{ "task_name": "storing food", "data_folder": "", "meta_data": { "task_duration": 22470, "valid_duration": [ 0, 22470 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 748 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 748, 1602 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bag_of_chips_212" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1602, 2150 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 3, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bag_of_chips_212", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "bag_of_chips_212" ], "spatial_prefix": [], "frame_duration": [ 2150, 2550 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bag_of_chips_211" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2550, 3107 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 5, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bag_of_chips_211", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "bag_of_chips_211" ], "spatial_prefix": [], "frame_duration": [ 3108, 3752 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3753, 4585 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bag_of_chips_212", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bag_of_chips_212" ], "spatial_prefix": [ [ "", "layer_3" ] ], "frame_duration": [ 4585, 4928 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bag_of_chips_211", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bag_of_chips_211" ], "spatial_prefix": [ [ "", "layer_3" ] ], "frame_duration": [ 4929, 5473 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "jar_of_sugar_207" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5473, 6110 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 10, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "jar_of_sugar_207", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "jar_of_sugar_207" ], "spatial_prefix": [], "frame_duration": [ 6111, 6572 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "jar_of_sugar_208" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6573, 7135 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 12, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "jar_of_sugar_208", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "jar_of_sugar_208" ], "spatial_prefix": [], "frame_duration": [ 7136, 7484 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7484, 8380 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 14, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "jar_of_sugar_207", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "jar_of_sugar_207" ], "spatial_prefix": [ [ "", "layer_2" ] ], "frame_duration": [ 8381, 8998 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "jar_of_sugar_208", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "jar_of_sugar_208" ], "spatial_prefix": [ [ "", "layer_2" ] ], "frame_duration": [ 8999, 9504 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "box_of_oatmeal_213" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9504, 10356 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 17, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "box_of_oatmeal_213", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "box_of_oatmeal_213" ], "spatial_prefix": [ [ "", "to_the_edge_of" ] ], "frame_duration": [ 10357, 10650 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 99 ], "skill_description": [ "tip over" ], "object_id": [ [ "box_of_oatmeal_213" ] ], "manipulating_object_id": [ "box_of_oatmeal_213" ], "spatial_prefix": [], "frame_duration": [ 10651, 10847 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "box_of_oatmeal_213", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "box_of_oatmeal_213" ], "spatial_prefix": [ [ "", "to_the_edge_of" ] ], "frame_duration": [ 10848, 11320 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "box_of_oatmeal_213", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "box_of_oatmeal_213" ], "spatial_prefix": [], "frame_duration": [ 11320, 12178 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 21, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12179, 12915 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 22, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "box_of_oatmeal_213", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "box_of_oatmeal_213" ], "spatial_prefix": [ [ "", "layer_4" ] ], "frame_duration": [ 12915, 13050 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 23, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "box_of_oatmeal_213", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "box_of_oatmeal_213" ], "spatial_prefix": [ [ "", "center" ] ], "frame_duration": [ 13050, 13492 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "box_of_oatmeal_214" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13492, 14332 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 25, "skill_id": [ 99 ], "skill_description": [ "tip over" ], "object_id": [ [ "box_of_oatmeal_214" ] ], "manipulating_object_id": [ "box_of_oatmeal_214" ], "spatial_prefix": [], "frame_duration": [ 14332, 14784 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "box_of_oatmeal_214", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "box_of_oatmeal_214" ], "spatial_prefix": [], "frame_duration": [ 14784, 15828 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 27, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 15828, 16931 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 28, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "box_of_oatmeal_214", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "box_of_oatmeal_214" ], "spatial_prefix": [ [ "", "layer_4" ] ], "frame_duration": [ 16931, 17188 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 29, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "box_of_oatmeal_214", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "box_of_oatmeal_214" ], "spatial_prefix": [ [ "", "center" ] ], "frame_duration": [ 17188, 17465 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottle_of_olive_oil_209" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 17465, 18120 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 31, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bottle_of_olive_oil_209", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "bottle_of_olive_oil_209" ], "spatial_prefix": [], "frame_duration": [ 18120, 18546 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bottle_of_olive_oil_210", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "bottle_of_olive_oil_210" ], "spatial_prefix": [], "frame_duration": [ 18546, 19461 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 33, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 19461, 20298 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 34, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bottle_of_olive_oil_209", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bottle_of_olive_oil_209" ], "spatial_prefix": [ [ "", "layer_2" ] ], "frame_duration": [ 20299, 21108 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 35, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bottle_of_olive_oil_210", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "bottle_of_olive_oil_210" ], "spatial_prefix": [ [ "", "layer_2" ] ], "frame_duration": [ 21108, 21814 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 36, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left_door" ] ], "frame_duration": [ 21814, 22470 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 0, 1602 ], "skill_idxes": [ 0, 1 ] }, { "primitive_idx": 1, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "bag_of_chips_212", "bag_of_chips_211" ], "countertop_kelzer_0" ], [ [ "bag_of_chips_212", "bag_of_chips_211" ], "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ [ "bag_of_chips_212", "bag_of_chips_211" ], [ "bag_of_chips_212", "bag_of_chips_211" ] ], "spatial_prefix": [ [], [ [], [ "layer_3", "layer_3" ] ] ], "frame_duration": [ 1602, 5473 ], "skill_idxes": [ 2, 3, 4, 5, 6, 7, 8 ] }, { "primitive_idx": 2, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "jar_of_sugar_207", "jar_of_sugar_208" ], "countertop_kelzer_0" ], [ [ "jar_of_sugar_207", "jar_of_sugar_208" ], "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ [ "jar_of_sugar_207", "jar_of_sugar_208" ], [ "jar_of_sugar_207", "jar_of_sugar_208" ] ], "spatial_prefix": [ [], [ [], [ "layer_2", "layer_2" ] ] ], "frame_duration": [ 5473, 9504 ], "skill_idxes": [ 9, 10, 11, 12, 13, 14, 15 ] }, { "primitive_idx": 3, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "box_of_oatmeal_213", "countertop_kelzer_0" ], [ "box_of_oatmeal_213", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "box_of_oatmeal_213", "box_of_oatmeal_213" ], "spatial_prefix": [ [], [ [], [ "layer_4" ] ] ], "frame_duration": [ 9504, 13492 ], "skill_idxes": [ 16, 17, 18, 19, 20, 21, 22, 23 ] }, { "primitive_idx": 4, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "box_of_oatmeal_214", "countertop_kelzer_0" ], [ "box_of_oatmeal_214", "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ "box_of_oatmeal_214", "box_of_oatmeal_214" ], "spatial_prefix": [ [], [ [], [ "layer_4" ] ] ], "frame_duration": [ 13492, 17465 ], "skill_idxes": [ 24, 25, 26, 27, 28, 29 ] }, { "primitive_idx": 5, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "bottle_of_olive_oil_209", "bottle_of_olive_oil_210" ], "countertop_kelzer_0" ], [ [ "bottle_of_olive_oil_209", "bottle_of_olive_oil_210" ], "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ [ "bottle_of_olive_oil_209", "bottle_of_olive_oil_210" ], [ "bottle_of_olive_oil_209", "bottle_of_olive_oil_210" ] ], "spatial_prefix": [ [], [ [], [ "layer_2", "layer_2" ] ] ], "frame_duration": [ 17465, 21814 ], "skill_idxes": [ 30, 31, 32, 33, 34, 35 ] }, { "primitive_idx": 6, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left_door" ] ] ], "frame_duration": [ 21814, 22470 ], "skill_idxes": [ 36 ] } ] }