{ "task_name": "putting dishes away after cleaning", "data_folder": "", "meta_data": { "task_duration": 8970, "valid_duration": [ 0, 8970 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 280 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 280, 1232 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 2, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 1232, 2126 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 3, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "plate_208", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "plate_208" ], "spatial_prefix": [], "frame_duration": [ 2126, 2360 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "plate_210" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2360, 2514 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 5, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "plate_210", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "plate_210" ], "spatial_prefix": [], "frame_duration": [ 2514, 2671 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2671, 3004 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "plate_208", "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [ "plate_208" ], "spatial_prefix": [ [ "", "low_level" ] ], "frame_duration": [ 3004, 3160 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "plate_210", "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [ "plate_210" ], "spatial_prefix": [ [ "", "low_level" ] ], "frame_duration": [ 3160, 3397 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "plate_209" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3397, 3672 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 10, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "plate_209", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "plate_209" ], "spatial_prefix": [], "frame_duration": [ 3673, 3899 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "plate_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3899, 3934 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 12, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "plate_207", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "plate_207" ], "spatial_prefix": [], "frame_duration": [ 3934, 4112 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4112, 4356 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 14, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "plate_209", "plate_208" ] ], "manipulating_object_id": [ "plate_209" ], "spatial_prefix": [], "frame_duration": [ 4356, 4530 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "plate_207", "plate_210" ] ], "manipulating_object_id": [ "plate_207" ], "spatial_prefix": [], "frame_duration": [ 4531, 4776 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "plate_212" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4776, 5010 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 17, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "plate_212", "bar_udatjt_0" ] ], "manipulating_object_id": [ "plate_212" ], "spatial_prefix": [], "frame_duration": [ 5010, 5216 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "plate_213" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5216, 5420 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 19, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "plate_213", "bar_udatjt_0" ] ], "manipulating_object_id": [ "plate_213" ], "spatial_prefix": [], "frame_duration": [ 5420, 5690 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5690, 5870 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 21, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "plate_212", "plate_209" ] ], "manipulating_object_id": [ "plate_212" ], "spatial_prefix": [], "frame_duration": [ 5870, 6214 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "plate_213", "plate_207" ] ], "manipulating_object_id": [ "plate_213" ], "spatial_prefix": [], "frame_duration": [ 6215, 6435 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "plate_211" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6435, 6721 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 24, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "plate_211", "bar_udatjt_0" ] ], "manipulating_object_id": [ "plate_211" ], "spatial_prefix": [], "frame_duration": [ 6721, 6922 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "plate_214" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6922, 7081 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 26, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "plate_214", "bar_udatjt_0" ] ], "manipulating_object_id": [ "plate_214" ], "spatial_prefix": [], "frame_duration": [ 7081, 7321 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7322, 7721 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 28, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "plate_211", "plate_212" ] ], "manipulating_object_id": [ "plate_211" ], "spatial_prefix": [], "frame_duration": [ 7721, 7920 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "plate_214", "plate_213" ] ], "manipulating_object_id": [ "plate_214" ], "spatial_prefix": [], "frame_duration": [ 7921, 8076 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 8077, 8431 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 31, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 8431, 8970 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door", "left_door" ] ] ], "frame_duration": [ 0, 2126 ], "skill_idxes": [ 0, 1, 2 ] }, { "primitive_idx": 1, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "plate_208", "plate_210" ], "countertop_kelzer_0" ], [ [ "plate_208", "plate_210" ], "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [ [ "plate_208", "plate_210" ], [ "plate_208", "plate_210" ] ], "spatial_prefix": [ [], [ [], [ "low_level", "low_level" ] ] ], "frame_duration": [ 2126, 3397 ], "skill_idxes": [ 3, 4, 5, 6, 7, 8 ] }, { "primitive_idx": 2, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ [ "plate_209", "plate_207" ], "countertop_kelzer_0" ], [ [ "plate_209", "plate_207" ], [ "plate_208", "plate_210" ] ] ], "manipulating_object_id": [ [ "plate_209", "plate_207" ], [ "plate_209", "plate_207" ] ], "spatial_prefix": [], "frame_duration": [ 3397, 4776 ], "skill_idxes": [ 9, 10, 11, 12, 13, 14, 15 ] }, { "primitive_idx": 3, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ [ "plate_212", "plate_213" ], "bar_udatjt_0" ], [ [ "plate_212", "plate_213" ], [ "plate_209", "plate_207" ] ] ], "manipulating_object_id": [ [ "plate_212", "plate_213" ], [ "plate_212", "plate_213" ] ], "spatial_prefix": [], "frame_duration": [ 4776, 6435 ], "skill_idxes": [ 16, 17, 18, 19, 20, 21, 22 ] }, { "primitive_idx": 4, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ [ "plate_211", "plate_214" ], "bar_udatjt_0" ], [ [ "plate_211", "plate_214" ], [ "plate_212", "plate_213" ] ] ], "manipulating_object_id": [ [ "plate_211", "plate_214" ], [ "plate_211", "plate_214" ] ], "spatial_prefix": [], "frame_duration": [ 6435, 8076 ], "skill_idxes": [ 23, 24, 25, 26, 27, 28, 29 ] }, { "primitive_idx": 5, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "top_cabinet_lkxmne_1" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door", "right_door" ] ] ], "frame_duration": [ 8077, 8970 ], "skill_idxes": [ 30, 31 ] } ] }