{ "task_name": "storing food", "data_folder": "", "meta_data": { "task_duration": 22701, "valid_duration": [ 0, 22701 ] }, "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, 1013 ], "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": [ 1013, 1899 ], "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": [ 1899, 2365 ], "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": [ 2365, 2882 ], "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": [ 2882, 3459 ], "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": [ 3459, 3876 ], "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": [ 3876, 4552 ], "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": [ 4552, 4910 ], "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": [ 4910, 5367 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "jar_of_sugar_208" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5367, 6043 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 10, "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": [ 6043, 6639 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "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": [ 6639, 7037 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7037, 7613 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 13, "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": [ 7614, 8349 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "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": [ 8349, 8925 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottle_of_olive_oil_210" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8925, 9601 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 16, "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": [ 9601, 10424 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottle_of_olive_oil_209" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10425, 10893 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 18, "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": [ 10894, 11510 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11510, 12484 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 20, "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": [ 12484, 13398 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 21, "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": [ 13398, 14157 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "box_of_oatmeal_213" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 14157, 14730 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 23, "skill_id": [ 99 ], "skill_description": [ "tip over" ], "object_id": [ [ "box_of_oatmeal_213" ] ], "manipulating_object_id": [ "box_of_oatmeal_213" ], "spatial_prefix": [], "frame_duration": [ 14730, 15008 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "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": [ 15009, 15386 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "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": [ 15386, 16317 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 26, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 16318, 16897 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 27, "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": [ 16897, 17314 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 28, "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": [ 17315, 17672 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "box_of_oatmeal_214" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 17673, 18547 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 30, "skill_id": [ 99 ], "skill_description": [ "tip over" ], "object_id": [ [ "box_of_oatmeal_214" ] ], "manipulating_object_id": [ "box_of_oatmeal_214" ], "spatial_prefix": [], "frame_duration": [ 18547, 18805 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 31, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "box_of_oatmeal_214", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "box_of_oatmeal_214" ], "spatial_prefix": [ [ "", "to_the_edge_of" ] ], "frame_duration": [ 18806, 19242 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "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": [ 19243, 20079 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 33, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 20080, 20972 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 34, "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": [ 20972, 21390 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 35, "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": [ 21390, 21807 ], "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": [ 21807, 22701 ], "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, 1899 ], "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": [ 1899, 5367 ], "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_208", "jar_of_sugar_207" ], "countertop_kelzer_0" ], [ [ "jar_of_sugar_208", "jar_of_sugar_207" ], "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ [ "jar_of_sugar_208", "jar_of_sugar_207" ], [ "jar_of_sugar_208", "jar_of_sugar_207" ] ], "spatial_prefix": [ [], [ [], [ "layer_2", "layer_2" ] ] ], "frame_duration": [ 5367, 8925 ], "skill_idxes": [ 9, 10, 11, 12, 13, 14 ] }, { "primitive_idx": 3, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "bottle_of_olive_oil_210", "bottle_of_olive_oil_209" ], "countertop_kelzer_0" ], [ [ "bottle_of_olive_oil_210", "bottle_of_olive_oil_209" ], "bottom_cabinet_fancyy_0" ] ], "manipulating_object_id": [ [ "bottle_of_olive_oil_210", "bottle_of_olive_oil_209" ], [ "bottle_of_olive_oil_210", "bottle_of_olive_oil_209" ] ], "spatial_prefix": [ [], [ [], [ "layer_2", "layer_2" ] ] ], "frame_duration": [ 8925, 14157 ], "skill_idxes": [ 15, 16, 17, 18, 19, 20, 21 ] }, { "primitive_idx": 4, "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": [ 14157, 17672 ], "skill_idxes": [ 22, 23, 24, 25, 26, 27, 28 ] }, { "primitive_idx": 5, "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": [ 17673, 21807 ], "skill_idxes": [ 29, 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": [ 21807, 22701 ], "skill_idxes": [ 36 ] } ] }