{ "task_name": "cleaning up plates and food", "data_folder": "", "meta_data": { "task_duration": 9489, "valid_duration": [ 0, 9489 ] }, "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, 513 ], "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": [ 513, 1263 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 2, "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": [ 1263, 1883 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 3, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1883, 2060 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 4, "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": [ 2060, 2403 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 5, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "plate_94" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2403, 3330 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 6, "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": [ 3330, 4367 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4367, 5089 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 8, "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": [ 5089, 5378 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5378, 6594 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 10, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 6594, 6880 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_92" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6880, 7255 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 12, "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": [ 7256, 7590 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_91" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7591, 8443 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "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": [ 8443, 8560 ], "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": [ 8560, 8983 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 16, "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": [ 8983, 9274 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "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": [ 9274, 9489 ], "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, 1263 ], "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": [ 1263, 2403 ], "skill_idxes": [ 2, 3, 4 ] }, { "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": [ 2403, 5378 ], "skill_idxes": [ 5, 6, 7, 8 ] }, { "primitive_idx": 3, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 5378, 6880 ], "skill_idxes": [ 9, 10 ] }, { "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_92", "bowl_91" ], "drop_in_sink_lkklqs_0" ] ], "manipulating_object_id": [ [ "bowl_92", "bowl_91" ], [ "bowl_92", "bowl_91" ] ], "spatial_prefix": [], "frame_duration": [ 6880, 9489 ], "skill_idxes": [ 11, 12, 13, 14, 15, 16, 17 ] } ] }