{ "task_name": "slicing vegetables", "data_folder": "", "meta_data": { "task_duration": 17813, "valid_duration": [ 187, 18000 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 187, 402 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 403, 1983 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 2, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bell_pepper_214", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "bell_pepper_214" ], "spatial_prefix": [ [ "", "high_level" ] ], "frame_duration": [ 1983, 3181 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 3, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bell_pepper_213", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "bell_pepper_213" ], "spatial_prefix": [ [ "", "middle_level" ] ], "frame_duration": [ 3182, 3915 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "cutting_board_210" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3915, 4737 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 5, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "bell_pepper_214", "cutting_board_210" ] ], "manipulating_object_id": [ "bell_pepper_214" ], "spatial_prefix": [], "frame_duration": [ 4737, 5208 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "bell_pepper_213", "cutting_board_210" ] ], "manipulating_object_id": [ "bell_pepper_213" ], "spatial_prefix": [], "frame_duration": [ 5209, 5663 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "beet_212" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5663, 6720 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 8, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "beet_212", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "beet_212" ], "spatial_prefix": [ [ "", "low_level" ] ], "frame_duration": [ 6721, 7460 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "beet_211", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "beet_211" ], "spatial_prefix": [ [ "", "low_level" ] ], "frame_duration": [ 7460, 8408 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "cutting_board_209" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8408, 9117 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 11, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "beet_212", "cutting_board_209" ] ], "manipulating_object_id": [ "beet_212" ], "spatial_prefix": [], "frame_duration": [ 9117, 10008 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "beet_211", "cutting_board_209" ] ], "manipulating_object_id": [ "beet_211" ], "spatial_prefix": [], "frame_duration": [ 10009, 10825 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "zucchini_208" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10826, 11424 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 14, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "zucchini_208", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "zucchini_208" ], "spatial_prefix": [ [ "", "middle_level" ] ], "frame_duration": [ 11425, 12008 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12008, 13407 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "cutting_board_209" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13407, 13602 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 17, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "zucchini_208", "cutting_board_209" ] ], "manipulating_object_id": [ "zucchini_208" ], "spatial_prefix": [], "frame_duration": [ 13602, 13980 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "parer_207", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 13980, 14512 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "zucchini_208" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 14512, 14942 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_zucchini_208_1" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 14943, 15045 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 21, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_zucchini_208_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15045, 15179 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "beet_211" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15179, 15313 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_beet_211_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15314, 15403 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_beet_211_1" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15403, 15532 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "beet_212" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15533, 15639 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_beet_212_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15639, 15704 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_beet_212_1" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15704, 15846 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 28, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bell_pepper_214" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 15846, 16445 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 29, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "bell_pepper_214" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 16446, 16879 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_bell_pepper_214_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 16879, 16999 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 31, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_bell_pepper_214_1" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 16999, 17197 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "bell_pepper_213" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 17197, 17458 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 33, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_bell_pepper_213_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 17459, 17502 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 34, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_bell_pepper_213_1" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 17502, 17665 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 35, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "parer_207", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 17665, 18000 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 187, 1983 ], "skill_idxes": [ 0, 1 ] }, { "primitive_idx": 1, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ [ "bell_pepper_214", "bell_pepper_213" ], "fridge_dszchb_0" ], [ [ "bell_pepper_214", "bell_pepper_213" ], "cutting_board_210" ] ], "manipulating_object_id": [ [ "bell_pepper_214", "bell_pepper_213" ], [ "bell_pepper_214", "bell_pepper_213" ] ], "spatial_prefix": [ [ [], [ "high_level", "middle_level" ] ], [] ], "frame_duration": [ 1983, 5663 ], "skill_idxes": [ 2, 3, 4, 5, 6 ] }, { "primitive_idx": 2, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ [ "beet_212", "beet_211" ], "fridge_dszchb_0" ], [ [ "beet_212", "beet_211" ], "cutting_board_209" ] ], "manipulating_object_id": [ [ "beet_212", "beet_211" ], [ "beet_212", "beet_211" ] ], "spatial_prefix": [ [ [], [ "low_level", "low_level" ] ], [] ], "frame_duration": [ 5663, 10825 ], "skill_idxes": [ 7, 8, 9, 10, 11, 12 ] }, { "primitive_idx": 3, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "zucchini_208", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "zucchini_208" ], "spatial_prefix": [ [ [], [ "middle_level" ] ] ], "frame_duration": [ 10826, 12008 ], "skill_idxes": [ 13, 14 ] }, { "primitive_idx": 4, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12008, 13407 ], "skill_idxes": [ 15 ] }, { "primitive_idx": 5, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ "zucchini_208", "cutting_board_209" ] ], "manipulating_object_id": [ "zucchini_208" ], "spatial_prefix": [], "frame_duration": [ 13407, 13980 ], "skill_idxes": [ 16, 17 ] }, { "primitive_idx": 6, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "parer_207", [ "zucchini_208", "half_zucchini_208_1", "half_zucchini_208_0", "beet_211", "half_beet_211_0", "half_beet_211_1", "beet_212", "half_beet_212_0", "half_beet_212_1" ] ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 13980, 15846 ], "skill_idxes": [ 18, 19, 20, 21, 22, 23, 24, 25, 26, 27 ] }, { "primitive_idx": 7, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "parer_207", [ "bell_pepper_214", "half_bell_pepper_214_0", "half_bell_pepper_214_1", "bell_pepper_213", "half_bell_pepper_213_0", "half_bell_pepper_213_1" ] ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15846, 18000 ], "skill_idxes": [ 28, 29, 30, 31, 32, 33, 34, 35 ] } ] }