{ "task_name": "canning food", "data_folder": "", "meta_data": { "task_duration": 16716, "valid_duration": [ 24, 16740 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 24, 75 ], "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": [ 75, 579 ], "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": [ 579, 798 ], "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": [ 798, 903 ], "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": [ 903, 987 ], "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": [ 987, 1149 ], "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": [ 1149, 1488 ], "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": [ 1488, 2160 ], "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": [ 2160, 3072 ], "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": [ [ "", "high_level" ] ], "frame_duration": [ 3072, 3570 ], "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": [ 3570, 4419 ], "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": [ 4419, 4500 ], "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": [ 4500, 4716 ], "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": [ 4716, 4980 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4980, 5325 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 15, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 5325, 5985 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 16, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_210", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_210" ], "spatial_prefix": [ [ "", "layer_5" ] ], "frame_duration": [ 5985, 6495 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_209", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_209" ], "spatial_prefix": [ [ "", "layer_3" ] ], "frame_duration": [ 6495, 6801 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 6801, 7557 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "drop_in_sink_awvzkn_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7557, 7878 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 20, "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": [ 7878, 8265 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 21, "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": [ 8265, 8415 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8415, 8457 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 23, "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": [ 8457, 8676 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_207", "steak_212" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 8676, 8847 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "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": [ 8847, 8919 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "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": [ 8919, 9051 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "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": [ 9051, 9204 ], "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": [ 9204, 9543 ], "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": [ 9543, 9753 ], "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": [ 9753, 9858 ], "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": [ 9858, 10197 ], "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": [ 10197, 10551 ], "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": [ 10551, 11112 ], "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": [ 11112, 11409 ], "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": [ 11409, 11592 ], "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": [ 11592, 11802 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 37, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "cutting_board_208" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11802, 11883 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 38, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "pineapple_211", "cutting_board_208" ] ], "manipulating_object_id": [ "pineapple_211" ], "spatial_prefix": [], "frame_duration": [ 11883, 11955 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 39, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_209", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "bowl_209" ], "spatial_prefix": [], "frame_duration": [ 11955, 12219 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 40, "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": [ 12219, 12381 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 41, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12381, 12495 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 42, "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": [ 12495, 12675 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 43, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_207", "pineapple_211" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 12675, 12807 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 44, "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": [ 12807, 13008 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 45, "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": [ 13008, 13086 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 46, "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": [ 13086, 13698 ], "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": [ 13698, 13800 ], "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": [ 13800, 13893 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 49, "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": [ 13893, 14169 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 50, "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": [ 14169, 14553 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 51, "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": [ 14553, 14625 ], "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": [ 14625, 14799 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 53, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "half_pineapple_211_1" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 14799, 14823 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "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": [ 14823, 15003 ], "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": [ 15003, 15108 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 56, "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": [ 15108, 15197 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 57, "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": [ 15197, 15291 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 58, "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": [ 15291, 15417 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 59, "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": [ 15417, 15567 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 60, "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": [ 15567, 15630 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 61, "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": [ 15630, 15788 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 62, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 15788, 16206 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 63, "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": [ 16206, 16437 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 64, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 16437, 16740 ], "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": [ 24, 1149 ], "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": [ 1149, 2160 ], "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", "high_level" ] ] ], "frame_duration": [ 2160, 3570 ], "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": [ 3570, 4419 ], "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": [ 4419, 4980 ], "skill_idxes": [ 11, 12, 13 ] }, { "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": [ 4980, 5985 ], "skill_idxes": [ 14, 15 ] }, { "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_5", "layer_3" ] ] ], "frame_duration": [ 5985, 6801 ], "skill_idxes": [ 16, 17 ] }, { "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": [ 6801, 7557 ], "skill_idxes": [ 18 ] }, { "primitive_idx": 9, "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": [ 7557, 8415 ], "skill_idxes": [ 19, 20, 21 ] }, { "primitive_idx": 10, "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": [ 8415, 9204 ], "skill_idxes": [ 22, 23, 24, 25, 26, 27 ] }, { "primitive_idx": 11, "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": [ 9204, 9858 ], "skill_idxes": [ 28, 29, 30 ] }, { "primitive_idx": 12, "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": [ 9858, 10197 ], "skill_idxes": [ 31 ] }, { "primitive_idx": 13, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 10197, 11112 ], "skill_idxes": [ 32, 33 ] }, { "primitive_idx": 14, "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": [ 11112, 11409 ], "skill_idxes": [ 34 ] }, { "primitive_idx": 15, "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": [ 11409, 11955 ], "skill_idxes": [ 35, 36, 37, 38 ] }, { "primitive_idx": 16, "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": [ 11955, 12381 ], "skill_idxes": [ 39, 40 ] }, { "primitive_idx": 17, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "carving_knife_207", "pineapple_211" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 12381, 12807 ], "skill_idxes": [ 41, 42, 43 ] }, { "primitive_idx": 18, "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": [ 12807, 13086 ], "skill_idxes": [ 44, 45 ] }, { "primitive_idx": 19, "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": [ 13086, 13893 ], "skill_idxes": [ 46, 47, 48 ] }, { "primitive_idx": 20, "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": [ 13893, 14625 ], "skill_idxes": [ 49, 50, 51 ] }, { "primitive_idx": 21, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "carving_knife_207", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 14625, 14799 ], "skill_idxes": [ 52 ] }, { "primitive_idx": 22, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ "half_pineapple_211_1", "cutting_board_208" ] ], "manipulating_object_id": [ "half_pineapple_211_1" ], "spatial_prefix": [], "frame_duration": [ 14799, 15108 ], "skill_idxes": [ 53, 54, 55 ] }, { "primitive_idx": 23, "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": [ 15108, 15291 ], "skill_idxes": [ 56, 57 ] }, { "primitive_idx": 24, "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": [ 15291, 15630 ], "skill_idxes": [ 58, 59, 60 ] }, { "primitive_idx": 25, "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": [ 15630, 16437 ], "skill_idxes": [ 61, 62, 63 ] }, { "primitive_idx": 26, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 16437, 16740 ], "skill_idxes": [ 64 ] } ] }