{ "task_name": "can meat", "data_folder": "", "meta_data": { "task_duration": 15810, "valid_duration": [0, 15810] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_lkxmne_2"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [0, 840], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 1, "skill_id": [10], "skill_description": ["open door"], "object_id": [["top_cabinet_lkxmne_2"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["right_door"]], "frame_duration": [840, 2445], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 2, "skill_id": [10], "skill_description": ["open door"], "object_id": [["top_cabinet_lkxmne_2"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["left_door"]], "frame_duration": [2445, 3006], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 3, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["hinged_jar_235", "top_cabinet_lkxmne_2"]], "manipulating_object_id": ["hinged_jar_235"], "memory_prefix": [], "spatial_prefix": [["", "high_level"]], "frame_duration": [3006, 4080], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 4, "skill_id": [5], "skill_description": ["hand over"], "object_id": [["hinged_jar_235", "left", "right"]], "manipulating_object_id": ["hinged_jar_235"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4080, 4509], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 5, "skill_id": [5], "skill_description": ["hand over"], "object_id": [["hinged_jar_235", "right", "left"]], "manipulating_object_id": ["hinged_jar_235"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4509, 4866], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 6, "skill_id": [13], "skill_description": ["open lid"], "object_id": [["hinged_jar_235"]], "manipulating_object_id": ["hinged_jar_235"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4866, 5190], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 7, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bratwurst_233"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [5190, 6270], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 8, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bratwurst_233", "cutting_board_234"]], "manipulating_object_id": ["bratwurst_233"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [6270, 6768], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 9, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bratwurst_233", "hinged_jar_235"]], "manipulating_object_id": ["bratwurst_233"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [6768, 7131], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 10, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bratwurst_230", "cutting_board_234"]], "manipulating_object_id": ["bratwurst_230"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [7131, 7362], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 11, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bratwurst_230", "hinged_jar_235"]], "manipulating_object_id": ["bratwurst_230"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [7362, 7569], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 12, "skill_id": [14], "skill_description": ["close lid"], "object_id": [["hinged_jar_235"]], "manipulating_object_id": ["hinged_jar_235"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [7569, 7821], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 13, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_lkxmne_2"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [7821, 8439], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 14, "skill_id": [4], "skill_description": ["place in"], "object_id": [["hinged_jar_235", "top_cabinet_lkxmne_2"]], "manipulating_object_id": ["hinged_jar_235"], "memory_prefix": ["back"], "spatial_prefix": [["", "high_level"]], "frame_duration": [8439, 9081], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 15, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["hinged_jar_236", "top_cabinet_lkxmne_2"]], "manipulating_object_id": ["hinged_jar_236"], "memory_prefix": ["the other"], "spatial_prefix": [["", "high_level"]], "frame_duration": [9081, 10041], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 16, "skill_id": [5], "skill_description": ["hand over"], "object_id": [["hinged_jar_236", "left", "right"]], "manipulating_object_id": ["hinged_jar_236"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [10041, 10371], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 17, "skill_id": [13], "skill_description": ["open lid"], "object_id": [["hinged_jar_236"]], "manipulating_object_id": ["hinged_jar_236"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [10371, 10763], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 18, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bratwurst_231"]], "manipulating_object_id": [], "memory_prefix": ["back", "the other"], "spatial_prefix": [], "frame_duration": [10763, 11448], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 19, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bratwurst_231", "cutting_board_234"]], "manipulating_object_id": ["bratwurst_231"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [11448, 11925], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 20, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bratwurst_231", "hinged_jar_236"]], "manipulating_object_id": ["bratwurst_231"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [11925, 12213], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 21, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bratwurst_232", "cutting_board_234"]], "manipulating_object_id": ["bratwurst_232"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [12213, 12588], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 22, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bratwurst_232", "hinged_jar_236"]], "manipulating_object_id": ["bratwurst_232"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [12588, 12864], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 23, "skill_id": [14], "skill_description": ["close lid"], "object_id": [["hinged_jar_236"]], "manipulating_object_id": ["hinged_jar_236"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [12864, 13266], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 24, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_lkxmne_2"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [13266, 14164], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 25, "skill_id": [4], "skill_description": ["place in"], "object_id": [["hinged_jar_236", "top_cabinet_lkxmne_2"]], "manipulating_object_id": ["hinged_jar_236"], "memory_prefix": ["back"], "spatial_prefix": [["", "high_level"]], "frame_duration": [14181, 14904], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 26, "skill_id": [12], "skill_description": ["close door"], "object_id": [["top_cabinet_lkxmne_2"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["left_door"]], "frame_duration": [14904, 15468], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 27, "skill_id": [12], "skill_description": ["close door"], "object_id": [["top_cabinet_lkxmne_2"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["right_door"]], "frame_duration": [15468, 15810], "mp_ef": [], "skill_type": ["uncoordinated"] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [10], "primitive_description": ["open door"], "object_id": [["top_cabinet_lkxmne_2"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [[["right_door", "left_door"]]], "frame_duration": [0, 3006], "skill_idxes": [0, 1, 2] }, { "primitive_idx": 1, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [[["hinged_jar_235", "bratwurst_233", "bratwurst_230"], ["top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234"]], [["bratwurst_233", "bratwurst_230"], "hinged_jar_235"]], "manipulating_object_id": [["hinged_jar_235", "bratwurst_233", "bratwurst_230"], ["bratwurst_233", "bratwurst_230"]], "memory_prefix": [], "spatial_prefix": [[[], ["high_level", "", ""]], []], "frame_duration": [3006, 7821], "skill_idxes": [3, 4, 5, 6, 7, 8, 9, 10, 11, 12] }, { "primitive_idx": 2, "primitive_id": [4], "primitive_description": ["place in"], "object_id": [["hinged_jar_235", "top_cabinet_lkxmne_2"]], "manipulating_object_id": ["hinged_jar_235"], "memory_prefix": ["back"], "spatial_prefix": [[[], ["high_level"]]], "frame_duration": [7821, 9081], "skill_idxes": [13, 14] }, { "primitive_idx": 3, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [[["hinged_jar_236", "bratwurst_231", "bratwurst_232"], ["top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234"]], [["bratwurst_231", "bratwurst_232"], "hinged_jar_236"]], "manipulating_object_id": [["hinged_jar_236", "bratwurst_231", "bratwurst_232"], ["bratwurst_231", "bratwurst_232"]], "memory_prefix": ["the other", ""], "spatial_prefix": [[[], ["high_level", "", ""]], []], "frame_duration": [9081, 13266], "skill_idxes": [15, 16, 17, 18, 19, 20, 21, 22, 23] }, { "primitive_idx": 4, "primitive_id": [4], "primitive_description": ["place in"], "object_id": [["hinged_jar_236", "top_cabinet_lkxmne_2"]], "manipulating_object_id": ["hinged_jar_236"], "memory_prefix": ["back"], "spatial_prefix": [[[], ["high_level"]]], "frame_duration": [13266, 14904], "skill_idxes": [24, 25] }, { "primitive_idx": 5, "primitive_id": [12], "primitive_description": ["close door"], "object_id": [["top_cabinet_lkxmne_2"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [[["left_door", "right_door"]]], "frame_duration": [14904, 15810], "skill_idxes": [26, 27] } ] }