{ "task_name": "make pizza", "data_folder": "", "meta_data": { "task_duration": 11843, "valid_duration": [ 0, 11843 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_76" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 333 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_76", "bar_egwapq_0" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 333, 456 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "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": [ 456, 540 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 3, "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": [ 540, 1047 ], "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": [ 1047, 1152 ], "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": [ 1152, 1302 ], "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": [ 1302, 1428 ], "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": [ 1428, 1503 ], "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": [ 1503, 1722 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "chopping_board_78", "bar_egwapq_0" ] ], "manipulating_object_id": [ "chopping_board_78" ], "spatial_prefix": [ [ "", "to_the_edge_of" ] ], "frame_duration": [ 1722, 2214 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "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": [ 2214, 2625 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_76" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2625, 2790 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 12, "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": [ 2790, 2820 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "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": [ 2820, 2916 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "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": [ 2916, 3060 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "vidalia_onion_80" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 3060, 3168 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "half_vidalia_onion_80_1" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 3168, 3213 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "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": [ 3213, 3360 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "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": [ 3360, 3453 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "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": [ 3453, 3555 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "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": [ 3555, 3845 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 21, "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": [ 3845, 4014 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "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": [ 4014, 4125 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4125, 4386 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 24, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 4386, 4656 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 25, "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": [ 4656, 4806 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "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": [ 4806, 4983 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "baking_sheet_79" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4983, 5142 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 28, "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": [ 5142, 5205 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_board_78" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5205, 5328 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 30, "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": [ 5328, 5442 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 31, "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": [ 5442, 5550 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5550, 5772 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 33, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 5772, 6087 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 34, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 6087, 6330 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 35, "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": [ 6330, 6495 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 36, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 6495, 6774 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 37, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_76" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6774, 7029 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 38, "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": [ 7029, 7116 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 39, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "tupperware_73", "tupperware_74" ] ], "manipulating_object_id": [ "tupperware_73" ], "spatial_prefix": [], "frame_duration": [ 7116, 7359 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 40, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "mushroom_81", "chopping_board_78" ] ], "manipulating_object_id": [ "mushroom_81" ], "spatial_prefix": [ [ "", "center" ] ], "frame_duration": [ 7359, 7494 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 41, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "mushroom_82", "chopping_board_78" ] ], "manipulating_object_id": [ "mushroom_82" ], "spatial_prefix": [ [ "", "center" ] ], "frame_duration": [ 7494, 7545 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 42, "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": [ 7545, 7677 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 43, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "mushroom_81" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 7677, 7743 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 44, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "carving_knife_77", "mushroom_82" ] ], "manipulating_object_id": [ "carving_knife_77" ], "spatial_prefix": [], "frame_duration": [ 7743, 7826 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 45, "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": [ 7826, 7908 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 46, "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": [ 7908, 8096 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 47, "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": [ 8096, 8280 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 48, "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": [ 8280, 8391 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 49, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_76", "bar_egwapq_0" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 8391, 8517 ], "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": [ 8517, 8694 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 51, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1", "diced__vidalia_onion", "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86" ], "bowl_76", "pizza_dough_87" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 