| { | |
| "task_name": "make pizza", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 14028, | |
| "valid_duration": [ | |
| 9, | |
| 14037 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9, | |
| 396 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 396, | |
| 861 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "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": [ | |
| 861, | |
| 903 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "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": [ | |
| 918, | |
| 1149 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "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": [ | |
| 1149, | |
| 1461 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "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": [ | |
| 1461, | |
| 1755 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "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": [ | |
| 1755, | |
| 1848 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "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": [ | |
| 1848, | |
| 2042 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2042, | |
| 2193 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "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": [ | |
| 2193, | |
| 2283 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "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": [ | |
| 2283, | |
| 2541 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "vidalia_onion_80" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2541, | |
| 2592 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "vidalia_onion_80", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "vidalia_onion_80" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "center" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 2592, | |
| 2745 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "vidalia_onion_80" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2745, | |
| 2946 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "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": [ | |
| 2946, | |
| 3033 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_vidalia_onion_80_0", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "half_vidalia_onion_80_0" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "center" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 3033, | |
| 3168 | |
| ], | |
| "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": [ | |
| 3168, | |
| 3234 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "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": [ | |
| 3234, | |
| 3336 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "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": [ | |
| 3336, | |
| 3606 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "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": [ | |
| 3606, | |
| 3915 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "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": [ | |
| 3915, | |
| 4044 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4044, | |
| 4254 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4254, | |
| 4725 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_5" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4725, | |
| 5025 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5025, | |
| 5190 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "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": [ | |
| 5190, | |
| 5357 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5357, | |
| 5480 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5480, | |
| 5601 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5601, | |
| 5859 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5859, | |
| 6174 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6174, | |
| 6522 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "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": [ | |
| 6522, | |
| 6876 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74", | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_6" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6876, | |
| 7146 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7146, | |
| 7689 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7689, | |
| 7830 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 35, | |
| "skill_id": [ | |
| 91 | |
| ], | |
| "skill_description": [ | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75", | |
| "bar_egwapq_0", | |
| "baking_sheet_79" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "left" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7830, | |
| 8034 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 36, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8034, | |
| 8139 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 37, | |
| "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": [ | |
| 8139, | |
| 8295 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 38, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74", | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8295, | |
| 8562 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 39, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mushroom_81", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "mushroom_81" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "center" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 8562, | |
| 8835 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 40, | |
| "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": [ | |
| 8835, | |
| 8961 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 41, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "mushroom_82" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8961, | |
| 9111 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 42, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "mushroom_81" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9111, | |
| 9213 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 43, | |
| "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": [ | |
| 9213, | |
| 9291 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 44, | |
| "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": [ | |
| 9291, | |
| 9510 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 45, | |
| "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": [ | |
| 9510, | |
| 9762 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 46, | |
| "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": [ | |
| 9762, | |
| 9840 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 47, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9840, | |
| 9915 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 48, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9915, | |
| 10002 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 49, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10002, | |
| 10191 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 50, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "pepperoni_83", | |
| "pepperoni_84", | |
| "pepperoni_85", | |
| "pepperoni_86", | |
| "half_mushroom_81_0", | |
| "half_mushroom_81_1", | |
| "half_mushroom_82_0", | |
| "half_mushroom_82_1", | |
| "diced__vidalia_onion" | |
| ], | |
| "bowl_76", | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10191, | |
| 10323 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 51, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10323, | |
| 10392 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 52, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10392, | |
| 10458 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 53, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10458, | |
| 10575 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 54, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10575, | |
| 10632 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 55, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "grated_cheese" | |
| ], | |
| "tupperware_75", | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10632, | |
