{ "task_name": "canning food", "data_folder": "", "meta_data": { "task_duration": 38487, "valid_duration": [ 99, 38586 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 99, 513 ], "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": [ 513, 1023 ], "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": [ 1023, 1389 ], "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": [ 1389, 1521 ], "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": [ 1521, 1806 ], "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": [ 1806, 2322 ], "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": [ 2322, 3066 ], "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": [ 3066, 4560 ], "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": [ [ "", "high_level" ] ], "frame_duration": [ 4560, 5790 ], "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": [ 5790, 7524 ], "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": [ 7524, 9462 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "cutting_board_208" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9462, 9789 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "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": [ 9789, 10302 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "pineapple_211", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "pineapple_211" ], "spatial_prefix": [], "frame_duration": [ 10302, 10650 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "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": [ 10650, 11085 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_207", "steak_212" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 11085, 11331 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "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": [ 11331, 11403 ], "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": [ 11403, 11487 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "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": [ 11487, 11766 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11766, 12564 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 20, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 12564, 13947 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 21, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_209", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_209" ], "spatial_prefix": [ [ "", "layer_4" ] ], "frame_duration": [ 13947, 14868 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 14868, 16283 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_lower_door" ] ], "frame_duration": [ 16283, 17643 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_210", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_210" ], "spatial_prefix": [ [ "", "high_level" ] ], "frame_duration": [ 17643, 18468 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_lower_door" ] ], "frame_duration": [ 18468, 20874 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "countertop_kelzer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 20874, 21609 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 27, "skill_id": [ 91 ], "skill_description": [ "place on next to" ], "object_id": [ [ "bowl_210", "countertop_kelzer_0", "drop_in_sink_awvzkn_0" ] ], "manipulating_object_id": [ "bowl_210" ], "spatial_prefix": [ [ "", "", "right" ] ], "frame_duration": [ 21609, 22023 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 28, "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": [ 22023, 22587 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "cutting_board_208" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 22587, 22662 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 30, "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": [ 22668, 23052 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 31, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "diced__steak" ], "cutting_board_208", "bowl_209" ] ], "manipulating_object_id": [ "cutting_board_208" ], "spatial_prefix": [], "frame_duration": [ 23052, 23478 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "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": [ 23478, 23688 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 33, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_209" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 23688, 23742 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 34, "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": [ 23742, 24321 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 35, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 24321, 25284 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 36, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 25284, 26859 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 37, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bowl_209", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_209" ], "spatial_prefix": [ [ "", "layer_4" ] ], "frame_duration": [ 26859, 27321 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 38, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pineapple_211" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 27321, 28011 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 39, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pineapple_211", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "pineapple_211" ], "spatial_prefix": [], "frame_duration": [ 28011, 28443 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 40, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "cutting_board_208" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 28443, 28485 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 41, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "pineapple_211", "cutting_board_208" ] ], "manipulating_object_id": [ "pineapple_211" ], "spatial_prefix": [], "frame_duration": [ 28485, 28926 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 42, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 28926, 28977 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 43, "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": [ 28977, 29154 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 44, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_207", "pineapple_211" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 29154, 29400 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 45, "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": [ 29400, 29766 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 46, "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": [ 29766, 30000 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 47, "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": [ 30000, 30270 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 48, "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": [ 30270, 30636 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 49, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_210", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "bowl_210" ], "spatial_prefix": [], "frame_duration": [ 30636, 30870 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 50, "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": [ 30870, 31536 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 51, "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": [ 31536, 32109 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 52, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "diced__pineapple" ], "cutting_board_208", "bowl_210" ] ], "manipulating_object_id": [ "cutting_board_208" ], "spatial_prefix": [], "frame_duration": [ 32109, 