{ "task_name": "canning food", "data_folder": "", "meta_data": { "task_duration": 16074, "valid_duration": [ 16, 16090 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 16, 393 ], "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": [ 393, 801 ], "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": [ 801, 1137 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 3, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "drop_in_sink_awvzkn_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1137, 1191 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 4, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "cutting_board_208", "drop_in_sink_awvzkn_0" ] ], "manipulating_object_id": [ "cutting_board_208" ], "spatial_prefix": [], "frame_duration": [ 1191, 1300 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 5, "skill_id": [ 91 ], "skill_description": [ "place on next to" ], "object_id": [ [ "carving_knife_207", "countertop_kelzer_0", "cutting_board_208" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [ [ "", "", "right" ] ], "frame_duration": [ 1300, 1561 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1561, 1910 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1910, 2557 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 8, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "steak_212", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "steak_212" ], "spatial_prefix": [ [ "", "middle_level" ] ], "frame_duration": [ 2557, 3134 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pineapple_211", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "pineapple_211" ], "spatial_prefix": [ [ "", "low_level" ] ], "frame_duration": [ 3134, 3548 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3548, 4291 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "countertop_kelzer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4291, 4471 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 12, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "pineapple_211", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "pineapple_211" ], "spatial_prefix": [], "frame_duration": [ 4471, 4676 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "steak_212", "cutting_board_208" ] ], "manipulating_object_id": [ "steak_212" ], "spatial_prefix": [], "frame_duration": [ 4676, 4882 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4882, 4933 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 15, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "carving_knife_207", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 4933, 5149 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_207", "steak_212" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 5149, 5290 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_207", "half_steak_212_0" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 5290, 5335 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_207", "half_steak_212_1" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 5290, 5335 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 91 ], "skill_description": [ "place on next to" ], "object_id": [ [ "carving_knife_207", "countertop_kelzer_0", "cutting_board_208" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [ [ "", "", "right" ] ], "frame_duration": [ 5335, 5578 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5578, 5805 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 21, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 5805, 6685 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 22, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_210", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_210" ], "spatial_prefix": [ [ "", "layer_3" ] ], "frame_duration": [ 6685, 6947 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_209", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_209" ], "spatial_prefix": [ [ "", "layer_5" ] ], "frame_duration": [ 6947, 7403 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 7403, 7654 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "countertop_kelzer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7654, 7929 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 26, "skill_id": [ 91 ], "skill_description": [ "place on next to" ], "object_id": [ [ "bowl_209", "countertop_kelzer_0", "drop_in_sink_awvzkn_0" ] ], "manipulating_object_id": [ "bowl_209" ], "spatial_prefix": [ [ "", "", "right" ] ], "frame_duration": [ 7929, 8107 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bowl_210", "drop_in_sink_awvzkn_0" ] ], "manipulating_object_id": [ "bowl_210" ], "spatial_prefix": [], "frame_duration": [ 8107, 8365 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 28, "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": [ 8365, 8677 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "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": [ 8677, 8938 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "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": [ 8938, 9040 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 31, "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": [ 9040, 9373 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9373, 9631 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 33, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 9631, 10183 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 34, "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": [ 10183, 10461 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 35, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pineapple_211" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10461, 10644 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 36, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pineapple_211", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "pineapple_211" ], "spatial_prefix": [], "frame_duration": [ 