{ "task_name": "preparing lunch box", "data_folder": "", "meta_data": { "task_duration": 6819, "valid_duration": [ 0, 6819 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "packing_box_210" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 315 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "packing_box_210", "countertop_kelker_0" ] ], "manipulating_object_id": [ "packing_box_210" ], "spatial_prefix": [], "frame_duration": [ 315, 545 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_board_211" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 545, 785 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 3, "skill_id": [ 91 ], "skill_description": [ "place on next to" ], "object_id": [ [ "packing_box_210", "countertop_kelker_0", "chopping_board_211" ] ], "manipulating_object_id": [ "packing_box_210" ], "spatial_prefix": [ [ "", "", "right" ] ], "frame_duration": [ 785, 884 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "chocolate_chip_cookie_207", "chopping_board_211" ] ], "manipulating_object_id": [ "chocolate_chip_cookie_207" ], "spatial_prefix": [ [ "", "to_the_edge_of" ] ], "frame_duration": [ 885, 1283 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 5, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "chocolate_chip_cookie_207", "chopping_board_211" ] ], "manipulating_object_id": [ "chocolate_chip_cookie_207" ], "spatial_prefix": [], "frame_duration": [ 1284, 1491 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "chocolate_chip_cookie_207", "packing_box_210" ] ], "manipulating_object_id": [ "chocolate_chip_cookie_207" ], "spatial_prefix": [], "frame_duration": [ 1491, 1744 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "half_apple_213", "chopping_board_211" ] ], "manipulating_object_id": [ "half_apple_213" ], "spatial_prefix": [], "frame_duration": [ 1745, 2247 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "half_apple_212", "chopping_board_211" ] ], "manipulating_object_id": [ "half_apple_212" ], "spatial_prefix": [], "frame_duration": [ 2247, 2741 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "half_apple_213", "packing_box_210" ] ], "manipulating_object_id": [ "half_apple_213" ], "spatial_prefix": [], "frame_duration": [ 2742, 2870 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "half_apple_212", "packing_box_210" ] ], "manipulating_object_id": [ "half_apple_212" ], "spatial_prefix": [], "frame_duration": [ 2870, 3075 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "club_sandwich_209" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3075, 3105 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 12, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "club_sandwich_209", "chopping_board_211" ] ], "manipulating_object_id": [ "club_sandwich_209" ], "spatial_prefix": [], "frame_duration": [ 3105, 3742 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 13, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "packing_box_210" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3742, 3772 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 14, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "club_sandwich_209", "packing_box_210" ] ], "manipulating_object_id": [ "club_sandwich_209" ], "spatial_prefix": [], "frame_duration": [ 3772, 4053 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4053, 4828 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 16, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4828, 5627 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 17, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bottle_of_tea_208", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "bottle_of_tea_208" ], "spatial_prefix": [ [ "", "middle_level" ] ], "frame_duration": [ 5627, 5928 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5928, 6121 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "packing_box_210" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6121, 6472 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 20, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bottle_of_tea_208", "packing_box_210" ] ], "manipulating_object_id": [ "bottle_of_tea_208" ], "spatial_prefix": [], "frame_duration": [ 6472, 6819 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 2, 91 ], "primitive_description": [ "pick up from", "place on next to" ], "object_id": [ [ "packing_box_210", "countertop_kelker_0" ], [ "packing_box_210", "countertop_kelker_0", "chopping_board_211" ] ], "manipulating_object_id": [ "packing_box_210", "packing_box_210" ], "spatial_prefix": [ [], [ [], [], [ "right" ] ] ], "frame_duration": [ 0, 884 ], "skill_idxes": [ 0, 1, 2, 3 ] }, { "primitive_idx": 1, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "chocolate_chip_cookie_207", "chopping_board_211" ], [ "chocolate_chip_cookie_207", "packing_box_210" ] ], "manipulating_object_id": [ "chocolate_chip_cookie_207", "chocolate_chip_cookie_207" ], "spatial_prefix": [], "frame_duration": [ 885, 1744 ], "skill_idxes": [ 4, 5, 6 ] }, { "primitive_idx": 2, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "half_apple_213", "half_apple_212" ], "chopping_board_211" ], [ [ "half_apple_213", "half_apple_212" ], "packing_box_210" ] ], "manipulating_object_id": [ [ "half_apple_213", "half_apple_212" ], [ "half_apple_213", "half_apple_212" ] ], "spatial_prefix": [], "frame_duration": [ 1745, 3075 ], "skill_idxes": [ 7, 8, 9, 10 ] }, { "primitive_idx": 3, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "club_sandwich_209", "chopping_board_211" ], [ "club_sandwich_209", "packing_box_210" ] ], "manipulating_object_id": [ "club_sandwich_209", "club_sandwich_209" ], "spatial_prefix": [], "frame_duration": [ 3075, 4053 ], "skill_idxes": [ 11, 12, 13, 14 ] }, { "primitive_idx": 4, "primitive_id": [], "primitive_description": [], "object_id": [], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4053, 6472 ], "skill_idxes": [ 15, 16, 19 ] }, { "primitive_idx": 5, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "bottle_of_tea_208", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "bottle_of_tea_208" ], "spatial_prefix": [ [ [], [ "middle_level" ] ] ], "frame_duration": [ 5627, 5928 ], "skill_idxes": [ 17 ] }, { "primitive_idx": 6, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5928, 6121 ], "skill_idxes": [ 18 ] }, { "primitive_idx": 7, "primitive_id": [ 4 ], "primitive_description": [ "place in" ], "object_id": [ [ "bottle_of_tea_208", "packing_box_210" ] ], "manipulating_object_id": [ "bottle_of_tea_208" ], "spatial_prefix": [], "frame_duration": [ 6472, 6819 ], "skill_idxes": [ 20 ] } ] }