{ "task_name": "sorting vegetables", "data_folder": "", "meta_data": { "task_duration": 15396, "valid_duration": [0, 15396] }, "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, 267], "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": [267, 846], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 2, "skill_id": [1], "skill_description": ["move to"], "object_id": [["mixing_bowl_224"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [846, 1371], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 3, "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": [1371, 1782], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 4, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bok_choy_217", "mixing_bowl_224"]], "manipulating_object_id": ["bok_choy_217"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [1782, 1999], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 5, "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": [1999, 2333], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 6, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bok_choy_218", "mixing_bowl_224"]], "manipulating_object_id": ["bok_choy_218"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [2333, 2536], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 7, "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": [2536, 2975], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 8, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bok_choy_219", "mixing_bowl_224"]], "manipulating_object_id": ["bok_choy_219"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [2975, 3212], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 9, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["sweet_corn_213", "wicker_basket_221"]], "manipulating_object_id": ["sweet_corn_213"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [3212, 3717], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 10, "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": [3717, 4134], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 11, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["sweet_corn_211", "wicker_basket_221"]], "manipulating_object_id": ["sweet_corn_211"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [4134, 4696], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 12, "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": [4696, 5084], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 13, "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": [5084, 5499], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 14, "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": [5499, 5868], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 15, "skill_id": [1], "skill_description": ["move to"], "object_id": [["floors_kxcpgy_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [5868, 6048], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 16, "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": [6048, 6663], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 17, "skill_id": [1], "skill_description": ["move to"], "object_id": [["wicker_basket_220"]], "manipulating_object_id": [], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [6663, 7599], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 18, "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": [7599, 8167], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 19, "skill_id": [1], "skill_description": ["move to"], "object_id": [["mixing_bowl_224"]], "manipulating_object_id": [], "memory_prefix": ["back", "the other"], "spatial_prefix": [], "frame_duration": [8167, 9016], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 20, "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": [9016, 9455], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 21, "skill_id": [4], "skill_description": ["place in"], "object_id": [["vidalia_onion_216", "mixing_bowl_224"]], "manipulating_object_id": ["vidalia_onion_216"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [9455, 9602], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 22, "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": [9602, 9931], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 23, "skill_id": [4], "skill_description": ["place in"], "object_id": [["vidalia_onion_214", "mixing_bowl_224"]], "manipulating_object_id": ["vidalia_onion_214"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [9931, 10075], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 24, "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": [10075, 10383], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 25, "skill_id": [4], "skill_description": ["place in"], "object_id": [["vidalia_onion_215", "mixing_bowl_224"]], "manipulating_object_id": ["vidalia_onion_215"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [10383, 10554], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 26, "skill_id": [1], "skill_description": ["move to"], "object_id": [["mixing_bowl_222"]], "manipulating_object_id": [], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [10554, 11259], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 27, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["broccoli_210", "wicker_basket_220"]], "manipulating_object_id": ["broccoli_210"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [11259, 11517], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 28, "skill_id": [4], "skill_description": ["place in"], "object_id": [["broccoli_210", "mixing_bowl_222"]], "manipulating_object_id": ["broccoli_210"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [11517, 11860], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 29, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["broccoli_209", "wicker_basket_220"]], "manipulating_object_id": ["broccoli_209"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [11860, 12509], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 30, "skill_id": [1], "skill_description": ["move to"], "object_id": [["mixing_bowl_222"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [12509, 12566], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 31, "skill_id": [4], "skill_description": ["place in"], "object_id": [["broccoli_209", "mixing_bowl_222"]], "manipulating_object_id": ["broccoli_209"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [12566, 12662], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 32, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["leek_207", "wicker_basket_220"]], "manipulating_object_id": ["leek_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [12662, 13707], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 33, "skill_id": [1], "skill_description": ["move to"], "object_id": [["mixing_bowl_222"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [13707, 13814], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 34, "skill_id": [4], "skill_description": ["place in"], "object_id": [["leek_207", "mixing_bowl_222"]], "manipulating_object_id": ["leek_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [13814, 13907], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 35, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["leek_208", "wicker_basket_220"]], "manipulating_object_id": ["leek_208"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [13907, 14495], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 36, "skill_id": [4], "skill_description": ["place in"], "object_id": [["leek_208", "mixing_bowl_222"]], "manipulating_object_id": ["leek_208"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [14495, 14678], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 37, "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": [14678, 15396], "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, 846], "skill_idxes": [0, 1] }, { "primitive_idx": 1, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [[["bok_choy_217", "bok_choy_218", "bok_choy_219"], "wicker_basket_221"], [["bok_choy_217", "bok_choy_218", "bok_choy_219"], "mixing_bowl_224"]], "manipulating_object_id": [["bok_choy_217", "bok_choy_218", "bok_choy_219"], ["bok_choy_217", "bok_choy_218", "bok_choy_219"]], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [846, 3212], "skill_idxes": [2, 3, 4, 5, 6, 7, 8] }, { "primitive_idx": 2, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [[["sweet_corn_213", "sweet_corn_211", "sweet_corn_212"], "wicker_basket_221"], [["sweet_corn_213", "sweet_corn_211", "sweet_corn_212"], "mixing_bowl_223"]], "manipulating_object_id": [["sweet_corn_213", "sweet_corn_211", "sweet_corn_212"], ["sweet_corn_213", "sweet_corn_211", "sweet_corn_212"]], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [3212, 5868], "skill_idxes": [9, 10, 11, 12, 13, 14] }, { "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": [5868, 6663], "skill_idxes": [15, 16] }, { "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": [6663, 8167], "skill_idxes": [17, 18] }, { "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_224"]], "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": [8167, 10554], "skill_idxes": [19, 20, 21, 22, 23, 24, 25] }, { "primitive_idx": 6, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [[["broccoli_210", "broccoli_209", "leek_207", "leek_208"], "wicker_basket_220"], [["broccoli_210", "broccoli_209", "leek_207", "leek_208"], "mixing_bowl_222"]], "manipulating_object_id": [["broccoli_210", "broccoli_209", "leek_207", "leek_208"], ["broccoli_210", "broccoli_209", "leek_207", "leek_208"]], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [10554, 14678], "skill_idxes": [26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36] }, { "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": [14678, 15396], "skill_idxes": [37] } ] }