{ "task_name": "rearranging kitchen furniture", "data_folder": "", "meta_data": { "task_duration": 10136, "valid_duration": [0, 10136] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_tynnnw_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [0, 1011], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 1, "skill_id": [10], "skill_description": ["open door"], "object_id": [["top_cabinet_tynnnw_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["left_door"]], "frame_duration": [1011, 1894], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 2, "skill_id": [10], "skill_description": ["open door"], "object_id": [["top_cabinet_tynnnw_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["right_door"]], "frame_duration": [1894, 3088], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 3, "skill_id": [1], "skill_description": ["move to"], "object_id": [["toaster_91"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [3088, 3370], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 4, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["toaster_91", "bar_byvbuc_0"]], "manipulating_object_id": ["toaster_91"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [3370, 3817], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 5, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_tynnnw_1"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [3817, 3909], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 6, "skill_id": [4], "skill_description": ["place in"], "object_id": [["toaster_91", "top_cabinet_tynnnw_1"]], "manipulating_object_id": ["toaster_91"], "memory_prefix": [], "spatial_prefix": [["", "low_level"]], "frame_duration": [3909, 4620], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 7, "skill_id": [1], "skill_description": ["move to"], "object_id": [["food_processor_90"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [4620, 4970], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 8, "skill_id": [93], "skill_description": ["turn to"], "object_id": [["food_processor_90", "robot"]], "manipulating_object_id": ["food_processor_90"], "memory_prefix": [], "spatial_prefix": [["", "face_away"]], "frame_duration": [4970, 6125], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 9, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["food_processor_90", "bar_byvbuc_0"]], "manipulating_object_id": ["food_processor_90"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [6125, 6223], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 10, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_tynnnw_1"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [6223, 6373], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 11, "skill_id": [92], "skill_description": ["place in next to"], "object_id": [["food_processor_90", "top_cabinet_tynnnw_1", "toaster_91"]], "manipulating_object_id": ["food_processor_90"], "memory_prefix": [], "spatial_prefix": [["", "low_level", "right"]], "frame_duration": [6373, 7065], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 12, "skill_id": [1], "skill_description": ["move to"], "object_id": [["french_press_89"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [7065, 7396], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 13, "skill_id": [90], "skill_description": ["push to"], "object_id": [["french_press_89", "bar_byvbuc_0"]], "manipulating_object_id": ["french_press_89"], "memory_prefix": [], "spatial_prefix": [["", "to_the_edge_of"]], "frame_duration": [7396, 8005], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 14, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["french_press_89", "bar_byvbuc_0"]], "manipulating_object_id": ["french_press_89"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [8005, 8370], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 15, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_tynnnw_1"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [8370, 8685], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 16, "skill_id": [92], "skill_description": ["place in next to"], "object_id": [["french_press_89", "top_cabinet_tynnnw_1", "food_processor_90"]], "manipulating_object_id": ["french_press_89"], "memory_prefix": [], "spatial_prefix": [["", "low_level", "right"]], "frame_duration": [8685, 9128], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 17, "skill_id": [12], "skill_description": ["close door"], "object_id": [["top_cabinet_tynnnw_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["right_door"]], "frame_duration": [9128, 9510], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 18, "skill_id": [12], "skill_description": ["close door"], "object_id": [["top_cabinet_tynnnw_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["left_door"]], "frame_duration": [9510, 10136], "mp_ef": [], "skill_type": ["uncoordinated"] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [10], "primitive_description": ["open door"], "object_id": [["top_cabinet_tynnnw_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [[["left_door", "right_door"]]], "frame_duration": [0, 3088], "skill_idxes": [0, 1, 2] }, { "primitive_idx": 1, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [["toaster_91", "bar_byvbuc_0"], ["toaster_91", "top_cabinet_tynnnw_1"]], "manipulating_object_id": ["toaster_91", "toaster_91"], "memory_prefix": [], "spatial_prefix": [[], [[], ["low_level"]]], "frame_duration": [3088, 4620], "skill_idxes": [3, 4, 5, 6] }, { "primitive_idx": 2, "primitive_id": [2, 92], "primitive_description": ["pick up from", "place in next to"], "object_id": [["food_processor_90", "bar_byvbuc_0"], ["food_processor_90", "top_cabinet_tynnnw_1", "toaster_91"]], "manipulating_object_id": ["food_processor_90", "food_processor_90"], "memory_prefix": [], "spatial_prefix": [[], [[], ["low_level"], ["right"]]], "frame_duration": [4620, 7065], "skill_idxes": [7, 8, 9, 10, 11] }, { "primitive_idx": 3, "primitive_id": [2, 92], "primitive_description": ["pick up from", "place in next to"], "object_id": [["french_press_89", "bar_byvbuc_0"], ["french_press_89", "top_cabinet_tynnnw_1", "food_processor_90"]], "manipulating_object_id": ["french_press_89", "french_press_89"], "memory_prefix": [], "spatial_prefix": [[], [[], ["low_level"], ["right"]]], "frame_duration": [7065, 9128], "skill_idxes": [12, 13, 14, 15, 16] }, { "primitive_idx": 4, "primitive_id": [12], "primitive_description": ["close door"], "object_id": [["top_cabinet_tynnnw_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [[["right_door", "left_door"]]], "frame_duration": [9128, 10136], "skill_idxes": [17, 18] } ] }