| { | |
| "task_name": "make pizza", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 24518, | |
| "valid_duration": [ | |
| 13, | |
| 24531 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13, | |
| 245 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "baking_sheet_79" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 245, | |
| 918 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 91 | |
| ], | |
| "skill_description": [ | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79", | |
| "bar_egwapq_0", | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "baking_sheet_79" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "left" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 918, | |
| 1387 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1387, | |
| 1639 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1639, | |
| 1902 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 91 | |
| ], | |
| "skill_description": [ | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "bar_egwapq_0", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1902, | |
| 2116 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2116, | |
| 2419 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 2419, | |
| 2814 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "vidalia_onion_80" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2814, | |
| 2895 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "vidalia_onion_80", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "vidalia_onion_80" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2895, | |
| 3370 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3370, | |
| 3465 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chopping_board_78", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3465, | |
| 4044 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 91 | |
| ], | |
| "skill_description": [ | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chopping_board_78", | |
| "bar_egwapq_0", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4044, | |
| 4657 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "vidalia_onion_80", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "vidalia_onion_80" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4657, | |
| 5079 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5079, | |
| 5352 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "vidalia_onion_80" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5352, | |
| 5484 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "half_vidalia_onion_80_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5484, | |
| 5599 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "half_vidalia_onion_80_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5599, | |
| 5676 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 91 | |
| ], | |
| "skill_description": [ | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "bar_egwapq_0", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5676, | |
| 5787 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chopping_board_78", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5787, | |
| 6084 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "diced__vidalia_onion" | |
| ], | |
| "chopping_board_78", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6084, | |
| 6275 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 91 | |
| ], | |
| "skill_description": [ | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chopping_board_78", | |
| "bar_egwapq_0", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6275, | |
| 6585 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6585, | |
| 7021 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7021, | |
| 8340 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74", | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_4" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 8340, | |
| 8998 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75", | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_5" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 8998, | |
| 9774 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9774, | |
| 9980 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "skill_id": [ | |
| 91 | |
| ], | |
| "skill_description": [ | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75", | |
| "drop_in_sink_lkklqs_0", | |
| "baking_sheet_79" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "left" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 9980, | |
| 10423 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "mushroom_81", | |
| "mushroom_82" | |
| ], | |
| "tupperware_74", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10423, | |
| 10764 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74", | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10764, | |
| 11215 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11215, | |
| 11543 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 11543, | |
| 12120 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12120, | |
| 13875 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_4" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 13875, | |
| 14562 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 14562, | |
| 15507 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 35, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15507, | |
| 15913 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 36, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "pepperoni_83", | |
| "pepperoni_84", | |
| "pepperoni_85", | |
| "pepperoni_86" | |
| ], | |
| "tupperware_73", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15913, | |
| 16281 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 37, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16281, | |
| 16536 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 38, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16536, | |
| 16692 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 39, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "mushroom_81" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16692, | |
| 16831 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 40, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "mushroom_82" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16831, | |
