{ "task_name": "canning food", "data_folder": "", "meta_data": { "task_duration": 34686, "valid_duration": [6, 34692] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [1], "skill_description": ["move to"], "object_id": [["carving_knife_207"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [6, 960], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 1, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["carving_knife_207", "cutting_board_208"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [960, 1734], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 2, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["cutting_board_208", "countertop_kelzer_0"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [1734, 2175], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 3, "skill_id": [1], "skill_description": ["move to"], "object_id": [["drop_in_sink_awvzkn_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [2175, 2274], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 4, "skill_id": [3], "skill_description": ["place on"], "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [2274, 2718], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 5, "skill_id": [91], "skill_description": ["place on next to"], "object_id": [["carving_knife_207", "countertop_kelzer_0", "cutting_board_208"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [["", "", "right"]], "frame_duration": [2718, 3174], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 6, "skill_id": [1], "skill_description": ["move to"], "object_id": [["fridge_dszchb_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [3174, 3753], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 7, "skill_id": [10], "skill_description": ["open door"], "object_id": [["fridge_dszchb_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [3753, 5223], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 8, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["pineapple_211", "fridge_dszchb_0"]], "manipulating_object_id": ["pineapple_211"], "memory_prefix": [], "spatial_prefix": [["", "middle_level"]], "frame_duration": [5223, 6492], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 9, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["steak_212", "fridge_dszchb_0"]], "manipulating_object_id": ["steak_212"], "memory_prefix": [], "spatial_prefix": [["", "low_level"]], "frame_duration": [6492, 7635], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 10, "skill_id": [12], "skill_description": ["close door"], "object_id": [["fridge_dszchb_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [7635, 8874], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 11, "skill_id": [1], "skill_description": ["move to"], "object_id": [["cutting_board_208"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [8874, 9135], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 12, "skill_id": [3], "skill_description": ["place on"], "object_id": [["steak_212", "cutting_board_208"]], "manipulating_object_id": ["steak_212"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [9135, 9555], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 13, "skill_id": [3], "skill_description": ["place on"], "object_id": [["pineapple_211", "countertop_kelzer_0"]], "manipulating_object_id": ["pineapple_211"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [9555, 9864], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 14, "skill_id": [1], "skill_description": ["move to"], "object_id": [["carving_knife_207"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [9864, 9942], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 15, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["carving_knife_207", "countertop_kelzer_0"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [9942, 10239], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 16, "skill_id": [1], "skill_description": ["move to"], "object_id": [["steak_212"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [10239, 10275], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 17, "skill_id": [34], "skill_description": ["chop"], "object_id": [["carving_knife_207", "steak_212"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [10275, 10374], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 18, "skill_id": [34], "skill_description": ["chop"], "object_id": [["carving_knife_207", "half_steak_212_0"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [10374, 10467], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 19, "skill_id": [34], "skill_description": ["chop"], "object_id": [["carving_knife_207", "half_steak_212_1"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [10374, 10467], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 20, "skill_id": [91], "skill_description": ["place on next to"], "object_id": [["carving_knife_207", "countertop_kelzer_0", "cutting_board_208"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": ["back"], "spatial_prefix": [["", "", "right"]], "frame_duration": [10467, 10815], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 21, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bottom_cabinet_fancyy_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [10815, 11574], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 22, "skill_id": [10], "skill_description": ["open door"], "object_id": [["bottom_cabinet_fancyy_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["left_door"]], "frame_duration": [11574, 12408], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 23, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bowl_209", "bottom_cabinet_fancyy_0"]], "manipulating_object_id": ["bowl_209"], "memory_prefix": [], "spatial_prefix": [["", "layer_4"]], "frame_duration": [12408, 13224], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 24, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bowl_210", "bottom_cabinet_fancyy_0"]], "manipulating_object_id": ["bowl_210"], "memory_prefix": ["the other"], "spatial_prefix": [["", "layer_2"]], "frame_duration": [13224, 14628], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 25, "skill_id": [12], "skill_description": ["close