{ "task_name": "make pizza", "data_folder": "", "meta_data": { "task_duration": 12035, "valid_duration": [ 0, 12035 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_77" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 225 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "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": [ 225, 506 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_76", "bar_egwapq_0" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 506, 635 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 3, "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": [ 635, 741 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "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": [ 741, 951 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 5, "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": [ 951, 1039 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1039, 1189 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "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": [ 1189, 1294 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "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": [ 1294, 1507 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "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": [ 1507, 1804 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_76" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1804, 1918 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 11, "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": [ 1918, 1951 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "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": [ 1951, 2047 ], "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": [ 2047, 2200 ], "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": [ 2200, 2326 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "half_vidalia_onion_80_0", "chopping_board_78" ] ], "manipulating_object_id": [ "half_vidalia_onion_80_0" ], "spatial_prefix": [ [ "", "center" ] ], "frame_duration": [ 2326, 2575 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "half_vidalia_onion_80_0" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 2575, 2659 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "half_vidalia_onion_80_1" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 2659, 2716 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 91 ], "skill_description": [ "place on next to" ], "object_id": [ [ "carving_knife_77", "bar_egwapq_0", "chopping_board_78" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [ [ "", "", "right" ] ], "frame_duration": [ 2716, 2872 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "chopping_board_78", "bar_egwapq_0" ] ], "manipulating_object_id": [ "chopping_board_78" ], "spatial_prefix": [], "frame_duration": [ 2872, 3070 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "diced__vidalia_onion" ], "chopping_board_78", "bowl_76" ] ], "manipulating_object_id": [ "chopping_board_78" ], "spatial_prefix": [], "frame_duration": [ 3070, 3268 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 21, "skill_id": [ 91 ], "skill_description": [ "place on next to" ], "object_id": [ [ "chopping_board_78", "bar_egwapq_0", "bowl_76" ] ], "manipulating_object_id": [ "chopping_board_78" ], "spatial_prefix": [ [ "", "", "right" ] ], "frame_duration": [ 3268, 3442 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3442, 3561 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 23, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 3561, 4017 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 24, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "tupperware_74", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "tupperware_74" ], "spatial_prefix": [ [ "", "layer_4" ] ], "frame_duration": [ 4017, 4203 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "tupperware_75", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [ [ "", "layer_5" ] ], "frame_duration": [ 4203, 4418 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "baking_sheet_79" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4418, 4560 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 27, "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": [ 4560, 4686 ], "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": [ 4686, 4713 ], "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": [ 4713, 4923 ], "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": [ 4923, 5043 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 31, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5043, 5250 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 32, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 5250, 5602 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 33, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 5602, 5989 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 34, "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": [ 5989, 6364 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 35, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 6364, 6610 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 36, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_76" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6610, 6798 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 37, "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": [ 6798, 6897 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 38, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "tupperware_73", "tupperware_74" ] ], "manipulating_object_id": [ "tupperware_73" ], "spatial_prefix": [], "frame_duration": [ 6897, 7260 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 39, "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": [ 7260, 7362 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 40, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "mushroom_82" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 7362, 7551 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 41, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "mushroom_81" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 7551, 7608 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 42, "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": [ 7608, 7689 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 43, "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": [ 7689, 7855 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 44, "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": [ 7855, 7969 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 45, "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": [ 7969, 8062 ], "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": [ 8062, 8188 ], "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": [ 8188, 8343 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 48, "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": [ 8343, 8523 ], "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": [ 8523, 8613 ], "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": [ 8613, 8667 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 51, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "tupperware_75", "bar_egwapq_0" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [], "frame_duration": [ 8667, 8811 ], "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": [ 8811, 9015 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 53, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "tupperware_75", "bar_egwapq_0" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [], "frame_duration": [ 9015, 9135 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 54, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9153, 9707 ], "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": [ 9707, 10307 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 56, "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": [ 10307, 10640 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 57, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10640, 10796 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 58, "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": [ 10796, 11258 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 59, "skill_id": [ 100 ], "skill_description": [ "push tray" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [ "oven_ffitak_0" ], "spatial_prefix": [ [ "high_level" ] ], "frame_duration": [ 11258, 11363 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 60, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11363, 11585 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 61, "skill_id": [ 69 ], "skill_description": [ "turn on switch" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [ "oven_ffitak_0" ], "spatial_prefix": [], "frame_duration": [ 11585, 11699 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 62, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11699, 12035 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "carving_knife_77", "bar_egwapq_0" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 0, 506 ], "skill_idxes": [ 0, 1 ] }, { "primitive_idx": 1, "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": [ 506, 741 ], "skill_idxes": [ 2, 3 ] }, { "primitive_idx": 2, "primitive_id": [ 91 ], "primitive_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": [ 741, 951 ], "skill_idxes": [ 4 ] }, { "primitive_idx": 3, "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": [ 951, 1294 ], "skill_idxes": [ 5, 6, 7 ] }, { "primitive_idx": 4, "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": [ 1294, 1507 ], "skill_idxes": [ 8 ] }, { "primitive_idx": 5, "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": [ 1507, 1951 ], "skill_idxes": [ 9, 10, 11 ] }, { "primitive_idx": 6, "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": [ 1951, 2047 ], "skill_idxes": [ 12 ] }, { "primitive_idx": 7, "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": [ 2047, 2872 ], "skill_idxes": [ 13, 14, 15, 16, 17, 18 ] }, { "primitive_idx": 8, "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": [ 2872, 3442 ], "skill_idxes": [ 19, 20, 21 ] }, { "primitive_idx": 9, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 3442, 4017 ], "skill_idxes": [ 22, 23 ] }, { "primitive_idx": 10, "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": [ 4017, 5043 ], "skill_idxes": [ 24, 25, 26, 27, 28, 29, 30 ] }, { "primitive_idx": 11, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 5043, 5602 ], "skill_idxes": [ 31, 32 ] }, { "primitive_idx": 12, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 5602, 5989 ], "skill_idxes": [ 33 ] }, { "primitive_idx": 13, "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": [ 5989, 6364 ], "skill_idxes": [ 34 ] }, { "primitive_idx": 14, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 6364, 6610 ], "skill_idxes": [ 35 ] }, { "primitive_idx": 15, "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": [ 6610, 7260 ], "skill_idxes": [ 36, 37, 38 ] }, { "primitive_idx": 16, "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": [ 7260, 7689 ], "skill_idxes": [ 39, 40, 41, 42 ] }, { "primitive_idx": 17, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1" ], "chopping_board_78", "bowl_76" ] ], "manipulating_object_id": [ "chopping_board_78" ], "spatial_prefix": [], "frame_duration": [ 7689, 8062 ], "skill_idxes": [ 43, 44, 45 ] }, { "primitive_idx": 18, "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": [ 8062, 8667 ], "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": [ 8667, 9135 ], "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": [ 9153, 10307 ], "skill_idxes": [ 54, 55 ] }, { "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": [ 10307, 11363 ], "skill_idxes": [ 56, 57, 58, 59 ] }, { "primitive_idx": 22, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11363, 11585 ], "skill_idxes": [ 60 ] }, { "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": [ 11585, 11699 ], "skill_idxes": [ 61 ] }, { "primitive_idx": 24, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11699, 12035 ], "skill_idxes": [ 62 ] } ] }