| { |
| "task_name": "sorting vegetables", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 14465, |
| "valid_duration": [0, 14465] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["wicker_basket_221"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 384], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["wicker_basket_221", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_221"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [384, 937], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_223"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [[937, 2256], [2501, 2667]], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["sweet_corn_211", "wicker_basket_221"]], |
| "manipulating_object_id": ["sweet_corn_211"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2256, 2501], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["sweet_corn_211", "mixing_bowl_223"]], |
| "manipulating_object_id": ["sweet_corn_211"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2667, 3034], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["sweet_corn_213", "wicker_basket_221"]], |
| "manipulating_object_id": ["sweet_corn_213"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [3034, 3428], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["sweet_corn_213", "mixing_bowl_223"]], |
| "manipulating_object_id": ["sweet_corn_213"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3428, 3603], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bok_choy_217", "wicker_basket_221"]], |
| "manipulating_object_id": ["bok_choy_217"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3603, 4057], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_222"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [4057, 4337], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bok_choy_217", "mixing_bowl_222"]], |
| "manipulating_object_id": ["bok_choy_217"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4337, 4713], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bok_choy_219", "wicker_basket_221"]], |
| "manipulating_object_id": ["bok_choy_219"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [4713, 5124], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_222"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5124, 5303], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bok_choy_219", "mixing_bowl_222"]], |
| "manipulating_object_id": ["bok_choy_219"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5303, 5404], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bok_choy_218", "wicker_basket_221"]], |
| "manipulating_object_id": ["bok_choy_218"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [5404, 5929], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_222"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5929, 6025], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bok_choy_218", "mixing_bowl_222"]], |
| "manipulating_object_id": ["bok_choy_218"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6025, 6156], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_223"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [6156, 6296], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["sweet_corn_212", "wicker_basket_221"]], |
| "manipulating_object_id": ["sweet_corn_212"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [6296, 6707], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_223"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6707, 6760], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["sweet_corn_212", "mixing_bowl_223"]], |
| "manipulating_object_id": ["sweet_corn_212"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6760, 6970], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["wicker_basket_221", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_221"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6970, 7398], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["wicker_basket_220"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [7398, 7704], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["wicker_basket_220", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_220"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [7704, 8334], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_222"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back", "the other"], |
| "spatial_prefix": [], |
| "frame_duration": [[8334, 9646], [9908, 10006]], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["vidalia_onion_216", "wicker_basket_220"]], |
| "manipulating_object_id": ["vidalia_onion_216"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9646, 9908], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["vidalia_onion_216", "mixing_bowl_222"]], |
| "manipulating_object_id": ["vidalia_onion_216"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10006, 10057], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["vidalia_onion_214", "wicker_basket_220"]], |
| "manipulating_object_id": ["vidalia_onion_214"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [10057, 10468], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["vidalia_onion_214", "mixing_bowl_222"]], |
| "manipulating_object_id": ["vidalia_onion_214"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10468, 10581], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["broccoli_209", "wicker_basket_220"]], |
| "manipulating_object_id": ["broccoli_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10581, 10884], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_224"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [10884, 11045], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["broccoli_209", "mixing_bowl_224"]], |
| "manipulating_object_id": ["broccoli_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11045, 11115], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["broccoli_210", "wicker_basket_220"]], |
| "manipulating_object_id": ["broccoli_210"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [11115, 11474], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_224"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11474, 11534], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["broccoli_210", "mixing_bowl_224"]], |
| "manipulating_object_id": ["broccoli_210"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11534, 11613], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["vidalia_onion_215", "wicker_basket_220"]], |
| "manipulating_object_id": ["vidalia_onion_215"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [11613, 12077], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_222"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [12077, 12121], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["vidalia_onion_215", "mixing_bowl_222"]], |
| "manipulating_object_id": ["vidalia_onion_215"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12121, 12173], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["leek_208", "wicker_basket_220"]], |
| "manipulating_object_id": ["leek_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12173, 12611], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 38, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_224"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [12611, 12819], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["leek_208", "mixing_bowl_224"]], |
| "manipulating_object_id": ["leek_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12819, 12943], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["leek_207", "wicker_basket_220"]], |
| "manipulating_object_id": ["leek_207"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [12943, 13680], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_224"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [13680, 13809], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 42, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["leek_207", "mixing_bowl_224"]], |
| "manipulating_object_id": ["leek_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [13809, 13949], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 43, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["wicker_basket_220", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_220"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [13949, 14465], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["wicker_basket_221", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_221"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 937], |
| "skill_idxes": [0, 1] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["sweet_corn_211", "sweet_corn_213", "sweet_corn_212"], "wicker_basket_221"], [["sweet_corn_211", "sweet_corn_213", "sweet_corn_212"], "mixing_bowl_223"]], |
| "manipulating_object_id": [["sweet_corn_211", "sweet_corn_213", "sweet_corn_212"], ["sweet_corn_211", "sweet_corn_213", "sweet_corn_212"]], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [[937, 2256], 6970], |
| "skill_idxes": [2, 3, 4, 5, 6, 16, 17, 18, 19] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["bok_choy_217", "bok_choy_219", "bok_choy_218"], "wicker_basket_221"], [["bok_choy_217", "bok_choy_219", "bok_choy_218"], "mixing_bowl_222"]], |
| "manipulating_object_id": [["bok_choy_217", "bok_choy_219", "bok_choy_218"], ["bok_choy_217", "bok_choy_219", "bok_choy_218"]], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3603, 6156], |
| "skill_idxes": [7, 8, 9, 10, 11, 12, 13, 14, 15] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [3], |
| "primitive_description": ["place on"], |
| "object_id": [["wicker_basket_221", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_221"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6970, 7398], |
| "skill_idxes": [20] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["wicker_basket_220", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_220"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [7398, 8334], |
| "skill_idxes": [21, 22] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["vidalia_onion_216", "vidalia_onion_214", "vidalia_onion_215"], "wicker_basket_220"], [["vidalia_onion_216", "vidalia_onion_214", "vidalia_onion_215"], "mixing_bowl_222"]], |
| "manipulating_object_id": [["vidalia_onion_216", "vidalia_onion_214", "vidalia_onion_215"], ["vidalia_onion_216", "vidalia_onion_214", "vidalia_onion_215"]], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [[8334, 9646], 12173], |
| "skill_idxes": [23, 24, 25, 26, 27, 34, 35, 36] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["broccoli_209", "broccoli_210", "leek_208", "leek_207"], "wicker_basket_220"], [["broccoli_209", "broccoli_210", "leek_208", "leek_207"], "mixing_bowl_224"]], |
| "manipulating_object_id": [["broccoli_209", "broccoli_210", "leek_208", "leek_207"], ["broccoli_209", "broccoli_210", "leek_208", "leek_207"]], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10581, 13949], |
| "skill_idxes": [28, 29, 30, 31, 32, 33, 37, 38, 39, 40, 41, 42] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [3], |
| "primitive_description": ["place on"], |
| "object_id": [["wicker_basket_220", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_220"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [13949, 14465], |
| "skill_idxes": [43] |
| } |
| ] |
| } |