door"], "object_id": [["bottom_cabinet_fancyy_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["left_door"]], "frame_duration": [14628, 16058], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 26, "skill_id": [1], "skill_description": ["move to"], "object_id": [["countertop_kelzer_0"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [16058, 16965], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 27, "skill_id": [91], "skill_description": ["place on next to"], "object_id": [["bowl_210", "countertop_kelzer_0", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["bowl_210"], "memory_prefix": [], "spatial_prefix": [["", "", "right"]], "frame_duration": [16965, 17586], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 28, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bowl_209", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["bowl_209"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [17586, 18171], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 29, "skill_id": [1], "skill_description": ["move to"], "object_id": [["cutting_board_208"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [18171, 18231], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 30, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [18231, 18816], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 31, "skill_id": [28], "skill_description": ["pour"], "object_id": [[["diced__steak"], "cutting_board_208", "bowl_209"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [18816, 19248], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 32, "skill_id": [3], "skill_description": ["place on"], "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [19248, 19587], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 33, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bowl_209"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [19587, 19662], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 34, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bowl_209", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["bowl_209"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [19662, 20280], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 35, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bottom_cabinet_fancyy_0"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [20280, 21138], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 36, "skill_id": [10], "skill_description": ["open door"], "object_id": [["bottom_cabinet_fancyy_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["left_door"]], "frame_duration": [21138, 22206], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 37, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bowl_209", "bottom_cabinet_fancyy_0"]], "manipulating_object_id": ["bowl_209"], "memory_prefix": ["back"], "spatial_prefix": [["", "layer_4"]], "frame_duration": [22206, 23151], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 38, "skill_id": [1], "skill_description": ["move to"], "object_id": [["pineapple_211"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [23151, 23841], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 39, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["pineapple_211", "countertop_kelzer_0"]], "manipulating_object_id": ["pineapple_211"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [23841, 24393], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 40, "skill_id": [1], "skill_description": ["move to"], "object_id": [["cutting_board_208"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [24393, 24453], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 41, "skill_id": [3], "skill_description": ["place on"], "object_id": [["pineapple_211", "cutting_board_208"]], "manipulating_object_id": ["pineapple_211"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [24453, 24837], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 42, "skill_id": [1], "skill_description": ["move to"], "object_id": [["carving_knife_207"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [24837, 24864], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 43, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["carving_knife_207", "countertop_kelzer_0"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [24864, 25137], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 44, "skill_id": [34], "skill_description": ["chop"], "object_id": [["carving_knife_207", "pineapple_211"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [25137, 25308], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 45, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["half_pineapple_211_1", "cutting_board_208"]], "manipulating_object_id": ["half_pineapple_211_1"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [25308, 25656], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 46, "skill_id": [3], "skill_description": ["place on"], "object_id": [["half_pineapple_211_1", "countertop_kelzer_0"]], "manipulating_object_id": ["half_pineapple_211_1"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [25656, 25905], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 47, "skill_id": [34], "skill_description": ["chop"], "object_id": [["carving_knife_207", "half_pineapple_211_0"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [25905, 26091], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 48, "skill_id": [91], "skill_description": ["place on next to"], "object_id": [["carving_knife_207", "countertop_kelzer_0", "cutting_board_208"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": ["back"], "spatial_prefix": [["", "", "right"]], "frame_duration": [26091, 26463], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 49, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bowl_210"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [26463, 26484], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 50, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bowl_210", "countertop_kelzer_0"]], "manipulating_object_id": ["bowl_210"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [26484, 26802], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 51, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bowl_210", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["bowl_210"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [26802, 27402], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 52, "skill_id": [1], "skill_description": ["move to"], "object_id": [["cutting_board_208"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [27408, 27438], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 53, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [27438, 28056], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 54, "skill_id": [28], "skill_description": ["pour"], "object_id": [[["diced__pineapple"], "cutting_board_208", "bowl_210"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [28056, 28800], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 55, "skill_id": [3], "skill_description": ["place on"], "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [28800, 29094], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 56, "skill_id": [1], "skill_description": ["move to"], "object_id": [["half_pineapple_211_1"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [29094, 29181], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 57, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["half_pineapple_211_1", "countertop_kelzer_0"]], "manipulating_object_id": ["half_pineapple_211_1"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [29181, 29337], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 58, "skill_id": [3], "skill_description": ["place on"], "object_id": [["half_pineapple_211_1", "cutting_board_208"]], "manipulating_object_id": ["half_pineapple_211_1"], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [29337, 29637], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 59, "skill_id": [1], "skill_description": ["move to"], "object_id": [["carving_knife_207"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [29637, 29682], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 60, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["carving_knife_207", "countertop_kelzer_0"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [29682, 29955], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 61, "skill_id": [34], "skill_description": ["chop"], "object_id": [["carving_knife_207", "half_pineapple_211_1"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [29955, 30075], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 62, "skill_id": [91], "skill_description": ["place on next to"], "object_id": [["carving_knife_207", "countertop_kelzer_0", "cutting_board_208"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": ["back"], "spatial_prefix": [["", "", "right"]], "frame_duration": [30075, 30333], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 63, "skill_id": [1], "skill_description": ["move to"], "object_id": [["cutting_board_208"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [30333, 30378], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 64, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [30378, 30752], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 65, "skill_id": [28], "skill_description": ["pour"], "object_id": [[["diced__pineapple"], "cutting_board_208", "bowl_210"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [30752, 31245], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 66, "skill_id": [3], "skill_description": ["place on"], "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [31245, 31641], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 67, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bowl_210", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["bowl_210"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [31641, 32361], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 68, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bottom_cabinet_fancyy_0"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [32361, 33135], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 69, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bowl_210", "bottom_cabinet_fancyy_0"]], "manipulating_object_id": ["bowl_210"], "memory_prefix": [], "spatial_prefix": [["", "layer_3"]], "frame_duration": [33135, 33912], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 70, "skill_id": [12], "skill_description": ["close door"], "object_id": [["bottom_cabinet_fancyy_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["left_door"]], "frame_duration": [33912, 34692], "mp_ef": [], "skill_type": ["uncoordinated"] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [2, 3, 91], "primitive_description": ["pick up from", "place on", "place on next to"], "object_id": [[["carving_knife_207", "cutting_board_208"], ["cutting_board_208", "countertop_kelzer_0"]], ["cutting_board_208", "drop_in_sink_awvzkn_0"], ["carving_knife_207", "countertop_kelzer_0", "cutting_board_208"]], "manipulating_object_id": [["carving_knife_207", "cutting_board_208"], "cutting_board_208", "carving_knife_207"], "memory_prefix": [], "spatial_prefix": [[], [], [[], [], ["right"]]], "frame_duration": [6, 3174], "skill_idxes": [0, 1, 2, 3, 4, 5] }, { "primitive_idx": 1, "primitive_id": [10], "primitive_description": ["open door"], "object_id": [["fridge_dszchb_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [3174, 5223], "skill_idxes": [6, 7] }, { "primitive_idx": 2, "primitive_id": [2], "primitive_description": ["pick up from"], "object_id": [[["pineapple_211", "steak_212"], "fridge_dszchb_0"]], "manipulating_object_id": [["pineapple_211", "steak_212"]], "memory_prefix": [], "spatial_prefix": [[[], ["middle_level", "low_level"]]], "frame_duration": [5223, 7635], "skill_idxes": [8, 9] }, { "primitive_idx": 3, "primitive_id": [12], "primitive_description": ["close door"], "object_id": [["fridge_dszchb_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [7635, 8874], "skill_idxes": [10] }, { "primitive_idx": 4, "primitive_id": [3], "primitive_description": ["place on"], "object_id": [[["steak_212", "pineapple_211"], ["cutting_board_208", "countertop_kelzer_0"]]], "manipulating_object_id": [["steak_212", "pineapple_211"]], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [8874, 