{ "task_name": "canning food", "data_folder": "", "meta_data": { "task_duration": 16122, "valid_duration": [ 90, 16212 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 90, 439 ], "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": [ 439, 895 ], "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": [ 895, 1354 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 3, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "countertop_kelzer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1354, 1419 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 4, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "carving_knife_207", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 1419, 1636 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 5, "skill_id": [ 91 ], "skill_description": [ "place on next to" ], "object_id": [ [ "cutting_board_208", "drop_in_sink_awvzkn_0", "carving_knife_207" ] ], "manipulating_object_id": [ "cutting_board_208" ], "spatial_prefix": [ [ "", "", "left" ] ], "frame_duration": [ 1636, 1999 ], "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": [ 1999, 2444 ], "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": [ 2444, 3171 ], "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": [ 3171, 3617 ], "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": [ 3617, 4269 ], "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": [ 4269, 5065 ], "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": [ 5065, 5172 ], "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": [ 5172, 5343 ], "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": [ 5343, 5543 ], "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": [ 5543, 5738 ], "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": [ 5738, 5850 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "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": [ 5850, 5910 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "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": [ 5910, 5959 ], "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": [ 5959, 6060 ], "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": [ 6060, 6320 ], "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": [ 6320, 6708 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 21, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_210", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_210" ], "spatial_prefix": [ [ "", "layer_2" ] ], "frame_duration": [ 6708, 7081 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "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": [ 7081, 7553 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 7553, 7825 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "countertop_kelzer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7825, 8121 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 25, "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": [ 8121, 8351 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "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": [ 8351, 8506 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "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": [ 8506, 8782 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 28, "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": [ 8782, 8959 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "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": [ 8959, 9034 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "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": [ 9034, 9385 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 31, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9385, 9762 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 32, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 9762, 10359 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 33, "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": [ 10359, 10798 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 34, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pineapple_211" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10798, 10836 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 35, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pineapple_211", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "pineapple_211" ], "spatial_prefix": [], "frame_duration": [ 10836, 11092 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 36, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "pineapple_211", "cutting_board_208" ] ], "manipulating_object_id": [ "pineapple_211" ], "spatial_prefix": [], "frame_duration": [ 11092, 11334 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 37, "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": [ 11334, 11563 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 38, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_207", "pineapple_211" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 11563, 11656 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 39, "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": [ 11656, 11877 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 40, "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": [ 11877, 11977 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 41, "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": [ 11977, 12154 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 42, "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": [ 12154, 12288 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 43, "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": [ 12288, 12461 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 44, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_209", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "bowl_209" ], "spatial_prefix": [], "frame_duration": [ 12461, 12600 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 45, "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": [ 12600, 12736 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 46, "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": [ 12736, 13135 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 47, "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": [ 13135, 13913 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 48, "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": [ 13913, 14002 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 49, "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": [ 14002, 14124 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 50, "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": [ 14124, 14275 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 51, "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": [ 14275, 14437 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 52, "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": [ 14437, 14533 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 53, "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": [ 14533, 14674 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 54, "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": [ 14674, 14908 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 55, "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": [ 14908, 15023 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 56, "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": [ 15023, 15107 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 57, "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": [ 15107, 15436 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 58, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 15436, 15747 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 59, "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": [ 15747, 16085 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 60, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 16085, 16212 ], "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" ] ], [ "carving_knife_207", "countertop_kelzer_0" ], [ "cutting_board_208", "drop_in_sink_awvzkn_0", "carving_knife_207" ] ], "manipulating_object_id": [ [ "carving_knife_207", "cutting_board_208" ], "carving_knife_207", "cutting_board_208" ], "spatial_prefix": [ [], [], [ [], [], [ "left" ] ] ], "frame_duration": [ 90, 1999 ], "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": [ 1999, 3171 ], "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": [ 3171, 4269 ], "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": [ 4269, 5065 ], "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": [ 5065, 5543 ], "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": [ 5543, 6060 ], "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": [ 6060, 6708 ], "skill_idxes": [ 19, 20 ] }, { "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_2", "layer_4" ] ] ], "frame_duration": [ 6708, 7553 ], "skill_idxes": [ 21, 22 ] }, { "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": [ 7553, 7825 ], "skill_idxes": [ 23 ] }, { "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": [ 7825, 8506 ], "skill_idxes": [ 24, 25, 26 ] }, { "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": [ 8506, 9034 ], "skill_idxes": [ 27, 28, 29 ] }, { "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": [ 9034, 9385 ], "skill_idxes": [ 30 ] }, { "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": [ 9385, 10359 ], "skill_idxes": [ 31, 32 ] }, { "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": [ 10359, 10798 ], "skill_idxes": [ 33 ] }, { "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": [ 10798, 11334 ], "skill_idxes": [ 34, 35, 36 ] }, { "primitive_idx": 15, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "carving_knife_207", "pineapple_211" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 11334, 11656 ], "skill_idxes": [ 37, 38 ] }, { "primitive_idx": 16, "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": [ 11656, 11977 ], "skill_idxes": [ 39, 40 ] }, { "primitive_idx": 17, "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": [ 11977, 12461 ], "skill_idxes": [ 41, 42, 43 ] }, { "primitive_idx": 18, "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": [ 12461, 12736 ], "skill_idxes": [ 44, 45 ] }, { "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": [ 12736, 14002 ], "skill_idxes": [ 46, 47, 48 ] }, { "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": [ 14002, 14275 ], "skill_idxes": [ 49, 50 ] }, { "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": [ 14275, 14674 ], "skill_idxes": [ 51, 52, 53 ] }, { "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": [ 14674, 15107 ], "skill_idxes": [ 54, 55, 56 ] }, { "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": [ 15107, 16085 ], "skill_idxes": [ 57, 58, 59 ] }, { "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": [ 16085, 16212 ], "skill_idxes": [ 60 ] } ] }