| { | |
| "task_name": "make pizza", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 13155, | |
| "valid_duration": [ | |
| 15, | |
| 13170 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15, | |
| 201 | |
| ], | |
| "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": [ | |
| 201, | |
| 372 | |
| ], | |
| "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": [ | |
| 372, | |
| 480 | |
| ], | |
| "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": [ | |
| 480, | |
| 510 | |
| ], | |
| "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": [ | |
| 510, | |
| 794 | |
| ], | |
| "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", | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "left" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 894, | |
| 978 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 978, | |
| 1023 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 1023, | |
| 1131 | |
| ], | |
| "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": [ | |
| 1131, | |
| 1293 | |
| ], | |
| "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": [ | |
| 1293, | |
| 1344 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "vidalia_onion_80" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1344, | |
| 1575 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "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": [ | |
| 1575, | |
| 1710 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chopping_board_78", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1710, | |
| 2133 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "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": [ | |
| 2133, | |
| 2466 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2466, | |
| 2568 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "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": [ | |
| 2568, | |
| 2643 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "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": [ | |
| 2643, | |
| 2781 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2781, | |
| 2826 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "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": [ | |
| 2826, | |
| 2976 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "vidalia_onion_80" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2976, | |
| 3066 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "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": [ | |
| 3066, | |
| 3111 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "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": [ | |
| 3111, | |
| 3141 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "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": [ | |
| 3141, | |
| 3255 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "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": [ | |
| 3255, | |
| 3471 | |
| ], | |
| "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": [ | |
| 3471, | |
| 3597 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "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": [ | |
| 3597, | |
| 3777 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "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": [ | |
| 3777, | |
| 3845 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3845, | |
| 4107 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4107, | |
| 4539 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "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": [ | |
| 4539, | |
| 4758 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "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": [ | |
| 4758, | |
| 4929 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4929, | |
| 5136 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "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": [ | |
| 5136, | |
| 5211 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5211, | |
| 5274 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "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": [ | |
| 5274, | |
| 5439 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 35, | |
| "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": [ | |
| 5439, | |
| 5631 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 36, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5631, | |
| 6210 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 37, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6210, | |
| 6486 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 38, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6486, | |
| 6843 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 39, | |
| "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": [ | |
| 6843, | |
| 7053 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 40, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7053, | |
| 7302 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 41, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7302, | |
| 7545 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 42, | |
| "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": [ | |
| 7545, | |
| 7706 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 43, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7706, | |
| 7866 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 44, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7866, | |
| 8232 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 45, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mushroom_82", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "mushroom_82" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "center" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 8232, | |
| 8445 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 46, | |
| "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": [ | |
| 8445, | |
| 8568 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 47, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "mushroom_81" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8568, | |
| 8730 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 48, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "mushroom_82" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8730, | |
| 8844 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 49, | |
| "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": [ | |
| 8844, | |
| 8946 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 50, | |
| "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": [ | |
| 8946, | |
| 9171 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 51, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9171, | |
| 9222 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 52, | |
| "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": [ | |
| 9222, | |
| 9258 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 53, | |
| "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": [ | |
| 9258, | |
| 9342 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 54, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9342, | |
