{ "task_name": "carrying in groceries", "data_folder": "", "meta_data": { "task_duration": 16043, "valid_duration": [ 0, 16043 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "paper_bag_81" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 1140 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "paper_bag_81", "car_ssxsje_0" ] ], "manipulating_object_id": [ "paper_bag_81" ], "spatial_prefix": [], "frame_duration": [ 1140, 1513 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "skill_id": [ 14 ], "skill_description": [ "close lid" ], "object_id": [ [ "car_ssxsje_0" ] ], "manipulating_object_id": [ "car_ssxsje_0" ], "spatial_prefix": [], "frame_duration": [ 1513, 2444 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 3, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "door_bexenl_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2444, 2939 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 4, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "door_bexenl_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2939, 4268 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 5, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "breakfast_table_xftrki_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4268, 6092 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 6, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "paper_bag_81", "breakfast_table_xftrki_0" ] ], "manipulating_object_id": [ "paper_bag_81" ], "spatial_prefix": [], "frame_duration": [ 6093, 6594 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "beefsteak_tomato_80", "paper_bag_81" ] ], "manipulating_object_id": [ "beefsteak_tomato_80" ], "spatial_prefix": [], "frame_duration": [ 6594, 7061 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "beefsteak_tomato_80", "right", "left" ] ], "manipulating_object_id": [ "beefsteak_tomato_80" ], "spatial_prefix": [], "frame_duration": [ 7062, 7507 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 9, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7508, 8041 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 10, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 8041, 8759 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "beefsteak_tomato_80", "left", "right" ] ], "manipulating_object_id": [ "beefsteak_tomato_80" ], "spatial_prefix": [], "frame_duration": [ 8759, 9253 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 12, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 9254, 10126 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "beefsteak_tomato_80", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "beefsteak_tomato_80" ], "spatial_prefix": [ [ "", "layer_5" ] ], "frame_duration": [ 10127, 10708 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "paper_bag_81" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10709, 11184 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 15, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "paper_bag_81", "breakfast_table_xftrki_0" ] ], "manipulating_object_id": [ "paper_bag_81" ], "spatial_prefix": [], "frame_duration": [ 11184, 11494 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 99 ], "skill_description": [ "tip over" ], "object_id": [ [ "paper_bag_81" ] ], "manipulating_object_id": [ "paper_bag_81" ], "spatial_prefix": [], "frame_duration": [ 11494, 11851 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 28 ], "skill_description": [ "pour" ], "object_id": [ [ [ "carton_of_milk_79" ], "paper_bag_81", "breakfast_table_xftrki_0" ] ], "manipulating_object_id": [ "paper_bag_81" ], "spatial_prefix": [], "frame_duration": [ 11851, 12299 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "paper_bag_81", "breakfast_table_xftrki_0" ] ], "manipulating_object_id": [ "paper_bag_81" ], "spatial_prefix": [], "frame_duration": [ 12299, 12493 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "carton_of_milk_79", "breakfast_table_xftrki_0" ] ], "manipulating_object_id": [ "carton_of_milk_79" ], "spatial_prefix": [], "frame_duration": [ 12494, 12939 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12940, 13366 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 21, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "carton_of_milk_79", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "carton_of_milk_79" ], "spatial_prefix": [ [ "", "layer_4" ] ], "frame_duration": [ 13367, 13861 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13861, 14685 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 23, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right_door" ] ], "frame_duration": [ 14685, 16043 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "paper_bag_81", "car_ssxsje_0" ] ], "manipulating_object_id": [ "paper_bag_81" ], "spatial_prefix": [], "frame_duration": [ 0, 1513 ], "skill_idxes": [ 0, 1 ] }, { "primitive_idx": 1, "primitive_id": [ 14 ], "primitive_description": [ "close lid" ], "object_id": [ [ "car_ssxsje_0" ] ], "manipulating_object_id": [ "car_ssxsje_0" ], "spatial_prefix": [], "frame_duration": [ 1513, 2444 ], "skill_idxes": [ 2 ] }, { "primitive_idx": 2, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "door_bexenl_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2444, 4268 ], "skill_idxes": [ 3, 4 ] }, { "primitive_idx": 3, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ "paper_bag_81", "breakfast_table_xftrki_0" ] ], "manipulating_object_id": [ "paper_bag_81" ], "spatial_prefix": [], "frame_duration": [ 4268, 6594 ], "skill_idxes": [ 5, 6 ] }, { "primitive_idx": 4, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "beefsteak_tomato_80", "paper_bag_81" ] ], "manipulating_object_id": [ "beefsteak_tomato_80" ], "spatial_prefix": [], "frame_duration": [ 6594, 7507 ], "skill_idxes": [ 7, 8 ] }, { "primitive_idx": 5, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door", "right_door" ] ] ], "frame_duration": [ 7508, 10126 ], "skill_idxes": [ 9, 10, 12 ] }, { "primitive_idx": 6, "primitive_id": [ 4 ], "primitive_description": [ "place in" ], "object_id": [ [ "beefsteak_tomato_80", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "beefsteak_tomato_80" ], "spatial_prefix": [ [ [], [ "layer_5" ] ] ], "frame_duration": [ 8759, 10708 ], "skill_idxes": [ 11, 13 ] }, { "primitive_idx": 7, "primitive_id": [ 99 ], "primitive_description": [ "tip over" ], "object_id": [ [ "paper_bag_81" ] ], "manipulating_object_id": [ "paper_bag_81" ], "spatial_prefix": [], "frame_duration": [ 10709, 11851 ], "skill_idxes": [ 14, 15, 16 ] }, { "primitive_idx": 8, "primitive_id": [ 28 ], "primitive_description": [ "pour" ], "object_id": [ [ [ "carton_of_milk_79" ], "paper_bag_81", "breakfast_table_xftrki_0" ] ], "manipulating_object_id": [ "paper_bag_81" ], "spatial_prefix": [], "frame_duration": [ 11851, 12493 ], "skill_idxes": [ 17, 18 ] }, { "primitive_idx": 9, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "carton_of_milk_79", "breakfast_table_xftrki_0" ], [ "carton_of_milk_79", "fridge_petcxr_0" ] ], "manipulating_object_id": [ "carton_of_milk_79", "carton_of_milk_79" ], "spatial_prefix": [ [], [ [], [ "layer_4" ] ] ], "frame_duration": [ 12494, 13861 ], "skill_idxes": [ 19, 20, 21 ] }, { "primitive_idx": 10, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_petcxr_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right_door" ] ] ], "frame_duration": [ 13861, 16043 ], "skill_idxes": [ 22, 23 ] } ] }