{ "task_name": "slicing vegetables", "data_folder": "", "meta_data": { "task_duration": 17700, "valid_duration": [ 150, 17850 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 150, 990 ], "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": [ 990, 2502 ], "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": [ 2502, 3436 ], "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": [ 3436, 4092 ], "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": [ 4092, 4782 ], "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": [ 4782, 5552 ], "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": [ 5553, 6343 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "beet_211" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6343, 7101 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 8, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "beet_211", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "beet_211" ], "spatial_prefix": [ [ "", "high_level" ] ], "frame_duration": [ 7102, 8132 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "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": [ 8133, 9120 ], "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": [ 9121, 9870 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 11, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "beet_211", "cutting_board_209" ] ], "manipulating_object_id": [ "beet_211" ], "spatial_prefix": [], "frame_duration": [ 9870, 10613 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "beet_212", "cutting_board_209" ] ], "manipulating_object_id": [ "beet_212" ], "spatial_prefix": [], "frame_duration": [ 10614, 11345 ], "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": [ 11346, 12021 ], "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": [ [ "", "high_level" ] ], "frame_duration": [ 12022, 12756 ], "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": [ 12756, 13780 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "zucchini_208", "cutting_board_209" ] ], "manipulating_object_id": [ "zucchini_208" ], "spatial_prefix": [], "frame_duration": [ 13781, 14286 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "parer_207", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 14286, 14872 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "beet_212" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 14872, 15278 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_beet_212_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15278, 15389 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_beet_212_1" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15390, 15456 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 21, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "beet_211" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15456, 15529 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_beet_211_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15529, 15587 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_beet_211_1" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15529, 15587 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "zucchini_208" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15588, 15691 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_zucchini_208_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15692, 15851 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_zucchini_208_1" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15692, 15851 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bell_pepper_213" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 15851, 16434 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 28, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "bell_pepper_213" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 16434, 16737 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_bell_pepper_213_1" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 16737, 16871 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_bell_pepper_213_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 16871, 16950 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 31, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "bell_pepper_214" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 16951, 17129 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_bell_pepper_214_1" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 17129, 17263 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 33, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_207", "half_bell_pepper_214_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 17263, 17463 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 34, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "parer_207", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 17463, 17850 ], "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": [ 150, 2502 ], "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": [ 2502, 6343 ], "skill_idxes": [ 2, 3, 4, 5, 6 ] }, { "primitive_idx": 2, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ [ "beet_211", "beet_212" ], "fridge_dszchb_0" ], [ [ "beet_211", "beet_212" ], "cutting_board_209" ] ], "manipulating_object_id": [ [ "beet_211", "beet_212" ], [ "beet_211", "beet_212" ] ], "spatial_prefix": [ [ [], [ "high_level", "low_level" ] ], [] ], "frame_duration": [ 6343, 11345 ], "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": [ [ [], [ "high_level" ] ] ], "frame_duration": [ 11346, 12756 ], "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": [ 12756, 13780 ], "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": [ 13781, 14286 ], "skill_idxes": [ 16 ] }, { "primitive_idx": 6, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "parer_207", [ "beet_212", "half_beet_212_0", "half_beet_212_1", "beet_211", "half_beet_211_0", "half_beet_211_1", "zucchini_208", "half_zucchini_208_0", "half_zucchini_208_1" ] ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 14286, 15851 ], "skill_idxes": [ 17, 18, 19, 20, 21, 22, 23, 24, 25, 26 ] }, { "primitive_idx": 7, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "parer_207", [ "bell_pepper_213", "half_bell_pepper_213_1", "half_bell_pepper_213_0", "bell_pepper_214", "half_bell_pepper_214_1", "half_bell_pepper_214_0" ] ] ], "manipulating_object_id": [ "parer_207" ], "spatial_prefix": [], "frame_duration": [ 15851, 17850 ], "skill_idxes": [ 27, 28, 29, 30, 31, 32, 33, 34 ] } ] }