{ "task_name": "can meat", "data_folder": "", "meta_data": { "task_duration": 15996, "valid_duration": [ 141, 16137 ] }, "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": [ 141, 499 ], "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": [ 499, 2041 ], "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": [ 2041, 2786 ], "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": [ 2786, 3903 ], "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": [ 3903, 4339 ], "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": [ 4339, 4614 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bratwurst_230" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4614, 5307 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bratwurst_230", "cutting_board_234" ] ], "manipulating_object_id": [ "bratwurst_230" ], "spatial_prefix": [], "frame_duration": [ 5307, 5603 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bratwurst_230", "hinged_jar_236" ] ], "manipulating_object_id": [ "bratwurst_230" ], "spatial_prefix": [], "frame_duration": [ 5603, 5932 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 9, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bratwurst_233", "cutting_board_234" ] ], "manipulating_object_id": [ "bratwurst_233" ], "spatial_prefix": [], "frame_duration": [ 5932, 6468 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bratwurst_233", "hinged_jar_236" ] ], "manipulating_object_id": [ "bratwurst_233" ], "spatial_prefix": [], "frame_duration": [ 6468, 6886 ], "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": [ 6886, 7239 ], "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": [ 7239, 7937 ], "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": [ 7937, 9038 ], "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": [ 9038, 10133 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "hinged_jar_235", "right", "left" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [], "frame_duration": [ 10133, 10477 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 16, "skill_id": [ 13 ], "skill_description": [ "open lid" ], "object_id": [ [ "hinged_jar_235" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [], "frame_duration": [ 10477, 10676 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 17, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bratwurst_231" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10676, 11457 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 18, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bratwurst_231", "cutting_board_234" ] ], "manipulating_object_id": [ "bratwurst_231" ], "spatial_prefix": [], "frame_duration": [ 11457, 11783 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bratwurst_231", "hinged_jar_235" ] ], "manipulating_object_id": [ "bratwurst_231" ], "spatial_prefix": [], "frame_duration": [ 11783, 12039 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 20, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bratwurst_232", "cutting_board_234" ] ], "manipulating_object_id": [ "bratwurst_232" ], "spatial_prefix": [], "frame_duration": [ 12039, 12407 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 21, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bratwurst_232", "hinged_jar_235" ] ], "manipulating_object_id": [ "bratwurst_232" ], "spatial_prefix": [], "frame_duration": [ 12407, 12606 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 22, "skill_id": [ 14 ], "skill_description": [ "close lid" ], "object_id": [ [ "hinged_jar_235" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [], "frame_duration": [ 12606, 13060 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 23, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13061, 13987 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 24, "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": [ 13988, 15165 ], "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": [ 15165, 15522 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 15522, 16137 ], "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": [ 141, 2786 ], "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_230", "bratwurst_233" ], [ "top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234" ] ], [ [ "bratwurst_230", "bratwurst_233" ], "hinged_jar_236" ] ], "manipulating_object_id": [ [ "hinged_jar_236", "bratwurst_230", "bratwurst_233" ], [ "bratwurst_230", "bratwurst_233" ] ], "spatial_prefix": [ [ [], [ "low_level", "", "" ] ], [] ], "frame_duration": [ 2786, 7239 ], "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": [ 7239, 9038 ], "skill_idxes": [ 12, 13 ] }, { "primitive_idx": 3, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "hinged_jar_235", "bratwurst_231", "bratwurst_232" ], [ "top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234" ] ], [ [ "bratwurst_231", "bratwurst_232" ], "hinged_jar_235" ] ], "manipulating_object_id": [ [ "hinged_jar_235", "bratwurst_231", "bratwurst_232" ], [ "bratwurst_231", "bratwurst_232" ] ], "spatial_prefix": [ [ [], [ "high_level", "", "" ] ], [] ], "frame_duration": [ 9038, 13060 ], "skill_idxes": [ 14, 15, 16, 17, 18, 19, 20, 21, 22 ] }, { "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": [ 13061, 15165 ], "skill_idxes": [ 23, 24 ] }, { "primitive_idx": 5, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door", "left_door" ] ] ], "frame_duration": [ 15165, 16137 ], "skill_idxes": [ 25, 26 ] } ] }