33162 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 53, "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": [ 33162, 33375 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 54, "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": [ 33375, 33477 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 55, "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": [ 33477, 33732 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 56, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 33732, 33765 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 57, "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": [ 33765, 33957 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 58, "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": [ 33957, 34182 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 59, "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": [ 34182, 34554 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 60, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "cutting_board_208" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 34554, 34608 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 61, "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": [ 34608, 35094 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 62, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "diced__pineapple" ], "cutting_board_208", "bowl_210" ] ], "manipulating_object_id": [ "cutting_board_208" ], "spatial_prefix": [], "frame_duration": [ 35094, 35391 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 63, "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": [ 35391, 35703 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 64, "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": [ 35703, 36285 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 65, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 36285, 37023 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 66, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bowl_210", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_210" ], "spatial_prefix": [ [ "", "layer_3" ] ], "frame_duration": [ 37023, 37686 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 67, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 37686, 38586 ], "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": [ 99, 2322 ], "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": [ 2322, 4560 ], "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": [ [ [], [ "high_level", "low_level" ] ] ], "frame_duration": [ 4560, 7524 ], "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": [ 7524, 9462 ], "skill_idxes": [ 10 ] }, { "primitive_idx": 4, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ [ "steak_212", "pineapple_211" ], [ "cutting_board_208", "countertop_kelzer_0" ] ] ], "manipulating_object_id": [ [ "steak_212", "pineapple_211" ] ], "spatial_prefix": [], "frame_duration": [ 9462, 10650 ], "skill_idxes": [ 11, 12, 13 ] }, { "primitive_idx": 5, "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": [ 10650, 11766 ], "skill_idxes": [ 14, 15, 16, 17, 18 ] }, { "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": [ 11766, 13947 ], "skill_idxes": [ 19, 20 ] }, { "primitive_idx": 7, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "bowl_209", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_209" ], "spatial_prefix": [ [ [], [ "layer_4" ] ] ], "frame_duration": [ 13947, 14868 ], "skill_idxes": [ 21 ] }, { "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": [ 14868, 16283 ], "skill_idxes": [ 22 ] }, { "primitive_idx": 9, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_lower_door" ] ] ], "frame_duration": [ 16283, 17643 ], "skill_idxes": [ 23 ] }, { "primitive_idx": 10, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "bowl_210", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_210" ], "spatial_prefix": [ [ [], [ "high_level" ] ] ], "frame_duration": [ 17643, 18468 ], "skill_idxes": [ 24 ] }, { "primitive_idx": 11, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_lower_door" ] ] ], "frame_duration": [ 18468, 20874 ], "skill_idxes": [ 25 ] }, { "primitive_idx": 12, "primitive_id": [ 91, 4 ], "primitive_description": [ "place on next to", "place in" ], "object_id": [ [ "bowl_210", "countertop_kelzer_0", "drop_in_sink_awvzkn_0" ], [ "bowl_209", "drop_in_sink_awvzkn_0" ] ], "manipulating_object_id": [ "bowl_210", "bowl_209" ], "spatial_prefix": [ [ [], [], [ "right" ] ], [] ], "frame_duration": [ 20874, 22587 ], "skill_idxes": [ 26, 27, 28 ] }, { "primitive_idx": 13, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "diced__steak" ], "cutting_board_208", "bowl_209" ] ], "manipulating_object_id": [ "cutting_board_208" ], "spatial_prefix": [], "frame_duration": [ 22587, 23688 ], "skill_idxes": [ 29, 30, 31, 32 ] }, { "primitive_idx": 14, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "bowl_209", "drop_in_sink_awvzkn_0" ] ], "manipulating_object_id": [ "bowl_209" ], "spatial_prefix": [], "frame_duration": [ 23688, 24321 ], "skill_idxes": [ 33, 34 ] }, { "primitive_idx": 15, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 24321, 26859 ], "skill_idxes": [ 35, 36 ] }, { "primitive_idx": 16, "primitive_id": [ 4 ], "primitive_description": [ "place in" ], "object_id": [ [ "bowl_209", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_209" ], "spatial_prefix": [ [ [], [ "layer_4" ] ] ], "frame_duration": [ 26859, 27321 ], "skill_idxes": [ 37 ] }, { "primitive_idx": 17, "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": [ 27321, 28926 ], "skill_idxes": [ 38, 39, 40, 41 ] }, { "primitive_idx": 18, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "carving_knife_207", "pineapple_211" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 28926, 29400 ], "skill_idxes": [ 42, 43, 44 ] }, { "primitive_idx": 19, "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": [ 29400, 30000 ], "skill_idxes": [ 45, 46 ] }, { "primitive_idx": 20, "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": [ 30000, 30636 ], "skill_idxes": [ 47, 48 ] }, { "primitive_idx": 21, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "bowl_210", "countertop_kelzer_0" ], [ "bowl_210", "drop_in_sink_awvzkn_0" ] ], "manipulating_object_id": [ "bowl_210", "bowl_210" ], "spatial_prefix": [], "frame_duration": [ 30636, 31536 ], "skill_idxes": [ 49, 50 ] }, { "primitive_idx": 22, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "diced__pineapple" ], "cutting_board_208", "bowl_210" ] ], "manipulating_object_id": [ "cutting_board_208" ], "spatial_prefix": [], "frame_duration": [ 31536, 33375 ], "skill_idxes": [ 51, 52, 53 ] }, { "primitive_idx": 23, "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": [ 33375, 33732 ], "skill_idxes": [ 54, 55 ] }, { "primitive_idx": 24, "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": [ 33732, 34554 ], "skill_idxes": [ 56, 57, 58, 59 ] }, { "primitive_idx": 25, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "diced__pineapple" ], "cutting_board_208", "bowl_210" ] ], "manipulating_object_id": [ "cutting_board_208" ], "spatial_prefix": [], "frame_duration": [ 34554, 35703 ], "skill_idxes": [ 60, 61, 62, 63 ] }, { "primitive_idx": 26, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "bowl_210", "drop_in_sink_awvzkn_0" ], [ "bowl_210", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_210", "bowl_210" ], "spatial_prefix": [ [], [ [], [ "layer_3" ] ] ], "frame_duration": [ 35703, 37686 ], "skill_idxes": [ 64, 65, 66 ] }, { "primitive_idx": 27, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 37686, 38586 ], "skill_idxes": [ 67 ] } ] }