{ "task_name": "can meat", "data_folder": "", "meta_data": { "task_duration": 14095, "valid_duration": [ 167, 14262 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 167, 651 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 651, 1923 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 1923, 2458 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 3, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "hinged_jar_236", "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [ "hinged_jar_236" ], "spatial_prefix": [ [ "", "low_level" ] ], "frame_duration": [ 2458, 3241 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "hinged_jar_236", "right", "left" ] ], "manipulating_object_id": [ "hinged_jar_236" ], "spatial_prefix": [], "frame_duration": [ 3241, 3645 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 5, "skill_id": [ 13 ], "skill_description": [ "open lid" ], "object_id": [ [ "hinged_jar_236" ] ], "manipulating_object_id": [ "hinged_jar_236" ], "spatial_prefix": [], "frame_duration": [ 3645, 3936 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bratwurst_233" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3936, 5146 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bratwurst_233", "cutting_board_234" ] ], "manipulating_object_id": [ "bratwurst_233" ], "spatial_prefix": [], "frame_duration": [ 5146, 5628 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bratwurst_233", "hinged_jar_236" ] ], "manipulating_object_id": [ "bratwurst_233" ], "spatial_prefix": [], "frame_duration": [ 5628, 5949 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 9, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bratwurst_231", "cutting_board_234" ] ], "manipulating_object_id": [ "bratwurst_231" ], "spatial_prefix": [], "frame_duration": [ 5949, 6198 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bratwurst_231", "hinged_jar_236" ] ], "manipulating_object_id": [ "bratwurst_231" ], "spatial_prefix": [], "frame_duration": [ 6198, 6501 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 11, "skill_id": [ 14 ], "skill_description": [ "close lid" ], "object_id": [ [ "hinged_jar_236" ] ], "manipulating_object_id": [ "hinged_jar_236" ], "spatial_prefix": [], "frame_duration": [ 6501, 6697 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 12, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6697, 7427 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 13, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "hinged_jar_236", "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [ "hinged_jar_236" ], "spatial_prefix": [ [ "", "low_level" ] ], "frame_duration": [ 7427, 7956 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "hinged_jar_235", "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [ [ "", "high_level" ] ], "frame_duration": [ 7956, 9039 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 13 ], "skill_description": [ "open lid" ], "object_id": [ [ "hinged_jar_235" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [], "frame_duration": [ 9039, 9532 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 16, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bratwurst_230" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9532, 10204 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 17, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bratwurst_230", "cutting_board_234" ] ], "manipulating_object_id": [ "bratwurst_230" ], "spatial_prefix": [], "frame_duration": [ 10204, 10821 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bratwurst_230", "hinged_jar_235" ] ], "manipulating_object_id": [ "bratwurst_230" ], "spatial_prefix": [], "frame_duration": [ 10821, 11027 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 19, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bratwurst_232", "cutting_board_234" ] ], "manipulating_object_id": [ "bratwurst_232" ], "spatial_prefix": [], "frame_duration": [ 11027, 11333 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bratwurst_232", "hinged_jar_235" ] ], "manipulating_object_id": [ "bratwurst_232" ], "spatial_prefix": [], "frame_duration": [ 11333, 11589 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 21, "skill_id": [ 14 ], "skill_description": [ "close lid" ], "object_id": [ [ "hinged_jar_235" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [], "frame_duration": [ 11589, 11814 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 22, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11814, 12794 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 23, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "hinged_jar_235", "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [ [ "", "high_level" ] ], "frame_duration": [ 12794, 13459 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 13459, 13912 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 13912, 14262 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door", "left_door" ] ] ], "frame_duration": [ 167, 2458 ], "skill_idxes": [ 0, 1, 2 ] }, { "primitive_idx": 1, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "hinged_jar_236", "bratwurst_233", "bratwurst_231" ], [ "top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234" ] ], [ [ "bratwurst_233", "bratwurst_231" ], "hinged_jar_236" ] ], "manipulating_object_id": [ [ "hinged_jar_236", "bratwurst_233", "bratwurst_231" ], [ "bratwurst_233", "bratwurst_231" ] ], "spatial_prefix": [ [ [], [ "low_level", "", "" ] ], [] ], "frame_duration": [ 2458, 6697 ], "skill_idxes": [ 3, 4, 5, 6, 7, 8, 9, 10, 11 ] }, { "primitive_idx": 2, "primitive_id": [ 4 ], "primitive_description": [ "place in" ], "object_id": [ [ "hinged_jar_236", "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [ "hinged_jar_236" ], "spatial_prefix": [ [ [], [ "low_level" ] ] ], "frame_duration": [ 6697, 7956 ], "skill_idxes": [ 12, 13 ] }, { "primitive_idx": 3, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "hinged_jar_235", "bratwurst_230", "bratwurst_232" ], [ "top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234" ] ], [ [ "bratwurst_230", "bratwurst_232" ], "hinged_jar_235" ] ], "manipulating_object_id": [ [ "hinged_jar_235", "bratwurst_230", "bratwurst_232" ], [ "bratwurst_230", "bratwurst_232" ] ], "spatial_prefix": [ [ [], [ "high_level", "", "" ] ], [] ], "frame_duration": [ 7956, 11814 ], "skill_idxes": [ 14, 15, 16, 17, 18, 19, 20, 21 ] }, { "primitive_idx": 4, "primitive_id": [ 4 ], "primitive_description": [ "place in" ], "object_id": [ [ "hinged_jar_235", "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [ [ [], [ "high_level" ] ] ], "frame_duration": [ 11814, 13459 ], "skill_idxes": [ 22, 23 ] }, { "primitive_idx": 5, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door", "right_door" ] ] ], "frame_duration": [ 13459, 14262 ], "skill_idxes": [ 24, 25 ] } ] }