{ "task_name": "make pizza", "data_folder": "", "meta_data": { "task_duration": 13422, "valid_duration": [ 24, 13446 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "baking_sheet_79" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 24, 543 ], "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": [ 543, 771 ], "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": [ 771, 1008 ], "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": [ 1008, 1170 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_77" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1170, 1263 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 5, "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": [ 1263, 2042 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "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": [ 2042, 2277 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_76", "bar_egwapq_0" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 2277, 2442 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "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": [ 2442, 2538 ], "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": [ 2538, 2730 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "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": [ 2730, 2991 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "vidalia_onion_80" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 2991, 3183 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "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": [ 3183, 3324 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "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": [ 3324, 3372 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "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": [ 3372, 3471 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "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": [ 3471, 3657 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_76" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3657, 3783 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 17, "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": [ 3783, 4098 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "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": [ 4098, 4228 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4228, 4434 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 20, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 4434, 4791 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 21, "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": [ 4791, 5062 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "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": [ 5062, 5239 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_76" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5239, 5458 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 24, "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": [ 5458, 5608 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "mushroom_81", "mushroom_82" ], "tupperware_73", "chopping_board_78" ] ], "manipulating_object_id": [ "tupperware_73" ], "spatial_prefix": [], "frame_duration": [ 5608, 5887 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "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": [ 5887, 6049 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "tupperware_73", "tupperware_74" ] ], "manipulating_object_id": [ "tupperware_73" ], "spatial_prefix": [], "frame_duration": [ 6049, 6245 ], "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": [ 6245, 6626 ], "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": [ 6626, 6962 ], "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": [ 6962, 7285 ], "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_4" ] ], "frame_duration": [ 7285, 7495 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 7495, 7752 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 33, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "baking_sheet_79" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7752, 7922 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 34, "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": [ 7922, 8082 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 35, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_77" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8082, 8112 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 36, "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": [ 8112, 8271 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 37, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "mushroom_82" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 8271, 8394 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 38, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "mushroom_81" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 8394, 8565 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 39, "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": [ 8565, 8616 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 40, "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": [ 8616, 8834 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 41, "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": [ 8834, 9054 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 42, "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": [ 9054, 9147 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 43, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_76", "bar_egwapq_0" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 9147, 9270 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 44, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pizza_dough_87" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9270, 9462 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 45, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "diced__vidalia_onion", "half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1", "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86" ], "bowl_76", "pizza_dough_87" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 9462, 9675 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 46, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "tupperware_73" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9675, 9708 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 47, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "bowl_76", "tupperware_73" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 9708, 9818 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 48, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "tupperware_75" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9818, 