| { | |
| "task_name": "make pizza", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 24210, | |
| "valid_duration": [ | |
| 0, | |
| 24210 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 345 | |
| ], | |
| "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": [ | |
| 345, | |
| 565 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 565, | |
| 739 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "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": [ | |
| 739, | |
| 1277 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "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": [ | |
| 1277, | |
| 2161 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "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": [ | |
| 2161, | |
| 2935 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2935, | |
| 3133 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "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": [ | |
| 3133, | |
| 3744 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "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": [ | |
| 3744, | |
| 4183 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "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": [ | |
| 4183, | |
| 4596 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "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": [ | |
| 4596, | |
| 4764 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4764, | |
| 4984 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 91 | |
| ], | |
| "skill_description": [ | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "left" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4984, | |
| 5319 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "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": [ | |
| 5379, | |
| 5577 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "vidalia_onion_80" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5577, | |
| 5679 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "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": [ | |
| 5679, | |
| 5734 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "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": [ | |
| 5734, | |
| 5782 | |
| ], | |
| "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": [ | |
| 5782, | |
| 5863 | |
| ], | |
| "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": [ | |
| 5863, | |
| 6168 | |
| ], | |
| "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": [ | |
| 6168, | |
| 6364 | |
| ], | |
| "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": [ | |
| 6364, | |
| 6645 | |
| ], | |
| "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": [ | |
| 6645, | |
| 7089 | |
| ], | |
| "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": [ | |
| 7089, | |
| 8455 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "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": [ | |
| 8455, | |
| 8997 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "baking_sheet_79" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8997, | |
| 9156 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "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": [ | |
| 9156, | |
| 9504 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9504, | |
| 9807 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "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": [ | |
| 9807, | |
| 10287 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10287, | |
| 10566 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "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": [ | |
| 10566, | |
| 10939 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "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": [ | |
| 10939, | |
| 11206 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "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": [ | |
| 11206, | |
| 11415 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "mushroom_82" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11415, | |
| 11475 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| "mushroom_81" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11475, | |
| 11559 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "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": [ | |
| 11559, | |
| 11710 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 35, | |
| "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": [ | |
| 11710, | |
| 12072 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 36, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "half_mushroom_82_0", | |
| "half_mushroom_82_1", | |
| "half_mushroom_81_0", | |
| "half_mushroom_81_1" | |
| ], | |
| "chopping_board_78", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12072, | |
| 12331 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 37, | |
| "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": [ | |
| 12331, | |
| 12699 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 38, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "fridge_petcxr_0" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12699, | |
| 13117 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 39, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 13117, | |
| 13746 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 40, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 13746, | |
| 15049 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 41, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_3" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 15049, | |
| 15957 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 42, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 15957, | |
| 16537 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 43, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16537, | |
| 16869 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 44, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "pepperoni_85", | |
| "pepperoni_86", | |
| "pepperoni_84", | |
| "pepperoni_83" | |
| ], | |
| "tupperware_73", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16869, | |
| 17173 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 45, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17173, | |
| 17372 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 46, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17372, | |
| 17633 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 47, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17633, | |
| 17783 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 48, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "diced__vidalia_onion", | |
| "pepperoni_83", | |
| "pepperoni_84", | |
| "pepperoni_85", | |
| "pepperoni_86", | |
| "half_mushroom_82_1", | |
| "half_mushroom_82_0", | |
| "half_mushroom_81_1", | |
| "half_mushroom_81_0" | |
| ], | |
| "bowl_76", | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17783, | |
| 18057 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 49, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18057, | |
| 18154 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 50, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18154, | |
| 18262 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 51, | |
| "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": [ | |
| 18262, | |
| 18418 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 18418, | |
| 18832 | |
| ], | |
| "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": [ | |
| 18832, | |
| 19132 | |
| ], | |
| "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": [ | |
