{ "task_name": "freeze pies", "data_folder": "", "meta_data": { "task_duration": 27084, "valid_duration": [ 27, 27111 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 27, 501 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "second_right_door" ] ], "frame_duration": [ 501, 2393 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 2, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "tupperware_230", "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [ "tupperware_230" ], "spatial_prefix": [ [ "", "high_level" ] ], "frame_duration": [ 2393, 4354 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 3, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "second_right_door" ] ], "frame_duration": [ 4354, 6159 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "countertop_kelzer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6159, 6598 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 5, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "tupperware_230", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "tupperware_230" ], "spatial_prefix": [], "frame_duration": [ 6598, 7052 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7052, 7254 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "second_left_door" ] ], "frame_duration": [ 7254, 9665 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 8, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "tupperware_231", "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [ "tupperware_231" ], "spatial_prefix": [ [ "", "high_level" ] ], "frame_duration": [ 9665, 12028 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "second_left_door" ] ], "frame_duration": [ 12028, 14356 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "countertop_kelzer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 14356, 14823 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 11, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "tupperware_231", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "tupperware_231" ], "spatial_prefix": [], "frame_duration": [ 14823, 15249 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "apple_pie_234" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 15249, 15491 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 13, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "apple_pie_234", "plate_232" ] ], "manipulating_object_id": [ "apple_pie_234" ], "spatial_prefix": [], "frame_duration": [ 15491, 16257 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "apple_pie_234", "tupperware_230" ] ], "manipulating_object_id": [ "apple_pie_234" ], "spatial_prefix": [], "frame_duration": [ 16257, 16912 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "apple_pie_235" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 16912, 17208 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 16, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "apple_pie_235", "plate_233" ] ], "manipulating_object_id": [ "apple_pie_235" ], "spatial_prefix": [], "frame_duration": [ 17208, 18143 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "apple_pie_235", "tupperware_231" ] ], "manipulating_object_id": [ "apple_pie_235" ], "spatial_prefix": [], "frame_duration": [ 18143, 18456 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 18456, 18739 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 19, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 18739, 20576 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 20, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "tupperware_230" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 20576, 21245 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 21, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "tupperware_230", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "tupperware_230" ], "spatial_prefix": [], "frame_duration": [ 21245, 22018 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "tupperware_231" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 22018, 22353 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 23, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "tupperware_231", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "tupperware_231" ], "spatial_prefix": [], "frame_duration": [ 22353, 23033 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 23033, 24113 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 25, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "tupperware_230", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "tupperware_230" ], "spatial_prefix": [ [ "", "middle_level" ] ], "frame_duration": [ 24113, 24747 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "tupperware_231", "fridge_dszchb_0" ] ], "manipulating_object_id": [ "tupperware_231" ], "spatial_prefix": [ [ "", "high_level" ] ], "frame_duration": [ 24747, 26156 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 26156, 27111 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "second_right_door" ] ] ], "frame_duration": [ 27, 2393 ], "skill_idxes": [ 0, 1 ] }, { "primitive_idx": 1, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "tupperware_230", "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [ "tupperware_230" ], "spatial_prefix": [ [ [], [ "high_level" ] ] ], "frame_duration": [ 2393, 4354 ], "skill_idxes": [ 2 ] }, { "primitive_idx": 2, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "second_right_door" ] ] ], "frame_duration": [ 4354, 6159 ], "skill_idxes": [ 3 ] }, { "primitive_idx": 3, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ "tupperware_230", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "tupperware_230" ], "spatial_prefix": [], "frame_duration": [ 6159, 7052 ], "skill_idxes": [ 4, 5 ] }, { "primitive_idx": 4, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "second_left_door" ] ] ], "frame_duration": [ 7052, 9665 ], "skill_idxes": [ 6, 7 ] }, { "primitive_idx": 5, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "tupperware_231", "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [ "tupperware_231" ], "spatial_prefix": [ [ [], [ "high_level" ] ] ], "frame_duration": [ 9665, 12028 ], "skill_idxes": [ 8 ] }, { "primitive_idx": 6, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "bottom_cabinet_no_top_gjeoer_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "second_left_door" ] ] ], "frame_duration": [ 12028, 14356 ], "skill_idxes": [ 9 ] }, { "primitive_idx": 7, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ "tupperware_231", "countertop_kelzer_0" ] ], "manipulating_object_id": [ "tupperware_231" ], "spatial_prefix": [], "frame_duration": [ 14356, 15249 ], "skill_idxes": [ 10, 11 ] }, { "primitive_idx": 8, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "apple_pie_234", "plate_232" ], [ "apple_pie_234", "tupperware_230" ] ], "manipulating_object_id": [ "apple_pie_234", "apple_pie_234" ], "spatial_prefix": [], "frame_duration": [ 15249, 16912 ], "skill_idxes": [ 12, 13, 14 ] }, { "primitive_idx": 9, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "apple_pie_235", "plate_233" ], [ "apple_pie_235", "tupperware_231" ] ], "manipulating_object_id": [ "apple_pie_235", "apple_pie_235" ], "spatial_prefix": [], "frame_duration": [ 16912, 18456 ], "skill_idxes": [ 15, 16, 17 ] }, { "primitive_idx": 10, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 18456, 20576 ], "skill_idxes": [ 18, 19 ] }, { "primitive_idx": 11, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "tupperware_230", "tupperware_231" ], "countertop_kelzer_0" ], [ [ "tupperware_230", "tupperware_231" ], "fridge_dszchb_0" ] ], "manipulating_object_id": [ [ "tupperware_230", "tupperware_231" ], [ "tupperware_230", "tupperware_231" ] ], "spatial_prefix": [ [], [ [], [ "middle_level", "high_level" ] ] ], "frame_duration": [ 20576, 26156 ], "skill_idxes": [ 20, 21, 22, 23, 24, 25, 26 ] }, { "primitive_idx": 12, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "fridge_dszchb_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 26156, 27111 ], "skill_idxes": [ 27 ] } ] }