9864], "skill_idxes": [11, 12, 13] }, { "primitive_idx": 5, "primitive_id": [34], "primitive_description": ["chop"], "object_id": [["carving_knife_207", ["steak_212", "half_steak_212_0", "half_steak_212_1"]]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [9864, 10815], "skill_idxes": [14, 15, 16, 17, 18, 19, 20] }, { "primitive_idx": 6, "primitive_id": [10], "primitive_description": ["open door"], "object_id": [["bottom_cabinet_fancyy_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [[["left_door"]]], "frame_duration": [10815, 12408], "skill_idxes": [21, 22] }, { "primitive_idx": 7, "primitive_id": [2], "primitive_description": ["pick up from"], "object_id": [[["bowl_209", "bowl_210"], "bottom_cabinet_fancyy_0"]], "manipulating_object_id": [["bowl_209", "bowl_210"]], "memory_prefix": [], "spatial_prefix": [[[], ["layer_4", "layer_2"]]], "frame_duration": [12408, 14628], "skill_idxes": [23, 24] }, { "primitive_idx": 8, "primitive_id": [12], "primitive_description": ["close door"], "object_id": [["bottom_cabinet_fancyy_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [[["left_door"]]], "frame_duration": [14628, 16058], "skill_idxes": [25] }, { "primitive_idx": 9, "primitive_id": [91, 4], "primitive_description": ["place on next to", "place in"], "object_id": [["bowl_210", "countertop_kelzer_0", "drop_in_sink_awvzkn_0"], ["bowl_209", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["bowl_210", "bowl_209"], "memory_prefix": [], "spatial_prefix": [[[], [], ["right"]], []], "frame_duration": [16058, 18171], "skill_idxes": [26, 27, 28] }, { "primitive_idx": 10, "primitive_id": [28], "primitive_description": ["pour"], "object_id": [[["diced__steak"], "cutting_board_208", "bowl_209"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [18171, 19587], "skill_idxes": [29, 30, 31, 32] }, { "primitive_idx": 11, "primitive_id": [2], "primitive_description": ["pick up from"], "object_id": [["bowl_209", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["bowl_209"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [19587, 20280], "skill_idxes": [33, 34] }, { "primitive_idx": 12, "primitive_id": [10], "primitive_description": ["open door"], "object_id": [["bottom_cabinet_fancyy_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [[["left_door"]]], "frame_duration": [20280, 22206], "skill_idxes": [35, 36] }, { "primitive_idx": 13, "primitive_id": [4], "primitive_description": ["place in"], "object_id": [["bowl_209", "bottom_cabinet_fancyy_0"]], "manipulating_object_id": ["bowl_209"], "memory_prefix": ["back"], "spatial_prefix": [[[], ["layer_4"]]], "frame_duration": [22206, 23151], "skill_idxes": [37] }, { "primitive_idx": 14, "primitive_id": [2, 3], "primitive_description": ["pick up from", "place on"], "object_id": [["pineapple_211", "countertop_kelzer_0"], ["pineapple_211", "cutting_board_208"]], "manipulating_object_id": ["pineapple_211", "pineapple_211"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [23151, 24837], "skill_idxes": [38, 39, 40, 41] }, { "primitive_idx": 15, "primitive_id": [34], "primitive_description": ["chop"], "object_id": [["carving_knife_207", "pineapple_211"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [24837, 25308], "skill_idxes": [42, 43, 44] }, { "primitive_idx": 16, "primitive_id": [2, 3], "primitive_description": ["pick up from", "place on"], "object_id": [["half_pineapple_211_1", "cutting_board_208"], ["half_pineapple_211_1", "countertop_kelzer_0"]], "manipulating_object_id": ["half_pineapple_211_1", "half_pineapple_211_1"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [25308, 25905], "skill_idxes": [45, 46] }, { "primitive_idx": 17, "primitive_id": [34], "primitive_description": ["chop"], "object_id": [["carving_knife_207", "half_pineapple_211_0"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [25905, 26463], "skill_idxes": [47, 48] }, { "primitive_idx": 18, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [["bowl_210", "countertop_kelzer_0"], ["bowl_210", "drop_in_sink_awvzkn_0"]], "manipulating_object_id": ["bowl_210", "bowl_210"], "memory_prefix": ["the other", ""], "spatial_prefix": [], "frame_duration": [26463, 27402], "skill_idxes": [49, 50, 51] }, { "primitive_idx": 19, "primitive_id": [28], "primitive_description": ["pour"], "object_id": [[["diced__pineapple"], "cutting_board_208", "bowl_210"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [27408, 29094], "skill_idxes": [52, 53, 54, 55] }, { "primitive_idx": 20, "primitive_id": [2, 3], "primitive_description": ["pick up from", "place on"], "object_id": [["half_pineapple_211_1", "countertop_kelzer_0"], ["half_pineapple_211_1", "cutting_board_208"]], "manipulating_object_id": ["half_pineapple_211_1", "half_pineapple_211_1"], "memory_prefix": ["", "back"], "spatial_prefix": [], "frame_duration": [29094, 29637], "skill_idxes": [56, 57, 58] }, { "primitive_idx": 21, "primitive_id": [34], "primitive_description": ["chop"], "object_id": [["carving_knife_207", "half_pineapple_211_1"]], "manipulating_object_id": ["carving_knife_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [29637, 30333], "skill_idxes": [59, 60, 61, 62] }, { "primitive_idx": 22, "primitive_id": [28], "primitive_description": ["pour"], "object_id": [[["diced__pineapple"], "cutting_board_208", "bowl_210"]], "manipulating_object_id": ["cutting_board_208"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [30333, 31641], "skill_idxes": [63, 64, 65, 66] }, { "primitive_idx": 23, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [["bowl_210", "drop_in_sink_awvzkn_0"], ["bowl_210", "bottom_cabinet_fancyy_0"]], "manipulating_object_id": ["bowl_210", "bowl_210"], "memory_prefix": [], "spatial_prefix": [[], [[], ["layer_3"]]], "frame_duration": [31641, 33912], "skill_idxes": [67, 68, 69] }, { "primitive_idx": 24, "primitive_id": [12], "primitive_description": ["close door"], "object_id": [["bottom_cabinet_fancyy_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [[["left_door"]]], "frame_duration": [33912, 34692], "skill_idxes": [70] } ] }