| 16926 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 41, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16926, | |
| 17018 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 42, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chopping_board_78", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17018, | |
| 17257 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 43, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "half_mushroom_81_0", | |
| "half_mushroom_81_1", | |
| "half_mushroom_82_0", | |
| "half_mushroom_82_1" | |
| ], | |
| "chopping_board_78", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17257, | |
| 17412 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 44, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chopping_board_78", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17412, | |
| 17568 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 45, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17568, | |
| 17760 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 46, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17760, | |
| 17946 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 47, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "half_mushroom_81_0", | |
| "half_mushroom_81_1", | |
| "half_mushroom_82_0", | |
| "half_mushroom_82_1", | |
| "pepperoni_83", | |
| "pepperoni_84", | |
| "pepperoni_85", | |
| "pepperoni_86", | |
| "diced__vidalia_onion" | |
| ], | |
| "bowl_76", | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17946, | |
| 18107 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 48, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18107, | |
| 18274 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 49, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18274, | |
| 18342 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 50, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75", | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18342, | |
| 18493 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 51, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18493, | |
| 18601 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 52, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "grated_cheese" | |
| ], | |
| "tupperware_75", | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18601, | |
| 18883 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 53, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75", | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18883, | |
| 19245 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 54, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 19245, | |
| 19453 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 55, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 19453, | |
| 20016 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 56, | |
| "skill_id": [ | |
| 101 | |
| ], | |
| "skill_description": [ | |
| "pull tray" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "oven_ffitak_0" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 20016, | |
| 21111 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 57, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "baking_sheet_79" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 21111, | |
| 21670 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 58, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 21670, | |
| 21791 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 59, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79", | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "baking_sheet_79" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 21791, | |
| 22389 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 60, | |
| "skill_id": [ | |
| 100 | |
| ], | |
| "skill_description": [ | |
| "push tray" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "oven_ffitak_0" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 22389, | |
| 22708 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 61, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 22708, | |
| 23411 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 62, | |
| "skill_id": [ | |
| 69 | |
| ], | |
| "skill_description": [ | |
| "turn on switch" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "oven_ffitak_0" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 23411, | |
| 23703 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 63, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 23703, | |
| 24531 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 2, | |
| 91 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79", | |
| "bar_egwapq_0" | |
| ], | |
| [ | |
| "baking_sheet_79", | |
| "bar_egwapq_0", | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "baking_sheet_79", | |
| "baking_sheet_79" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [], | |
| [ | |
| "left" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 13, | |
| 1387 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2, | |
| 91 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "bar_egwapq_0" | |
| ], | |
| [ | |
| "carving_knife_77", | |
| "bar_egwapq_0", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77", | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [], | |
| [ | |
| "right" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1387, | |
| 2116 | |
| ], | |
| "skill_idxes": [ | |
| 3, | |
| 4, | |
| 5 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0" | |
| ], | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76", | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "to_the_edge_of" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 2116, | |
| 2814 | |
| ], | |
| "skill_idxes": [ | |
| 6, | |
| 7 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 2 | |
| ], | |
| "primitive_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "vidalia_onion_80", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "vidalia_onion_80" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2814, | |
| 3370 | |
| ], | |
| "skill_idxes": [ | |
| 8, | |
| 9 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 2, | |
| 91 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chopping_board_78", | |
| "bar_egwapq_0" | |
| ], | |
| [ | |
| "chopping_board_78", | |