9896 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 49, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "tupperware_75", "bar_egwapq_0" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [], "frame_duration": [ 9896, 10020 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 50, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pizza_dough_87" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10020, 10041 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 51, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "grated_cheese" ], "tupperware_75", "pizza_dough_87" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [], "frame_duration": [ 10041, 10143 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 52, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "tupperware_75", "bar_egwapq_0" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [], "frame_duration": [ 10143, 10311 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 53, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10311, 10341 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 54, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10341, 11013 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 55, "skill_id": [ 101 ], "skill_description": [ "pull tray" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [ "oven_ffitak_0" ], "spatial_prefix": [ [ "high_level" ] ], "frame_duration": [ 11013, 11716 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 56, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "baking_sheet_79" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11716, 11785 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "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": [ 11785, 11899 ], "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": [ 11899, 12019 ], "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": [ 12019, 12495 ], "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": [ 12495, 12600 ], "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": [ 12600, 12936 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "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": [ 12936, 13077 ], "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": [ 13077, 13446 ], "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": [ 24, 1170 ], "skill_idxes": [ 0, 1, 2, 3 ] }, { "primitive_idx": 1, "primitive_id": [ 2, 91 ], "primitive_description": [ "pick up from", "place on next to" ], "object_id": [ [ "carving_knife_77", "bar_egwapq_0" ], [ "carving_knife_77", "bar_egwapq_0", "chopping_board_78" ] ], "manipulating_object_id": [ "carving_knife_77", "carving_knife_77" ], "spatial_prefix": [ [], [ [], [], [ "right" ] ] ], "frame_duration": [ 1170, 2277 ], "skill_idxes": [ 4, 5, 6 ] }, { "primitive_idx": 2, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ "bowl_76", "bar_egwapq_0" ], [ "bowl_76", "bar_egwapq_0" ] ], "manipulating_object_id": [ "bowl_76", "bowl_76" ], "spatial_prefix": [ [], [ [], [ "to_the_edge_of" ] ] ], "frame_duration": [ 2277, 2538 ], "skill_idxes": [ 7, 8 ] }, { "primitive_idx": 3, "primitive_id": [ 2, 34 ], "primitive_description": [ "pick up from", "chop" ], "object_id": [ [ "carving_knife_77", "bar_egwapq_0" ], [ "carving_knife_77", [ "vidalia_onion_80", "half_vidalia_onion_80_0", "half_vidalia_onion_80_1" ] ] ], "manipulating_object_id": [ "carving_knife_77", "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 2538, 3471 ], "skill_idxes": [ 9, 10, 11, 12, 13, 14 ] }, { "primitive_idx": 4, "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": [ 3471, 4228 ], "skill_idxes": [ 15, 16, 17, 18 ] }, { "primitive_idx": 5, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 4228, 4791 ], "skill_idxes": [ 19, 20 ] }, { "primitive_idx": 6, "primitive_id": [ 2, 28 ], "primitive_description": [ "pick up from", "pour" ], "object_id": [ [ [ "tupperware_74", "tupperware_73" ], "fridge_petcxr_0" ], [ [ [ "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86" ], [ "mushroom_81", "mushroom_82" ] ], "tupperware_73", [ "bowl_76", "chopping_board_78" ] ] ], "manipulating_object_id": [ [ "tupperware_74", "tupperware_73" ], "tupperware_73" ], "spatial_prefix": [ [ [], [ "layer_4", "layer_5" ] ], [] ], "frame_duration": [ 4791, 6245 ], "skill_idxes": [ 21, 22, 23, 24, 25, 26, 27 ] }, { "primitive_idx": 7, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 6245, 6962 ], "skill_idxes": [ 28, 29 ] }, { "primitive_idx": 8, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 6962, 7285 ], "skill_idxes": [ 30 ] }, { "primitive_idx": 9, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "tupperware_75", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [ [ [], [ "layer_4" ] ] ], "frame_duration": [ 7285, 7495 ], "skill_idxes": [ 31 ] }, { "primitive_idx": 10, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 7495, 7752 ], "skill_idxes": [ 32 ] }, { "primitive_idx": 11, "primitive_id": [ 91 ], "primitive_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": [ 7752, 8082 ], "skill_idxes": [ 33, 34 ] }, { "primitive_idx": 12, "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": [ 8082, 8616 ], "skill_idxes": [ 35, 36, 37, 38, 39 ] }, { "primitive_idx": 13, "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": [ 8616, 9147 ], "skill_idxes": [ 40, 41, 42 ] }, { "primitive_idx": 14, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "diced__vidalia_onion", "half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1", "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86" ], "bowl_76", "pizza_dough_87" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 9147, 9818 ], "skill_idxes": [ 43, 44, 45, 46, 47 ] }, { "primitive_idx": 15, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "grated_cheese" ], "tupperware_75", "pizza_dough_87" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [], "frame_duration": [ 9818, 10311 ], "skill_idxes": [ 48, 49, 50, 51, 52 ] }, { "primitive_idx": 16, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10311, 11716 ], "skill_idxes": [ 53, 54, 55 ] }, { "primitive_idx": 17, "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": [ 11716, 12600 ], "skill_idxes": [ 56, 57, 58, 59, 60 ] }, { "primitive_idx": 18, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12600, 12936 ], "skill_idxes": [ 61 ] }, { "primitive_idx": 19, "primitive_id": [ 69 ], "primitive_description": [ "turn on switch" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [ "oven_ffitak_0" ], "spatial_prefix": [], "frame_duration": [ 12936, 13077 ], "skill_idxes": [ 62 ] }, { "primitive_idx": 20, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13077, 13446 ], "skill_idxes": [ 63 ] } ] }