| 10785 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 56, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10788, | |
| 10953 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 57, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10953, | |
| 11475 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 58, | |
| "skill_id": [ | |
| 101 | |
| ], | |
| "skill_description": [ | |
| "pull tray" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "oven_ffitak_0" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 11475, | |
| 12306 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 59, | |
| "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": [ | |
| 12306, | |
| 12543 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 60, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12543, | |
| 12672 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 61, | |
| "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": [ | |
| 12672, | |
| 13062 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 62, | |
| "skill_id": [ | |
| 100 | |
| ], | |
| "skill_description": [ | |
| "push tray" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "oven_ffitak_0" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 13062, | |
| 13158 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 63, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13158, | |
| 13485 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 64, | |
| "skill_id": [ | |
| 69 | |
| ], | |
| "skill_description": [ | |
| "turn on switch" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "oven_ffitak_0" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13485, | |
| 13602 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 65, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13602, | |
| 14037 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "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": [ | |
| 9, | |
| 903 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "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": [ | |
| 918, | |
| 1149 | |
| ], | |
| "skill_idxes": [ | |
| 3 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "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": [ | |
| 1149, | |
| 1755 | |
| ], | |
| "skill_idxes": [ | |
| 4, | |
| 5 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "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": [ | |
| 1755, | |
| 1848 | |
| ], | |
| "skill_idxes": [ | |
| 6 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "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": [ | |
| 1848, | |
| 2283 | |
| ], | |
| "skill_idxes": [ | |
| 7, | |
| 8, | |
| 9 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| [ | |
| "vidalia_onion_80", | |
| "half_vidalia_onion_80_1", | |
| "half_vidalia_onion_80_0" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2283, | |
| 3336 | |
| ], | |
| "skill_idxes": [ | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16, | |
| 17 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 6, | |
| "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": [ | |
| 3336, | |
| 4044 | |
| ], | |
| "skill_idxes": [ | |
| 18, | |
| 19, | |
| 20 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 7, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4044, | |
| 4725 | |
| ], | |
| "skill_idxes": [ | |
| 21, | |
| 22 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 8, | |
| "primitive_id": [ | |
| 2, | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "fridge_petcxr_0" | |
| ], | |
| [ | |
| [ | |
| "pepperoni_83", | |
| "pepperoni_84", | |
| "pepperoni_85", | |
| "pepperoni_86" | |
| ], | |
| "tupperware_73", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73", | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "layer_5" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 4725, | |
| 5601 | |
| ], | |
| "skill_idxes": [ | |
| 23, | |
| 24, | |
| 25, | |
| 26, | |
| 27 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 9, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5601, | |
| 6174 | |
| ], | |
| "skill_idxes": [ | |
| 28, | |
| 29 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 10, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6174, | |
| 6522 | |
| ], | |
| "skill_idxes": [ | |
| 30 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 11, | |
| "primitive_id": [ | |
| 2 | |
| ], | |
| "primitive_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "tupperware_75", | |
| "tupperware_74" | |
| ], | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "tupperware_75", | |
| "tupperware_74" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "layer_5", | |
| "layer_6" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6522, | |
| 7146 | |
| ], | |
| "skill_idxes": [ | |
| 31, | |
| 32 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 12, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7146, | |
| 7689 | |
| ], | |
| "skill_idxes": [ | |
| 33 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 13, | |
| "primitive_id": [ | |
| 91, | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "place on next to", | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75", | |
| "bar_egwapq_0", | |
| "baking_sheet_79" | |
| ], | |
| [ | |
| [ | |
| "mushroom_81", | |
| "mushroom_82" | |
| ], | |
| "tupperware_74", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75", | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [], | |
| [ | |
| "left" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 7689, | |
| 8562 | |
| ], | |
| "skill_idxes": [ | |
| 34, | |
| 35, | |
| 36, | |
| 37, | |
| 38 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 14, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| [ | |
| "mushroom_82", | |
| "mushroom_81" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8562, | |
| 9291 | |
| ], | |
| "skill_idxes": [ | |
| 39, | |
| 40, | |
| 41, | |
| 42, | |
| 43 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 15, | |
| "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": [ | |
| 9291, | |
| 9840 | |
| ], | |
| "skill_idxes": [ | |
| 44, | |
| 45, | |
| 46 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 16, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "pepperoni_83", | |
| "pepperoni_84", | |
| "pepperoni_85", | |
| "pepperoni_86", | |
| "half_mushroom_81_0", | |
| "half_mushroom_81_1", | |
| "half_mushroom_82_0", | |
| "half_mushroom_82_1", | |
| "diced__vidalia_onion" | |
| ], | |
| "bowl_76", | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9840, | |
| 10458 | |
| ], | |
| "skill_idxes": [ | |
| 47, | |
| 48, | |
| 49, | |
| 50, | |
| 51, | |
| 52 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 17, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "grated_cheese" | |
| ], | |
| "tupperware_75", | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10458, | |
| 10953 | |
| ], | |
| "skill_idxes": [ | |
| 53, | |
| 54, | |
| 55, | |
| 56 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 18, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10953, | |
| 12306 | |
| ], | |
| "skill_idxes": [ | |
| 57, | |
| 58 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 19, | |
| "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": [ | |
| 12306, | |
| 13158 | |
| ], | |
| "skill_idxes": [ | |
| 59, | |
| 60, | |
| 61, | |
| 62 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 20, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13158, | |
| 13485 | |
| ], | |
| "skill_idxes": [ | |
| 63 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 21, | |
| "primitive_id": [ | |
| 69 | |
| ], | |
| "primitive_description": [ | |
| "turn on switch" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "oven_ffitak_0" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13485, | |
| 13602 | |
| ], | |
| "skill_idxes": [ | |
| 64 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 22, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13602, | |
| 14037 | |
| ], | |
| "skill_idxes": [ | |
| 65 | |
| ] | |
| } | |
| ] | |
| } |