| "bar_egwapq_0", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78", | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [], | |
| [ | |
| "right" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 3370, | |
| 4657 | |
| ], | |
| "skill_idxes": [ | |
| 10, | |
| 11, | |
| 12 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "vidalia_onion_80", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "vidalia_onion_80" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4657, | |
| 5079 | |
| ], | |
| "skill_idxes": [ | |
| 13 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 6, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| [ | |
| "vidalia_onion_80", | |
| "half_vidalia_onion_80_0", | |
| "half_vidalia_onion_80_1" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5079, | |
| 5787 | |
| ], | |
| "skill_idxes": [ | |
| 14, | |
| 15, | |
| 16, | |
| 17, | |
| 18 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 7, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "diced__vidalia_onion" | |
| ], | |
| "chopping_board_78", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5787, | |
| 6585 | |
| ], | |
| "skill_idxes": [ | |
| 19, | |
| 20, | |
| 21 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 8, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6585, | |
| 8340 | |
| ], | |
| "skill_idxes": [ | |
| 22, | |
| 23 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 9, | |
| "primitive_id": [ | |
| 2, | |
| 91, | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on next to", | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "tupperware_74", | |
| "tupperware_75" | |
| ], | |
| "fridge_petcxr_0" | |
| ], | |
| [ | |
| "tupperware_75", | |
| "drop_in_sink_lkklqs_0", | |
| "baking_sheet_79" | |
| ], | |
| [ | |
| [ | |
| "mushroom_81", | |
| "mushroom_82" | |
| ], | |
| "tupperware_74", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "tupperware_74", | |
| "tupperware_75" | |
| ], | |
| "tupperware_75", | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "layer_4", | |
| "layer_5" | |
| ] | |
| ], | |
| [ | |
| [], | |
| [], | |
| [ | |
| "left" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 8340, | |
| 11215 | |
| ], | |
| "skill_idxes": [ | |
| 24, | |
| 25, | |
| 26, | |
| 27, | |
| 28, | |
| 29 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 10, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 11215, | |
| 12120 | |
| ], | |
| "skill_idxes": [ | |
| 30, | |
| 31 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 11, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12120, | |
| 13875 | |
| ], | |
| "skill_idxes": [ | |
| 32 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 12, | |
| "primitive_id": [ | |
| 2 | |
| ], | |
| "primitive_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "layer_4" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 13875, | |
| 14562 | |
| ], | |
| "skill_idxes": [ | |
| 33 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 13, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 14562, | |
| 15507 | |
| ], | |
| "skill_idxes": [ | |
| 34 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 14, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "pepperoni_83", | |
| "pepperoni_84", | |
| "pepperoni_85", | |
| "pepperoni_86" | |
| ], | |
| "tupperware_73", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15507, | |
| 16536 | |
| ], | |
| "skill_idxes": [ | |
| 35, | |
| 36, | |
| 37 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 15, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| [ | |
| "mushroom_81", | |
| "mushroom_82" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16536, | |
| 17018 | |
| ], | |
| "skill_idxes": [ | |
| 38, | |
| 39, | |
| 40, | |
| 41 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 16, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "half_mushroom_81_0", | |
| "half_mushroom_81_1", | |
| "half_mushroom_82_0", | |
| "half_mushroom_82_1" | |
| ], | |
| "chopping_board_78", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17018, | |
| 17568 | |
| ], | |
| "skill_idxes": [ | |
| 42, | |
| 43, | |
| 44 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 17, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "half_mushroom_81_0", | |
| "half_mushroom_81_1", | |
| "half_mushroom_82_0", | |
| "half_mushroom_82_1", | |
| "pepperoni_83", | |
| "pepperoni_84", | |
| "pepperoni_85", | |
| "pepperoni_86", | |
| "diced__vidalia_onion" | |
| ], | |
| "bowl_76", | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17568, | |
| 18342 | |
| ], | |
| "skill_idxes": [ | |
| 45, | |
| 46, | |
| 47, | |
| 48, | |
| 49 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 18, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "grated_cheese" | |
| ], | |
| "tupperware_75", | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18342, | |
| 19245 | |
| ], | |
| "skill_idxes": [ | |
| 50, | |
| 51, | |
| 52, | |
| 53 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 19, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 19245, | |
| 21111 | |
| ], | |
| "skill_idxes": [ | |
| 54, | |
| 55, | |
| 56 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 20, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79", | |
| "bar_egwapq_0" | |
| ], | |
| [ | |
| "baking_sheet_79", | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "baking_sheet_79", | |
| "baking_sheet_79" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "high_level" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 21111, | |
| 22708 | |
| ], | |
| "skill_idxes": [ | |
| 57, | |
| 58, | |
| 59, | |
| 60 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 21, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 22708, | |
| 23411 | |
| ], | |
| "skill_idxes": [ | |
| 61 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 22, | |
| "primitive_id": [ | |
| 69 | |
| ], | |
| "primitive_description": [ | |
| "turn on switch" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "oven_ffitak_0" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 23411, | |
| 23703 | |
| ], | |
| "skill_idxes": [ | |
| 62 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 23, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 23703, | |
| 24531 | |
| ], | |
| "skill_idxes": [ | |
| 63 | |
| ] | |
| } | |
| ] | |
| } |