10644, 10849 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 37, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "pineapple_211", "cutting_board_208" ] ], "manipulating_object_id": [ "pineapple_211" ], "spatial_prefix": [], "frame_duration": [ 10849, 11104 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 38, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_209", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "bowl_209" ], "spatial_prefix": [], "frame_duration": [ 11104, 11314 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 39, "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": [ 11314, 11503 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "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": [ 11503, 11641 ], "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": [ 11641, 11737 ], "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": [ 11737, 11950 ], "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": [ 11950, 12049 ], "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": [ 12049, 12366 ], "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": [ 12366, 12450 ], "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": [ 12450, 12559 ], "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": [ 12559, 13016 ], "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": [ 13016, 13803 ], "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": [ 13803, 13864 ], "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": [ 13864, 14005 ], "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": [ 14005, 14154 ], "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": [ 14154, 14325 ], "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": [ 14325, 14458 ], "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": [ 14458, 14556 ], "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": [ 14556, 14794 ], "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": [ 14794, 15056 ], "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": [ 15056, 15115 ], "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": [ 15115, 15487 ], "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": [ 15487, 15577 ], "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": [ 15577, 15892 ], "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": [ 15892, 16090 ], "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": [ 16, 1561 ], "skill_idxes": [ 0, 1, 2, 3, 4, 5 ] }, { "primitive_idx": 1, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1561, 2557 ], "skill_idxes": [ 6, 7 ] }, { "primitive_idx": 2, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ [ "steak_212", "pineapple_211" ], "fridge_dszchb_0" ] ], "manipulating_object_id": [ [ "steak_212", "pineapple_211" ] ], "spatial_prefix": [ [ [], [ "middle_level", "low_level" ] ] ], "frame_duration": [ 2557, 3548 ], "skill_idxes": [ 8, 9 ] }, { "primitive_idx": 3, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3548, 4291 ], "skill_idxes": [ 10 ] }, { "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": [ 4291, 4882 ], "skill_idxes": [ 11, 12, 13 ] }, { "primitive_idx": 5, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "carving_knife_207", [ "steak_212", "half_steak_212_0", "half_steak_212_1" ] ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 4882, 5578 ], "skill_idxes": [ 14, 15, 16, 17, 18, 19 ] }, { "primitive_idx": 6, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 5578, 6685 ], "skill_idxes": [ 20, 21 ] }, { "primitive_idx": 7, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ [ "bowl_210", "bowl_209" ], "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ [ "bowl_210", "bowl_209" ] ], "spatial_prefix": [ [ [], [ "layer_3", "layer_5" ] ] ], "frame_duration": [ 6685, 7403 ], "skill_idxes": [ 22, 23 ] }, { "primitive_idx": 8, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 7403, 7654 ], "skill_idxes": [ 24 ] }, { "primitive_idx": 9, "primitive_id": [ 91, 4 ], "primitive_description": [ "place on next to", "place in" ], "object_id": [ [ "bowl_209", "countertop_kelzer_0", "drop_in_sink_awvzkn_0" ], [ "bowl_210", "drop_in_sink_awvzkn_0" ] ], "manipulating_object_id": [ "bowl_209", "bowl_210" ], "spatial_prefix": [ [ [], [], [ "right" ] ], [] ], "frame_duration": [ 7654, 8365 ], "skill_idxes": [ 25, 26, 27 ] }, { "primitive_idx": 10, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "diced__steak" ], "cutting_board_208", "bowl_210" ] ], "manipulating_object_id": [ "cutting_board_208" ], "spatial_prefix": [], "frame_duration": [ 8365, 9040 ], "skill_idxes": [ 28, 29, 30 ] }, { "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": [ 9040, 9373 ], "skill_idxes": [ 31 ] }, { "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": [ 9373, 10183 ], "skill_idxes": [ 32, 33 ] }, { "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": [ 10183, 10461 ], "skill_idxes": [ 34 ] }, { "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": [ 10461, 11104 ], "skill_idxes": [ 35, 36, 37 ] }, { "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": [ 11104, 11503 ], "skill_idxes": [ 38, 39 ] }, { "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": [ 11503, 11737 ], "skill_idxes": [ 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": [ 11737, 12049 ], "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": [ 12049, 12559 ], "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": [ 12559, 13864 ], "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": [ 13864, 14154 ], "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": [ 14154, 14556 ], "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": [ 14556, 15115 ], "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": [ 15115, 15892 ], "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": [ 15892, 16090 ], "skill_idxes": [ 61 ] } ] }