{ "task_name": "cleaning up plates and food", "data_folder": "", "meta_data": { "task_duration": 9357, "valid_duration": [ 0, 9357 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 935 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 935, 1455 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 2, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "plate_93" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1455, 1507 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 3, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "plate_93", "breakfast_table_xftrki_0" ] ], "manipulating_object_id": [ "plate_93" ], "spatial_prefix": [], "frame_duration": [ 1508, 1780 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1780, 2125 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 5, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "plate_93", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "plate_93" ], "spatial_prefix": [ [ "", "layer_5" ] ], "frame_duration": [ 2125, 2383 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "plate_94" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2383, 2968 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "plate_94", "breakfast_table_xftrki_0" ] ], "manipulating_object_id": [ "plate_94" ], "spatial_prefix": [], "frame_duration": [ 2968, 4309 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4309, 4592 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 9, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "plate_94", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "plate_94" ], "spatial_prefix": [ [ "", "layer_4" ] ], "frame_duration": [ 4592, 4913 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4913, 6299 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 11, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 6299, 6495 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_92" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6495, 7320 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 13, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_92", "breakfast_table_xftrki_0" ] ], "manipulating_object_id": [ "bowl_92" ], "spatial_prefix": [], "frame_duration": [ 7321, 7844 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bowl_91", "breakfast_table_xftrki_0" ] ], "manipulating_object_id": [ "bowl_91" ], "spatial_prefix": [], "frame_duration": [ 7844, 8407 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "drop_in_sink_lkklqs_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8407, 8821 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 16, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bowl_91", "drop_in_sink_lkklqs_0" ] ], "manipulating_object_id": [ "bowl_91" ], "spatial_prefix": [], "frame_duration": [ 8822, 9145 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bowl_92", "drop_in_sink_lkklqs_0" ] ], "manipulating_object_id": [ "bowl_92" ], "spatial_prefix": [], "frame_duration": [ 9145, 9357 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 0, 1455 ], "skill_idxes": [ 0, 1 ] }, { "primitive_idx": 1, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "plate_93", "breakfast_table_xftrki_0" ], [ "plate_93", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "plate_93", "plate_93" ], "spatial_prefix": [ [], [ [], [ "layer_5" ] ] ], "frame_duration": [ 1455, 2383 ], "skill_idxes": [ 2, 3, 4, 5 ] }, { "primitive_idx": 2, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "plate_94", "breakfast_table_xftrki_0" ], [ "plate_94", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "plate_94", "plate_94" ], "spatial_prefix": [ [], [ [], [ "layer_4" ] ] ], "frame_duration": [ 2383, 4913 ], "skill_idxes": [ 6, 7, 8, 9 ] }, { "primitive_idx": 3, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 4913, 6495 ], "skill_idxes": [ 10, 11 ] }, { "primitive_idx": 4, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "bowl_92", "bowl_91" ], "breakfast_table_xftrki_0" ], [ [ "bowl_91", "bowl_92" ], "drop_in_sink_lkklqs_0" ] ], "manipulating_object_id": [ [ "bowl_92", "bowl_91" ], [ "bowl_91", "bowl_92" ] ], "spatial_prefix": [], "frame_duration": [ 6495, 9357 ], "skill_idxes": [ 12, 13, 14, 15, 16, 17 ] } ] }