{ "task_name": "can meat", "data_folder": "", "meta_data": { "task_duration": 13774, "valid_duration": [ 150, 13924 ] }, "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": [ 150, 585 ], "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": [ 585, 1804 ], "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": [ 1804, 2430 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 3, "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": [ [ "", "low_level" ] ], "frame_duration": [ 2430, 3348 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "hinged_jar_235", "right", "left" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [], "frame_duration": [ 3351, 3690 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 5, "skill_id": [ 13 ], "skill_description": [ "open lid" ], "object_id": [ [ "hinged_jar_235" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [], "frame_duration": [ 3690, 3933 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bratwurst_232" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3933, 5172 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bratwurst_232", "cutting_board_234" ] ], "manipulating_object_id": [ "bratwurst_232" ], "spatial_prefix": [], "frame_duration": [ 5172, 5604 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bratwurst_232", "hinged_jar_235" ] ], "manipulating_object_id": [ "bratwurst_232" ], "spatial_prefix": [], "frame_duration": [ 5604, 5831 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 9, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bratwurst_231", "cutting_board_234" ] ], "manipulating_object_id": [ "bratwurst_231" ], "spatial_prefix": [], "frame_duration": [ 5831, 6121 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bratwurst_231", "hinged_jar_235" ] ], "manipulating_object_id": [ "bratwurst_231" ], "spatial_prefix": [], "frame_duration": [ 6121, 6370 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 11, "skill_id": [ 14 ], "skill_description": [ "close lid" ], "object_id": [ [ "hinged_jar_235" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [], "frame_duration": [ 6370, 6703 ], "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": [ 6703, 7155 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 13, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "hinged_jar_235", "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [ [ "", "low_level" ] ], "frame_duration": [ 7155, 7840 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "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": [ 7840, 8459 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "hinged_jar_236", "left", "right" ] ], "manipulating_object_id": [ "hinged_jar_236" ], "spatial_prefix": [], "frame_duration": [ 8459, 8802 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 16, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "hinged_jar_236", "right", "left" ] ], "manipulating_object_id": [ "hinged_jar_236" ], "spatial_prefix": [], "frame_duration": [ 8802, 9021 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 17, "skill_id": [ 13 ], "skill_description": [ "open lid" ], "object_id": [ [ "hinged_jar_236" ] ], "manipulating_object_id": [ "hinged_jar_236" ], "spatial_prefix": [], "frame_duration": [ 9021, 9261 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 18, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bratwurst_233" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9261, 10609 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 19, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bratwurst_233", "cutting_board_234" ] ], "manipulating_object_id": [ "bratwurst_233" ], "spatial_prefix": [], "frame_duration": [ 10609, 10865 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bratwurst_233", "hinged_jar_236" ] ], "manipulating_object_id": [ "bratwurst_233" ], "spatial_prefix": [], "frame_duration": [ 10865, 11080 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 21, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bratwurst_230", "cutting_board_234" ] ], "manipulating_object_id": [ "bratwurst_230" ], "spatial_prefix": [], "frame_duration": [ 11080, 11375 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bratwurst_230", "hinged_jar_236" ] ], "manipulating_object_id": [ "bratwurst_230" ], "spatial_prefix": [], "frame_duration": [ 11375, 11688 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 23, "skill_id": [ 14 ], "skill_description": [ "close lid" ], "object_id": [ [ "hinged_jar_236" ] ], "manipulating_object_id": [ "hinged_jar_236" ], "spatial_prefix": [], "frame_duration": [ 11688, 11923 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 24, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11923, 12335 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 25, "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": [ 12335, 13149 ], "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": [ [ "right_door" ] ], "frame_duration": [ 13149, 13424 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 13424, 13924 ], "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": [ 150, 2430 ], "skill_idxes": [ 0, 1, 2 ] }, { "primitive_idx": 1, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "hinged_jar_235", "bratwurst_232", "bratwurst_231" ], [ "top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234" ] ], [ [ "bratwurst_232", "bratwurst_231" ], "hinged_jar_235" ] ], "manipulating_object_id": [ [ "hinged_jar_235", "bratwurst_232", "bratwurst_231" ], [ "bratwurst_232", "bratwurst_231" ] ], "spatial_prefix": [ [ [], [ "low_level", "", "" ] ], [] ], "frame_duration": [ 2430, 6703 ], "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_235", "top_cabinet_lkxmne_2" ] ], "manipulating_object_id": [ "hinged_jar_235" ], "spatial_prefix": [ [ [], [ "low_level" ] ] ], "frame_duration": [ 6703, 7840 ], "skill_idxes": [ 12, 13 ] }, { "primitive_idx": 3, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "hinged_jar_236", "bratwurst_233", "bratwurst_230" ], [ "top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234" ] ], [ [ "bratwurst_233", "bratwurst_230" ], "hinged_jar_236" ] ], "manipulating_object_id": [ [ "hinged_jar_236", "bratwurst_233", "bratwurst_230" ], [ "bratwurst_233", "bratwurst_230" ] ], "spatial_prefix": [ [ [], [ "low_level", "", "" ] ], [] ], "frame_duration": [ 7840, 11923 ], "skill_idxes": [ 14, 15, 16, 17, 18, 19, 20, 21, 22, 23 ] }, { "primitive_idx": 4, "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": [ 11923, 13149 ], "skill_idxes": [ 24, 25 ] }, { "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": [ 13149, 13924 ], "skill_idxes": [ 26, 27 ] } ] }