| 19132, | |
| 19332 | |
| ], | |
| "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": [ | |
| 19332, | |
| 19948 | |
| ], | |
| "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": [ | |
| 19948, | |
| 21010 | |
| ], | |
| "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": [ | |
| 21010, | |
| 21637 | |
| ], | |
| "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": [ | |
| 21637, | |
| 21741 | |
| ], | |
| "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": [ | |
| 21741, | |
| 22395 | |
| ], | |
| "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": [ | |
| 22395, | |
| 22806 | |
| ], | |
| "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": [ | |
| 22806, | |
| 23256 | |
| ], | |
| "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": [ | |
| 23256, | |
| 23409 | |
| ], | |
| "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": [ | |
| 23409, | |
| 24210 | |
| ], | |
| "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": [ | |
| 0, | |
| 1277 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 1277, | |
| 2161 | |
| ], | |
| "skill_idxes": [ | |
| 4 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 2161, | |
| 3744 | |
| ], | |
| "skill_idxes": [ | |
| 5, | |
| 6, | |
| 7 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 3744, | |
| 4183 | |
| ], | |
| "skill_idxes": [ | |
| 8 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "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": [ | |
| 4183, | |
| 4764 | |
| ], | |
| "skill_idxes": [ | |
| 9, | |
| 10 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 2, | |
| 91 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0" | |
| ], | |
| [ | |
| "bowl_76", | |
| "bar_egwapq_0", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76", | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [], | |
| [ | |
| "left" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4764, | |
| 5319 | |
| ], | |
| "skill_idxes": [ | |
| 11, | |
| 12 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 5379, | |
| 5863 | |
| ], | |
| "skill_idxes": [ | |
| 13, | |
| 14, | |
| 15, | |
| 16, | |
| 17 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 5863, | |
| 6645 | |
| ], | |
| "skill_idxes": [ | |
| 18, | |
| 19, | |
| 20 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 8, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6645, | |
| 8455 | |
| ], | |
| "skill_idxes": [ | |
| 21, | |
| 22 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 9, | |
| "primitive_id": [ | |
| 2, | |
| 91 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_75", | |
| "fridge_petcxr_0" | |
| ], | |
| [ | |
| "tupperware_75", | |
| "drop_in_sink_lkklqs_0", | |
| "baking_sheet_79" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75", | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "layer_5" | |
| ] | |
| ], | |
| [ | |
| [], | |
| [], | |
| [ | |
| "left" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 8455, | |
| 9504 | |
| ], | |
| "skill_idxes": [ | |
| 23, | |
| 24, | |
| 25 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 10, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "mushroom_81", | |
| "mushroom_82" | |
| ], | |
| "tupperware_74", | |
| "chopping_board_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9504, | |
| 11206 | |
| ], | |
| "skill_idxes": [ | |
| 26, | |
| 27, | |
| 28, | |
| 29, | |
| 30 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 11, | |
| "primitive_id": [ | |
| 34, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "chop", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_77", | |
| [ | |
| "mushroom_82", | |
| "mushroom_81" | |
| ] | |
| ], | |
| [ | |
| "carving_knife_77", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_77", | |
| "carving_knife_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11206, | |
| 11710 | |
| ], | |
| "skill_idxes": [ | |
| 31, | |
| 32, | |
| 33, | |
| 34 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 12, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "half_mushroom_82_0", | |
| "half_mushroom_82_1", | |
| "half_mushroom_81_0", | |
| "half_mushroom_81_1" | |
| ], | |
| "chopping_board_78", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chopping_board_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11710, | |
| 12699 | |
| ], | |
| "skill_idxes": [ | |
| 35, | |
| 36, | |
| 37 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 13, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12699, | |
| 13746 | |
| ], | |
| "skill_idxes": [ | |
| 38, | |
| 39 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 14, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 13746, | |
| 15049 | |
| ], | |
| "skill_idxes": [ | |
| 40 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 15, | |
| "primitive_id": [ | |
| 2 | |
| ], | |
| "primitive_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "layer_3" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 15049, | |
| 15957 | |
| ], | |
| "skill_idxes": [ | |
| 41 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 16, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 15957, | |
| 16537 | |
| ], | |
| "skill_idxes": [ | |
| 42 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 17, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "pepperoni_85", | |
| "pepperoni_86", | |
| "pepperoni_84", | |
| "pepperoni_83" | |
| ], | |
| "tupperware_73", | |
| "bowl_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16537, | |
| 17372 | |
| ], | |
| "skill_idxes": [ | |
| 43, | |
| 44, | |
| 45 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 18, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "diced__vidalia_onion", | |
| "pepperoni_83", | |
| "pepperoni_84", | |
| "pepperoni_85", | |
| "pepperoni_86", | |
| "half_mushroom_82_1", | |
| "half_mushroom_82_0", | |
| "half_mushroom_81_1", | |
| "half_mushroom_81_0" | |
| ], | |
| "bowl_76", | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bowl_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17372, | |
| 18262 | |
| ], | |
| "skill_idxes": [ | |
| 46, | |
| 47, | |
| 48, | |
| 49, | |
| 50 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 19, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "grated_cheese" | |
| ], | |
| "tupperware_75", | |
| "pizza_dough_87" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18262, | |
| 19132 | |
| ], | |
| "skill_idxes": [ | |
| 51, | |
| 52, | |
| 53 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 20, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 19132, | |
| 21010 | |
| ], | |
| "skill_idxes": [ | |
| 54, | |
| 55, | |
| 56 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 21, | |
| "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": [ | |
| 21010, | |
| 22806 | |
| ], | |
| "skill_idxes": [ | |
| 57, | |
| 58, | |
| 59, | |
| 60 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 22, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 22806, | |
| 23256 | |
| ], | |
| "skill_idxes": [ | |
| 61 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 23, | |
| "primitive_id": [ | |
| 69 | |
| ], | |
| "primitive_description": [ | |
| "turn on switch" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "oven_ffitak_0" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 23256, | |
| 23409 | |
| ], | |
| "skill_idxes": [ | |
| 62 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 24, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "oven_ffitak_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 23409, | |
| 24210 | |
| ], | |
| "skill_idxes": [ | |
| 63 | |
| ] | |
| } | |
| ] | |
| } |