{ "task_name": "make pizza", "data_folder": "", "meta_data": { "task_duration": 14925, "valid_duration": [ 27, 14952 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "baking_sheet_79" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 27, 231 ], "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": [ 231, 591 ], "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": [ 591, 714 ], "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": [ 714, 879 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "carving_knife_77", "bar_egwapq_0" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 879, 1269 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 5, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_board_78" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1269, 1344 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "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": [ 1344, 1485 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "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": [ 1485, 1635 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "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": [ 1635, 1848 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "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": [ 1848, 1967 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "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": [ 1967, 2085 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "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": [ 2085, 2271 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "vidalia_onion_80" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 2271, 2334 ], "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": [ 2334, 2409 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "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": [ 2409, 2487 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "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": [ 2487, 2628 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "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": [ 2628, 3048 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_76" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3048, 3120 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 18, "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": [ 3120, 3348 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "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": [ 3348, 3510 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3510, 3735 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 21, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 3735, 4374 ], "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_4" ] ], "frame_duration": [ 4374, 4776 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "tupperware_74", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "tupperware_74" ], "spatial_prefix": [ [ "", "layer_5" ] ], "frame_duration": [ 4776, 5100 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_board_78" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5100, 5274 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 25, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "mushroom_81", "mushroom_82" ], "tupperware_74", "chopping_board_78" ] ], "manipulating_object_id": [ "tupperware_74" ], "spatial_prefix": [], "frame_duration": [ 5274, 5535 ], "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": [ 5535, 5724 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "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": [ 5724, 6105 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 28, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "tupperware_74" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6105, 6195 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 29, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "tupperware_73", "tupperware_74" ] ], "manipulating_object_id": [ "tupperware_73" ], "spatial_prefix": [], "frame_duration": [ 6195, 6384 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6384, 6561 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 31, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 6561, 6837 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 6837, 7404 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 33, "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": [ 7404, 7781 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 34, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 7781, 8322 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 35, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "baking_sheet_79" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8322, 8424 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 36, "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": [ 8424, 8655 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 37, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "carving_knife_77" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 8655, 8772 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 38, "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": [ 8772, 9114 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 39, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "mushroom_81" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 9114, 9279 ], "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": [ 9279, 9432 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 41, "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": [ 9432, 9471 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 42, "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": [ 9471, 9708 ], "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": [ 9708, 9909 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "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": [ 9909, 10104 ], "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": [ 10104, 10293 ], "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": [ 10293, 10434 ], "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": [ 10434, 10650 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 48, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "half_mushroom_82_1", "half_mushroom_82_0", "half_mushroom_81_1", "half_mushroom_81_0", "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86", "diced__vidalia_onion" ], "bowl_76", "pizza_dough_87" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 10650, 10983 ], "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": [ 10983, 11073 ], "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": [ 11073, 11142 ], "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": [ 11142, 11433 ], "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": [ 11433, 11526 ], "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": [ 11526, 11625 ], "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": [ 11625, 12114 ], "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": [ 12114, 12915 ], "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": [ 12915, 13311 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 57, "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": [ 13311, 13973 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 58, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13931, 14180 ], "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": [ 13973, 13931 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 60, "skill_id": [ 69 ], "skill_description": [ "turn on switch" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [ "oven_ffitak_0" ], "spatial_prefix": [], "frame_duration": [ 14180, 14691 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 61, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 14691, 14952 ], "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": [ 27, 879 ], "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": [ 879, 1485 ], "skill_idxes": [ 4, 5, 6 ] }, { "primitive_idx": 2, "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": [ 1485, 1635 ], "skill_idxes": [ 7 ] }, { "primitive_idx": 3, "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": [ 1635, 1967 ], "skill_idxes": [ 8, 9 ] }, { "primitive_idx": 4, "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": [ 1967, 2085 ], "skill_idxes": [ 10 ] }, { "primitive_idx": 5, "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": [ 2085, 2271 ], "skill_idxes": [ 11 ] }, { "primitive_idx": 6, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "carving_knife_77", [ "vidalia_onion_80", "half_vidalia_onion_80_1", "half_vidalia_onion_80_0" ] ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 2271, 2628 ], "skill_idxes": [ 12, 13, 14, 15 ] }, { "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": [ 2628, 3510 ], "skill_idxes": [ 16, 17, 18, 19 ] }, { "primitive_idx": 8, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 3510, 4374 ], "skill_idxes": [ 20, 21 ] }, { "primitive_idx": 9, "primitive_id": [ 2, 28 ], "primitive_description": [ "pick up from", "pour" ], "object_id": [ [ [ "tupperware_73", "tupperware_74" ], "fridge_petcxr_0" ], [ [ [ "mushroom_81", "mushroom_82" ], [ "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86" ] ], [ "tupperware_74", "tupperware_73" ], [ "chopping_board_78", "bowl_76" ] ] ], "manipulating_object_id": [ [ "tupperware_73", "tupperware_74" ], [ "tupperware_74", "tupperware_73" ] ], "spatial_prefix": [ [ [], [ "layer_4", "layer_5" ] ], [] ], "frame_duration": [ 4374, 6384 ], "skill_idxes": [ 22, 23, 24, 25, 26, 27, 28, 29 ] }, { "primitive_idx": 10, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 6384, 6837 ], "skill_idxes": [ 30, 31 ] }, { "primitive_idx": 11, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 6837, 7404 ], "skill_idxes": [ 32 ] }, { "primitive_idx": 12, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "tupperware_75", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [ [ [], [ "layer_5" ] ] ], "frame_duration": [ 7404, 7781 ], "skill_idxes": [ 33 ] }, { "primitive_idx": 13, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 7781, 8322 ], "skill_idxes": [ 34 ] }, { "primitive_idx": 14, "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": [ 8322, 8772 ], "skill_idxes": [ 35, 36, 37 ] }, { "primitive_idx": 15, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "carving_knife_77", [ "mushroom_81", "mushroom_82" ] ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 8772, 9471 ], "skill_idxes": [ 38, 39, 40, 41 ] }, { "primitive_idx": 16, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1" ], "chopping_board_78", "bowl_76" ] ], "manipulating_object_id": [ "chopping_board_78" ], "spatial_prefix": [], "frame_duration": [ 9471, 10293 ], "skill_idxes": [ 42, 43, 44, 45 ] }, { "primitive_idx": 17, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "half_mushroom_82_1", "half_mushroom_82_0", "half_mushroom_81_1", "half_mushroom_81_0", "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86", "diced__vidalia_onion" ], "bowl_76", "pizza_dough_87" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 10293, 11142 ], "skill_idxes": [ 46, 47, 48, 49, 50 ] }, { "primitive_idx": 18, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "grated_cheese" ], "tupperware_75", "pizza_dough_87" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [], "frame_duration": [ 11142, 11625 ], "skill_idxes": [ 51, 52, 53 ] }, { "primitive_idx": 19, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11625, 12915 ], "skill_idxes": [ 54, 55 ] }, { "primitive_idx": 20, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "baking_sheet_79", "bar_egwapq_0" ], [ "baking_sheet_79", "oven_ffitak_0" ] ], "manipulating_object_id": [ "baking_sheet_79", "baking_sheet_79" ], "spatial_prefix": [ [], [ [], [ "high_level" ] ] ], "frame_duration": [ 12915, 13931 ], "skill_idxes": [ 56, 57, 59 ] }, { "primitive_idx": 21, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13931, 14180 ], "skill_idxes": [ 58 ] }, { "primitive_idx": 22, "primitive_id": [ 69 ], "primitive_description": [ "turn on switch" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [ "oven_ffitak_0" ], "spatial_prefix": [], "frame_duration": [ 14180, 14691 ], "skill_idxes": [ 60 ] }, { "primitive_idx": 23, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 14691, 14952 ], "skill_idxes": [ 61 ] } ] }