{ "task_name": "can meat", "data_folder": "", "meta_data": { "task_duration": 12799, "valid_duration": [0, 12799] }, "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, 502], "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": [502, 1770], "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": [1770, 2250], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 3, "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": [], "spatial_prefix": [["", "low_level"]], "frame_duration": [2250, 2959], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 4, "skill_id": [5], "skill_description": ["hand over"], "object_id": [["hinged_jar_236", "right", "left"]], "manipulating_object_id": ["hinged_jar_236"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [2959, 3262], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 5, "skill_id": [13], "skill_description": ["open lid"], "object_id": [["hinged_jar_236"]], "manipulating_object_id": ["hinged_jar_236"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [3262, 3520], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 6, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bratwurst_232"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [3521, 4129], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 7, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bratwurst_232", "cutting_board_234"]], "manipulating_object_id": ["bratwurst_232"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4129, 4819], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 8, "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": [4820, 5143], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 9, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bratwurst_233", "cutting_board_234"]], "manipulating_object_id": ["bratwurst_233"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [5143, 5677], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 10, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bratwurst_233", "hinged_jar_236"]], "manipulating_object_id": ["bratwurst_233"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [5677, 5920], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 11, "skill_id": [14], "skill_description": ["close lid"], "object_id": [["hinged_jar_236"]], "manipulating_object_id": ["hinged_jar_236"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [5920, 6133], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 12, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_lkxmne_2"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [6133, 6409], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 13, "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": [["", "low_level"]], "frame_duration": [6409, 6940], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 14, "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": ["the other"], "spatial_prefix": [["", "high_level"]], "frame_duration": [6941, 7825], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 15, "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": [7825, 8085], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 16, "skill_id": [13], "skill_description": ["open lid"], "object_id": [["hinged_jar_235"]], "manipulating_object_id": ["hinged_jar_235"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [8085, 8317], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 17, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bratwurst_230"]], "manipulating_object_id": [], "memory_prefix": ["back", "the other"], "spatial_prefix": [], "frame_duration": [8317, 8979], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 18, "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": [8979, 9205], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 19, "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": [9205, 9439], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 20, "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": [9439, 9775], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 21, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bratwurst_231", "hinged_jar_235"]], "manipulating_object_id": ["bratwurst_231"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [9805, 10028], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 22, "skill_id": [14], "skill_description": ["close lid"], "object_id": [["hinged_jar_235"]], "manipulating_object_id": ["hinged_jar_235"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [10028, 10436], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 23, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_lkxmne_2"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [10436, 11086], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 24, "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": [11087, 11986], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 25, "skill_id": [12], "skill_description": ["close door"], "object_id": [["top_cabinet_lkxmne_2"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["left_door"]], "frame_duration": [11986, 12502], "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": [["right_door"]], "frame_duration": [12503, 12799], "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, 2250], "skill_idxes": [0, 1, 2] }, { "primitive_idx": 1, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [[["hinged_jar_236", "bratwurst_232", "bratwurst_233"], ["top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234"]], [["bratwurst_232", "bratwurst_233"], "hinged_jar_236"]], "manipulating_object_id": [["hinged_jar_236", "bratwurst_232", "bratwurst_233"], ["bratwurst_232", "bratwurst_233"]], "memory_prefix": [], "spatial_prefix": [[[], ["low_level", "", ""]], []], "frame_duration": [2250, 6133], "skill_idxes": [3, 4, 5, 6, 7, 8, 9, 10, 11] }, { "primitive_idx": 2, "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": [[[], ["low_level"]]], "frame_duration": [6133, 6940], "skill_idxes": [12, 13] }, { "primitive_idx": 3, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [[["hinged_jar_235", "bratwurst_230", "bratwurst_231"], ["top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234"]], [["bratwurst_230", "bratwurst_231"], "hinged_jar_235"]], "manipulating_object_id": [["hinged_jar_235", "bratwurst_230", "bratwurst_231"], ["bratwurst_230", "bratwurst_231"]], "memory_prefix": ["the other", ""], "spatial_prefix": [[[], ["high_level", "", ""]], []], "frame_duration": [6941, 10436], "skill_idxes": [14, 15, 16, 17, 18, 19, 20, 21, 22] }, { "primitive_idx": 4, "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": [10436, 11986], "skill_idxes": [23, 24] }, { "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": [11986, 12799], "skill_idxes": [25, 26] } ] }