8694, 8847 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 52, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "tupperware_73" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8847, 8916 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 53, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "bowl_76", "tupperware_73" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 8916, 8976 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 54, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "tupperware_75", "bar_egwapq_0" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [], "frame_duration": [ 8976, 9153 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 55, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "grated_cheese" ], "tupperware_75", "pizza_dough_87" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [], "frame_duration": [ 9153, 9264 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 56, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "tupperware_75", "bar_egwapq_0" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [], "frame_duration": [ 9264, 9333 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 57, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9333, 9402 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 58, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9402, 9768 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 59, "skill_id": [ 101 ], "skill_description": [ "pull tray" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [ "oven_ffitak_0" ], "spatial_prefix": [ [ "high_level" ] ], "frame_duration": [ 9768, 10479 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 60, "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": [ 10479, 10659 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 61, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10659, 10761 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 62, "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": [ 10761, 11154 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 63, "skill_id": [ 100 ], "skill_description": [ "push tray" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [ "oven_ffitak_0" ], "spatial_prefix": [ [ "high_level" ] ], "frame_duration": [ 11154, 11229 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 64, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11229, 11442 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 65, "skill_id": [ 69 ], "skill_description": [ "turn on switch" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [ "oven_ffitak_0" ], "spatial_prefix": [], "frame_duration": [ 11442, 11553 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 66, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11553, 11843 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "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": [ 0, 540 ], "skill_idxes": [ 0, 1, 2 ] }, { "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", "drop_in_sink_lkklqs_0" ] ], "manipulating_object_id": [ "carving_knife_77", "carving_knife_77" ], "spatial_prefix": [ [], [ [], [], [ "left" ] ] ], "frame_duration": [ 540, 1152 ], "skill_idxes": [ 3, 4 ] }, { "primitive_idx": 2, "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": [ 1152, 1503 ], "skill_idxes": [ 5, 6, 7 ] }, { "primitive_idx": 3, "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": [ 1503, 1722 ], "skill_idxes": [ 8 ] }, { "primitive_idx": 4, "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": [ 1722, 2820 ], "skill_idxes": [ 9, 10, 11, 12 ] }, { "primitive_idx": 5, "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": [ 2820, 2916 ], "skill_idxes": [ 13 ] }, { "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": [ 2916, 3555 ], "skill_idxes": [ 14, 15, 16, 17, 18, 19 ] }, { "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": [ 3555, 4125 ], "skill_idxes": [ 20, 21, 22 ] }, { "primitive_idx": 8, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 4125, 4656 ], "skill_idxes": [ 23, 24 ] }, { "primitive_idx": 9, "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": [ 4656, 5550 ], "skill_idxes": [ 25, 26, 27, 28, 29, 30, 31 ] }, { "primitive_idx": 10, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 5550, 6087 ], "skill_idxes": [ 32, 33 ] }, { "primitive_idx": 11, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 6087, 6330 ], "skill_idxes": [ 34 ] }, { "primitive_idx": 12, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "tupperware_73", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "tupperware_73" ], "spatial_prefix": [ [ [], [ "layer_5" ] ] ], "frame_duration": [ 6330, 6495 ], "skill_idxes": [ 35 ] }, { "primitive_idx": 13, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 6495, 6774 ], "skill_idxes": [ 36 ] }, { "primitive_idx": 14, "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": [ 6774, 7359 ], "skill_idxes": [ 37, 38, 39 ] }, { "primitive_idx": 15, "primitive_id": [ 90 ], "primitive_description": [ "push to" ], "object_id": [ [ "mushroom_81", "chopping_board_78" ] ], "manipulating_object_id": [ "mushroom_81" ], "spatial_prefix": [ [ [], [ "center" ] ] ], "frame_duration": [ 7359, 7494 ], "skill_idxes": [ 40 ] }, { "primitive_idx": 16, "primitive_id": [ 90 ], "primitive_description": [ "push to" ], "object_id": [ [ "mushroom_82", "chopping_board_78" ] ], "manipulating_object_id": [ "mushroom_82" ], "spatial_prefix": [ [ [], [ "center" ] ] ], "frame_duration": [ 7494, 7545 ], "skill_idxes": [ 41 ] }, { "primitive_idx": 17, "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": [ 7545, 7908 ], "skill_idxes": [ 42, 43, 44, 45 ] }, { "primitive_idx": 18, "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": [ 7908, 8391 ], "skill_idxes": [ 46, 47, 48 ] }, { "primitive_idx": 19, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1", "diced__vidalia_onion", "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86" ], "bowl_76", "pizza_dough_87" ] ], "manipulating_object_id": [ "bowl_76" ], "spatial_prefix": [], "frame_duration": [ 8391, 8976 ], "skill_idxes": [ 49, 50, 51, 52, 53 ] }, { "primitive_idx": 20, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "grated_cheese" ], "tupperware_75", "pizza_dough_87" ] ], "manipulating_object_id": [ "tupperware_75" ], "spatial_prefix": [], "frame_duration": [ 8976, 9333 ], "skill_idxes": [ 54, 55, 56 ] }, { "primitive_idx": 21, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9333, 10479 ], "skill_idxes": [ 57, 58, 59 ] }, { "primitive_idx": 22, "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": [ 10479, 11229 ], "skill_idxes": [ 60, 61, 62, 63 ] }, { "primitive_idx": 23, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11229, 11442 ], "skill_idxes": [ 64 ] }, { "primitive_idx": 24, "primitive_id": [ 69 ], "primitive_description": [ "turn on switch" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [ "oven_ffitak_0" ], "spatial_prefix": [], "frame_duration": [ 11442, 11553 ], "skill_idxes": [ 65 ] }, { "primitive_idx": 25, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "oven_ffitak_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11553, 11843 ], "skill_idxes": [ 66 ] } ] }