{ "task_name": "make pizza", "data_folder": "", "meta_data": { "task_duration": 24472, "valid_duration": [ 15, 24487 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "baking_sheet_79" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 15, 636 ], "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": [ 636, 1281 ], "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": [ 1281, 1542 ], "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": [ 1542, 1815 ], "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": [ 1815, 1989 ], "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": [ 1989, 2796 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_board_78" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2796, 2913 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "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": [ [ "", "", "in_front_of" ] ], "frame_duration": [ 2913, 3441 ], "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": [ 3441, 3897 ], "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": [ 3897, 4419 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "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": [ 4419, 4761 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "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": [ 4761, 5157 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "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": [ 5157, 5583 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "vidalia_onion_80" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 5583, 5799 ], "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": [ 5799, 5844 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "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": [ 5844, 6009 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "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": [ 6009, 6126 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "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": [ 6126, 6501 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "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": [ 6501, 6795 ], "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": [ 6795, 7188 ], "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": [ 7188, 7658 ], "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": [ [ "right_door" ] ], "frame_duration": [ 7658, 9030 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 22, "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": [ 9030, 9564 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_board_78" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9564, 9848 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 24, "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": [ 9848, 10151 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "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": [ 10151, 10550 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10550, 11009 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 27, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 11009, 11486 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 28, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 11486, 12856 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "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": [ 12856, 13817 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "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": [ 13817, 14633 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 31, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 14633, 15185 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "baking_sheet_79" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 15185, 15346 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 33, "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": [ 15346, 15793 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 34, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_76" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 15793, 15961 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 35, "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": [ 15961, 16351 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 36, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "tupperware_74" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 16351, 16441 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 37, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "tupperware_73", "tupperware_74" ] ], "manipulating_object_id": [ "tupperware_73" ], "spatial_prefix": [], "frame_duration": [ 16441, 16582 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "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": [ 16582, 16783 ], "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": [ 16783, 16978 ], "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": [ 16978, 17107 ], "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": [ 17107, 17197 ], "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": [ 17197, 17449 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 43, "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": [ 17449, 17569 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 44, "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": [ 17569, 17803 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 45, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_76", "bar_egwapq_0" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 17803, 18064 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 46, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pizza_dough_87" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 18064, 18304 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 47, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86", "half_mushroom_81_0", "half_mushroom_82_0", "half_mushroom_82_1", "diced__vidalia_onion", "half_mushroom_81_1" ], "bowl_76", "pizza_dough_87" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 18304, 18526 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 48, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "tupperware_73" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 18526, 18631 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 49, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "bowl_76", "tupperware_73" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 18631, 18718 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 50, "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": [ 18718, 18952 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 51, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pizza_dough_87" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 18952, 19060 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "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": [ 19060, 19384 ], "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": [ 19384, 19732 ], "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": [ 19732, 19861 ], "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": [ 19861, 20497 ], "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": [ 20497, 21481 ], "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": [ 21481, 22036 ], "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": [ 22036, 22135 ], "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": [ 22135, 22714 ], "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": [ 22714, 23011 ], "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": [ 23011, 23671 ], "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": [ 23671, 23920 ], "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": [ 23920, 24487 ], "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": [ 15, 1815 ], "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": [ [], [ [], [], [ "in_front_of" ] ] ], "frame_duration": [ 1815, 3441 ], "skill_idxes": [ 4, 5, 6, 7 ] }, { "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": [ 3441, 3897 ], "skill_idxes": [ 8 ] }, { "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": [ 3897, 4761 ], "skill_idxes": [ 9, 10 ] }, { "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": [ 4761, 5157 ], "skill_idxes": [ 11 ] }, { "primitive_idx": 5, "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": [ 5157, 6126 ], "skill_idxes": [ 12, 13, 14, 15, 16 ] }, { "primitive_idx": 6, "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": [ 6126, 7188 ], "skill_idxes": [ 17, 18, 19 ] }, { "primitive_idx": 7, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 7188, 9030 ], "skill_idxes": [ 20, 21 ] }, { "primitive_idx": 8, "primitive_id": [ 2, 28 ], "primitive_description": [ "pick up from", "pour" ], "object_id": [ [ "tupperware_74", "fridge_petcxr_0" ], [ [ "mushroom_81", "mushroom_82" ], "tupperware_74", "chopping_board_78" ] ], "manipulating_object_id": [ "tupperware_74", "tupperware_74" ], "spatial_prefix": [ [ [], [ "layer_5" ] ], [] ], "frame_duration": [ 9030, 10550 ], "skill_idxes": [ 22, 23, 24, 25 ] }, { "primitive_idx": 9, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 10550, 11486 ], "skill_idxes": [ 26, 27 ] }, { "primitive_idx": 10, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 11486, 12856 ], "skill_idxes": [ 28 ] }, { "primitive_idx": 11, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ [ "tupperware_75", "tupperware_73" ], "fridge_petcxr_0" ] ], "manipulating_object_id": [ [ "tupperware_75", "tupperware_73" ] ], "spatial_prefix": [ [ [], [ "layer_4", "layer_3" ] ] ], "frame_duration": [ 12856, 14633 ], "skill_idxes": [ 29, 30 ] }, { "primitive_idx": 12, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 14633, 15185 ], "skill_idxes": [ 31 ] }, { "primitive_idx": 13, "primitive_id": [ 91, 28 ], "primitive_description": [ "place on next to", "pour" ], "object_id": [ [ "tupperware_75", "drop_in_sink_lkklqs_0", "baking_sheet_79" ], [ [ "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86" ], "tupperware_73", "bowl_76" ] ], "manipulating_object_id": [ "tupperware_75", "tupperware_73" ], "spatial_prefix": [ [ [], [], [ "left" ] ], [] ], "frame_duration": [ 15185, 16582 ], "skill_idxes": [ 32, 33, 34, 35, 36, 37 ] }, { "primitive_idx": 14, "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": [ 16582, 17197 ], "skill_idxes": [ 38, 39, 40, 41 ] }, { "primitive_idx": 15, "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": [ 17197, 17803 ], "skill_idxes": [ 42, 43, 44 ] }, { "primitive_idx": 16, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86", "half_mushroom_81_0", "half_mushroom_82_0", "half_mushroom_82_1", "diced__vidalia_onion", "half_mushroom_81_1" ], "bowl_76", "pizza_dough_87" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 17803, 18718 ], "skill_idxes": [ 45, 46, 47, 48, 49 ] }, { "primitive_idx": 17, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "grated_cheese" ], "tupperware_75", "pizza_dough_87" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [], "frame_duration": [ 18718, 19732 ], "skill_idxes": [ 50, 51, 52, 53 ] }, { "primitive_idx": 18, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 19732, 21481 ], "skill_idxes": [ 54, 55, 56 ] }, { "primitive_idx": 19, "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": [ 21481, 23011 ], "skill_idxes": [ 57, 58, 59, 60 ] }, { "primitive_idx": 20, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 23011, 23671 ], "skill_idxes": [ 61 ] }, { "primitive_idx": 21, "primitive_id": [ 69 ], "primitive_description": [ "turn on switch" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [ "oven_ffitak_0" ], "spatial_prefix": [], "frame_duration": [ 23671, 23920 ], "skill_idxes": [ 62 ] }, { "primitive_idx": 22, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 23920, 24487 ], "skill_idxes": [ 63 ] } ] }