, |
| { |
| "primitive_idx": 17, |
| "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": [ |
| 14114, |
| 14417 |
| ], |
| "skill_idxes": [ |
| 42, |
| 43 |
| ] |
| }, |
| { |
| "primitive_idx": 18, |
| "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": [ |
| 14417, |
| 15017 |
| ], |
| "skill_idxes": [ |
| 44, |
| 45, |
| 46 |
| ] |
| }, |
| { |
| "primitive_idx": 19, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__pineapple" |
| ], |
| "cutting_board_208", |
| "bowl_209" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15017, |
| 16022 |
| ], |
| "skill_idxes": [ |
| 47, |
| 48, |
| 49 |
| ] |
| }, |
| { |
| "primitive_idx": 20, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "half_pineapple_211_1", |
| "countertop_kelzer_0" |
| ], |
| [ |
| "half_pineapple_211_1", |
| "cutting_board_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_pineapple_211_1", |
| "half_pineapple_211_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16022, |
| 16356 |
| ], |
| "skill_idxes": [ |
| 50, |
| 51 |
| ] |
| }, |
| { |
| "primitive_idx": 21, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "carving_knife_207", |
| "half_pineapple_211_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carving_knife_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16356, |
| 16986 |
| ], |
| "skill_idxes": [ |
| 52, |
| 53, |
| 54 |
| ] |
| }, |
| { |
| "primitive_idx": 22, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__pineapple" |
| ], |
| "cutting_board_208", |
| "bowl_209" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16986, |
| 17581 |
| ], |
| "skill_idxes": [ |
| 55, |
| 56, |
| 57 |
| ] |
| }, |
| { |
| "primitive_idx": 23, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bowl_209", |
| "drop_in_sink_awvzkn_0" |
| ], |
| [ |
| "bowl_209", |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_209", |
| "bowl_209" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "layer_3" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 17581, |
| 18453 |
| ], |
| "skill_idxes": [ |
| 58, |
| 59, |
| 60 |
| ] |
| }, |
| { |
| "primitive_idx": 24, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_fancyy_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 18453, |
| 18768 |
| ], |
| "skill_idxes": [ |
| 61 |
| ] |
| } |
| ] |
| } |