| 9429 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 55, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9429, | |
| 9555 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 56, | |
| "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": [ | |
| 9555, | |
| 9669 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 57, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9669, | |
| 9738 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 58, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9738, | |
| 9852 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 59, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9852, | |
| 9897 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 60, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9897, | |
| 10011 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 61, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "grated_cheese" | |
| ], | |
| "tupperware_75", | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10011, | |
| 10152 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 62, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10152, | |
| 10215 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 63, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10215, | |
| 10278 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 64, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10278, | |
| 10830 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 65, | |
| "skill_id": [ | |
| 101 | |
| ], | |
| "skill_description": [ | |
| "pull tray" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "oven_ffitak_0" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 10830, | |
| 11541 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 66, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11541, | |
| 11682 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 67, | |
| "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": [ | |
| 11682, | |
| 11790 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 68, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11790, | |
| 11907 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 69, | |
| "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": [ | |
| 11907, | |
| 12282 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 70, | |
| "skill_id": [ | |
| 100 | |
| ], | |
| "skill_description": [ | |
| "push tray" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "oven_ffitak_0" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12282, | |
| 12372 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 71, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12372, | |
| 12720 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 72, | |
| "skill_id": [ | |
| 69 | |
| ], | |
| "skill_description": [ | |
| "turn on switch" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "oven_ffitak_0" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12720, | |
| 12828 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 73, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12828, | |
| 13170 | |
| ], | |
| "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": [ | |
| 15, | |
| 480 | |
| ], | |
| "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", | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77", | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [], | |
| [ | |
| "left" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 480, | |
| 978 | |
| ], | |
| "skill_idxes": [ | |
| 3, | |
| 4, | |
| 5 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "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": [ | |
| 978, | |
| 1344 | |
| ], | |
| "skill_idxes": [ | |
| 6, | |
| 7, | |
| 8, | |
| 9 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 1344, | |
| 1710 | |
| ], | |
| "skill_idxes": [ | |
| 10, | |
| 11 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 1710, | |
| 2643 | |
| ], | |
| "skill_idxes": [ | |
| 12, | |
| 13, | |
| 14, | |
| 15 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 2643, | |
| 2781 | |
| ], | |
| "skill_idxes": [ | |
| 16 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 2781, | |
| 3255 | |
| ], | |
| "skill_idxes": [ | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 3255, | |
| 3845 | |
| ], | |
| "skill_idxes": [ | |
| 23, | |
| 24, | |
| 25, | |
| 26 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 8, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 3845, | |
| 4539 | |
| ], | |
| "skill_idxes": [ | |
| 27, | |
| 28 | |
| ] | |
| }, | |
| { | |
| "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", | |
| "bar_egwapq_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": [ | |
| 4539, | |
| 5631 | |
| ], | |
| "skill_idxes": [ | |
| 29, | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 34, | |
| 35 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 10, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5631, | |
| 6486 | |
| ], | |
| "skill_idxes": [ | |
| 36, | |
| 37 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 11, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6486, | |
| 6843 | |
| ], | |
| "skill_idxes": [ | |
| 38 | |
| ] | |
| }, | |
| { | |
| "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_5" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6843, | |
| 7053 | |
| ], | |
| "skill_idxes": [ | |
| 39 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 13, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7053, | |
| 7302 | |
| ], | |
| "skill_idxes": [ | |
| 40 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 7302, | |
| 8232 | |
| ], | |
| "skill_idxes": [ | |
| 41, | |
| 42, | |
| 43, | |
| 44 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 8232, | |
| 8946 | |
| ], | |
| "skill_idxes": [ | |
| 45, | |
| 46, | |
| 47, | |
| 48, | |
| 49 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 8946, | |
| 9342 | |
| ], | |
| "skill_idxes": [ | |
| 50, | |
| 51, | |
| 52, | |
| 53 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 17, | |
| "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": [ | |
| 9342, | |
| 9852 | |
| ], | |
| "skill_idxes": [ | |
| 54, | |
| 55, | |
| 56, | |
| 57, | |
| 58 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 9852, | |
| 10215 | |
| ], | |
| "skill_idxes": [ | |
| 59, | |
| 60, | |
| 61, | |
| 62 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 19, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10215, | |
| 11541 | |
| ], | |
| "skill_idxes": [ | |
| 63, | |
| 64, | |
| 65 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 11541, | |
| 12372 | |
| ], | |
| "skill_idxes": [ | |
| 66, | |
| 67, | |
| 68, | |
| 69, | |
| 70 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 21, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12372, | |
| 12720 | |
| ], | |
| "skill_idxes": [ | |
| 71 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 12720, | |
| 12828 | |
| ], | |
| "skill_idxes": [ | |
| 72 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 23, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12828, | |
| 13170 | |
| ], | |
| "skill_idxes": [ | |
| 73 | |
| ] | |
| } | |
| ] | |
| } |