| { |
| "task_name": "make pizza", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 25701, |
| "valid_duration": [9, 25710] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["baking_sheet_79"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9, 183], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [183, 834], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [834, 1098], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "left"]], |
| "frame_duration": [1098, 1269], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["vidalia_onion_80"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1269, 1410], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["vidalia_onion_80", "chopping_board_78"]], |
| "manipulating_object_id": ["vidalia_onion_80"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1410, 2022], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["chopping_board_78", "bar_egwapq_0"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2022, 2544], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bowl_76"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2544, 2622], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 8, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "right"]], |
| "frame_duration": [2622, 2889], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["vidalia_onion_80", "chopping_board_78"]], |
| "manipulating_object_id": ["vidalia_onion_80"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [2889, 3303], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bowl_76", "bar_egwapq_0"]], |
| "manipulating_object_id": ["bowl_76"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3303, 3669], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["bowl_76", "bar_egwapq_0", "chopping_board_78"]], |
| "manipulating_object_id": ["bowl_76"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "left"]], |
| "frame_duration": [3669, 3858], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [90], |
| "skill_description": ["push to"], |
| "object_id": [["carving_knife_77", "bar_egwapq_0"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "center"]], |
| "frame_duration": [3858, 4797], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["carving_knife_77", "bar_egwapq_0"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4797, 5025], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "right"]], |
| "frame_duration": [5025, 5679], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["carving_knife_77", "bar_egwapq_0"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5679, 5895], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_77", "vidalia_onion_80"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5895, 6069], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_77", "half_vidalia_onion_80_0"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6069, 6123], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_77", "half_vidalia_onion_80_1"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6123, 6174], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 19, |
| "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"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [["", "", "right"]], |
| "frame_duration": [6174, 6288], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["chopping_board_78", "bar_egwapq_0"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6288, 6564], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["diced__vidalia_onion"], "chopping_board_78", "bowl_76"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6564, 6867], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 22, |
| "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"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [["", "", "right"]], |
| "frame_duration": [6867, 7116], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7116, 7584], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right_door"]], |
| "frame_duration": [7584, 8772], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_75", "fridge_petcxr_0"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "layer_5"]], |
| "frame_duration": [8772, 9342], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["baking_sheet_79"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [9342, 9588], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["tupperware_75", "drop_in_sink_lkklqs_0", "baking_sheet_79"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "left"]], |
| "frame_duration": [9588, 10062], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["tupperware_74"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back", "the other"], |
| "spatial_prefix": [], |
| "frame_duration": [10062, 10419], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_74", "fridge_petcxr_0"]], |
| "manipulating_object_id": ["tupperware_74"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "layer_4"]], |
| "frame_duration": [10419, 11001], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["chopping_board_78"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [11001, 11259], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["mushroom_81", "mushroom_82"], "tupperware_74", "chopping_board_78"]], |
| "manipulating_object_id": ["tupperware_74"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11259, 11553], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["tupperware_74", "drop_in_sink_lkklqs_0"]], |
| "manipulating_object_id": ["tupperware_74"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11553, 11784], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["carving_knife_77", "bar_egwapq_0"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11784, 12099], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_77", "mushroom_82"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12099, 12225], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_77", "mushroom_81"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [12225, 12438], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["carving_knife_77", "bar_egwapq_0"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [12438, 12558], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["chopping_board_78", "bar_egwapq_0"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12558, 12858], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 38, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12858, 13155], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["chopping_board_78", "bar_egwapq_0"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [13155, 13548], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [13548, 13989], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right_door"]], |
| "frame_duration": [13989, 14628], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 42, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [14628, 16137], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 43, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_73", "fridge_petcxr_0"]], |
| "manipulating_object_id": ["tupperware_73"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "layer_5"]], |
| "frame_duration": [16137, 16800], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 44, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [16800, 17445], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 45, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bowl_76"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [17445, 17772], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 46, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [17772, 18180], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 47, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["tupperware_74"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [18180, 18234], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["tupperware_73", "tupperware_74"]], |
| "manipulating_object_id": ["tupperware_73"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [18234, 18429], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bowl_76"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [18429, 18522], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bowl_76", "bar_egwapq_0"]], |
| "manipulating_object_id": ["bowl_76"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [18522, 18726], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pizza_dough_87"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [18726, 18891], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 52, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [18891, 19041], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 53, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["bowl_76", "tupperware_73"]], |
