{ "task_name": "canning food", "data_folder": "", "meta_data": { "task_duration": 18741, "valid_duration": [ 27, 18768 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 27, 417 ], "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": [ 417, 754 ], "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": [ 754, 1479 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 3, "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": [ 1479, 1713 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "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": [ 1713, 1922 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 5, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1922, 2328 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 6, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2328, 2991 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 7, "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": [ 2991, 3447 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "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": [ 3447, 4023 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4023, 4924 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "countertop_kelzer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4924, 5203 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 11, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "pineapple_211", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "pineapple_211" ], "spatial_prefix": [], "frame_duration": [ 5203, 5533 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "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": [ 5533, 5700 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5700, 6021 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 14, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 6021, 6831 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 15, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_210", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bowl_210" ], "spatial_prefix": [ [ "", "layer_4" ] ], "frame_duration": [ 6831, 7158 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "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": [ 7158, 7885 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 7885, 8763 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "drop_in_sink_awvzkn_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8763, 8979 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 19, "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": [ 8979, 9201 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "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": [ 9201, 9474 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 21, "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": [ 9474, 9627 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_207", "steak_212" ] ], "manipulating_object_id": [ "carving_knife_207" ], "spatial_prefix": [], "frame_duration": [ 9627, 9753 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "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": [ 9753, 9831 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "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": [ 9831, 9888 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "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": [ 9888, 10089 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "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": [ 10089, 10491 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "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": [ 10491, 10698 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 28, "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": [ 10698, 10833 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "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": [ 10833, 11112 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11112, 11468 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 31, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 11468, 12147 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "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": [ 12147, 12594 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 33, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pineapple_211" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12594, 12843 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 34, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pineapple_211", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "pineapple_211" ], "spatial_prefix": [], "frame_duration": [ 12843, 13128 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 35, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "cutting_board_208" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13128, 13176 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "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": [ 13176, 13414 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 37, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_209", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "bowl_209" ], "spatial_prefix": [], "frame_duration": [ 13414, 13677 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 38, "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": [ 13677, 13789 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 39, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13789, 13867 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "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": [ 13867, 14012 ], "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": [ 14012, 14114 ], "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": [ 14114, 14335 ], "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": [ 14335, 14417 ], "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": [ 14417, 14599 ], "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": [ 14599, 14856 ], "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": [ 14856, 15017 ], "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": [ 15017, 15483 ], "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": [ 15483, 15953 ], "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": [ 15953, 16022 ], "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": [ 16022, 16238 ], "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": [ 16238, 16356 ], "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": [ 16356, 16629 ], "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": [ 16629, 16737 ], "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": [ 16737, 16986 ], "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": [ 16986, 17296 ], "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": [ 17287, 17478 ], "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": [ 17478, 17581 ], "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": [ 17581, 17942 ], "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": [ 17942, 18264 ], "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": [ 18264, 18453 ], "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": [ 18453, 18768 ], "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": [ 27, 1922 ], "skill_idxes": [ 0, 1, 2, 3, 4 ] }, { "primitive_idx": 1, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1922, 2991 ], "skill_idxes": [ 5, 6 ] }, { "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": [ 2991, 4023 ], "skill_idxes": [ 7, 8 ] }, { "primitive_idx": 3, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4023, 4924 ], "skill_idxes": [ 9 ] }, { "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": [ 4924, 5700 ], "skill_idxes": [ 10, 11, 12 ] }, { "primitive_idx": 5, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 5700, 6831 ], "skill_idxes": [ 13, 14 ] }, { "primitive_idx": 6, "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_4", "layer_5" ] ] ], "frame_duration": [ 6831, 7885 ], "skill_idxes": [ 15, 16 ] }, { "primitive_idx": 7, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 7885, 8763 ], "skill_idxes": [ 17 ] }, { "primitive_idx": 8, "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": [ 8763, 9474 ], "skill_idxes": [ 18, 19, 20 ] }, { "primitive_idx": 9, "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": [ 9474, 10089 ], "skill_idxes": [ 21, 22, 23, 24, 25 ] }, { "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": [ 10089, 10833 ], "skill_idxes": [ 26, 27, 28 ] }, { "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": [ 10833, 11112 ], "skill_idxes": [ 29 ] }, { "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": [ 11112, 12147 ], "skill_idxes": [ 30, 31 ] }, { "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": [ 12147, 12594 ], "skill_idxes": [ 32 ] }, { "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": [ 12594, 13414 ], "skill_idxes": [ 33, 34, 35, 36 ] }, { "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": [ 13414, 13789 ], "skill_idxes": [ 37, 38 ] }, { "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": [ 13789, 14114 ], "skill_idxes": [ 39, 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": [ 14114, 14417 ], "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": [ 14417, 15017 ], "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": [ 15017, 16022 ], "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": [ 16022, 16356 ], "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": [ 16356, 16986 ], "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": [ 16986, 17581 ], "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": [ 17581, 18453 ], "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": [ 18453, 18768 ], "skill_idxes": [ 61 ] } ] }