| "manipulating_object_id": ["bowl_76"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [19041, 19257], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 54, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["tupperware_75"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [19257, 19350], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 55, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_75", "drop_in_sink_lkklqs_0"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [19350, 19536], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 56, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pizza_dough_87"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [19536, 19623], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 57, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["grated_cheese"], "tupperware_75", "pizza_dough_87"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [19623, 19908], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 58, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["tupperware_75", "drop_in_sink_lkklqs_0"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [19908, 20331], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 59, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [20331, 20499], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 60, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [20499, 21186], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 61, |
| "skill_id": [101], |
| "skill_description": ["pull tray"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": ["oven_ffitak_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [["high_level"]], |
| "frame_duration": [21186, 22242], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 62, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["baking_sheet_79", "bar_egwapq_0"]], |
| "manipulating_object_id": ["baking_sheet_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [22242, 22929], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 63, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["baking_sheet_79", "oven_ffitak_0"]], |
| "manipulating_object_id": ["baking_sheet_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "high_level"]], |
| "frame_duration": [22929, 23682], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 64, |
| "skill_id": [100], |
| "skill_description": ["push tray"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": ["oven_ffitak_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [["high_level"]], |
| "frame_duration": [23682, 23919], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 65, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [23919, 24561], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 66, |
| "skill_id": [69], |
| "skill_description": ["turn on switch"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": ["oven_ffitak_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [24561, 25035], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 67, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [25035, 25710], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], [], ["left"]]], |
| "frame_duration": [9, 1269], |
| "skill_idxes": [0, 1, 2, 3] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["vidalia_onion_80", "chopping_board_78"]], |
| "manipulating_object_id": ["vidalia_onion_80"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1269, 2022], |
| "skill_idxes": [4, 5] |
| }, |
| { |
| "primitive_idx": 2, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], [], ["right"]]], |
| "frame_duration": [2022, 2889], |
| "skill_idxes": [6, 7, 8] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [3], |
| "primitive_description": ["place on"], |
| "object_id": [["vidalia_onion_80", "chopping_board_78"]], |
| "manipulating_object_id": ["vidalia_onion_80"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [2889, 3303], |
| "skill_idxes": [9] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [2, 91], |
| "primitive_description": ["pick up from", "place on next to"], |
| "object_id": [["bowl_76", "bar_egwapq_0"], ["bowl_76", "bar_egwapq_0", "chopping_board_78"]], |
| "manipulating_object_id": ["bowl_76", "bowl_76"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], [], ["left"]]], |
| "frame_duration": [3303, 3858], |
| "skill_idxes": [10, 11] |
| }, |
| { |
| "primitive_idx": 5, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], [], ["right"]]], |
| "frame_duration": [3858, 5679], |
| "skill_idxes": [12, 13, 14] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [34], |
| "primitive_description": ["chop"], |
| "object_id": [["carving_knife_77", ["vidalia_onion_80", "half_vidalia_onion_80_0", "half_vidalia_onion_80_1"]]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5679, 6288], |
| "skill_idxes": [15, 16, 17, 18, 19] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["diced__vidalia_onion"], "chopping_board_78", "bowl_76"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6288, 7116], |
| "skill_idxes": [20, 21, 22] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right_door"]]], |
| "frame_duration": [7116, 8772], |
| "skill_idxes": [23, 24] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [2, 91], |
| "primitive_description": ["pick up from", "place on next to"], |
| "object_id": [["tupperware_75", "fridge_petcxr_0"], ["tupperware_75", "drop_in_sink_lkklqs_0", "baking_sheet_79"]], |
| "manipulating_object_id": ["tupperware_75", "tupperware_75"], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["layer_5"]], [[], [], ["left"]]], |
| "frame_duration": [8772, 10062], |
| "skill_idxes": [25, 26, 27] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["mushroom_81", "mushroom_82"], "tupperware_74", "chopping_board_78"]], |
| "manipulating_object_id": ["tupperware_74"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10062, 11784], |
| "skill_idxes": [28, 29, 30, 31, 32] |
| }, |
| { |
| "primitive_idx": 11, |
| "primitive_id": [34], |
| "primitive_description": ["chop"], |
| "object_id": [["carving_knife_77", ["mushroom_82", "mushroom_81"]]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11784, 12558], |
| "skill_idxes": [33, 34, 35, 36] |
| }, |
| { |
| "primitive_idx": 12, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12558, 13548], |
| "skill_idxes": [37, 38, 39] |
| }, |
| { |
| "primitive_idx": 13, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right_door"]]], |
| "frame_duration": [13548, 14628], |
| "skill_idxes": [40, 41] |
| }, |
| { |
| "primitive_idx": 14, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left_door"]]], |
| "frame_duration": [14628, 16137], |
| "skill_idxes": [42] |
| }, |
| { |
| "primitive_idx": 15, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["tupperware_73", "fridge_petcxr_0"]], |
| "manipulating_object_id": ["tupperware_73"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [[[], ["layer_5"]]], |
| "frame_duration": [16137, 16800], |
| "skill_idxes": [43] |
| }, |
| { |
| "primitive_idx": 16, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left_door"]]], |
| "frame_duration": [16800, 17445], |
| "skill_idxes": [44] |
| }, |
| { |
| "primitive_idx": 17, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [17445, 18429], |
| "skill_idxes": [45, 46, 47, 48] |
| }, |
| { |
| "primitive_idx": 18, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [18429, 19257], |
| "skill_idxes": [49, 50, 51, 52, 53] |
| }, |
| { |
| "primitive_idx": 19, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["grated_cheese"], "tupperware_75", "pizza_dough_87"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [19257, 20331], |
| "skill_idxes": [54, 55, 56, 57, 58] |
| }, |
| { |
| "primitive_idx": 20, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [20331, 22242], |
| "skill_idxes": [59, 60, 61] |
| }, |
| { |
| "primitive_idx": 21, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], ["high_level"]]], |
| "frame_duration": [22242, 23919], |
| "skill_idxes": [62, 63, 64] |
| }, |
| { |
| "primitive_idx": 22, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [23919, 24561], |
| "skill_idxes": [65] |
| }, |
| { |
| "primitive_idx": 23, |
| "primitive_id": [69], |
| "primitive_description": ["turn on switch"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": ["oven_ffitak_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [24561, 25035], |
| "skill_idxes": [66] |
| }, |
| { |
| "primitive_idx": 24, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [25035, 25710], |
| "skill_idxes": [67] |
| } |
| ] |
| } |
