{ "task_name": "putting dishes away after cleaning", "data_folder": "", "meta_data": { "task_duration": 9261, "valid_duration": [168, 9429] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_lkxmne_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [168, 539], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 1, "skill_id": [10], "skill_description": ["open door"], "object_id": [["top_cabinet_lkxmne_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["right_door"]], "frame_duration": [539, 1511], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 2, "skill_id": [10], "skill_description": ["open door"], "object_id": [["top_cabinet_lkxmne_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["left_door"]], "frame_duration": [1511, 2071], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 3, "skill_id": [1], "skill_description": ["move to"], "object_id": [["plate_209"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [2072, 2286], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 4, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["plate_209", "countertop_kelzer_0"]], "manipulating_object_id": ["plate_209"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [2286, 2574], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 5, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["plate_208", "countertop_kelzer_0"]], "manipulating_object_id": ["plate_208"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [2574, 2659], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 6, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_lkxmne_1"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [2659, 2903], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 7, "skill_id": [4], "skill_description": ["place in"], "object_id": [["plate_208", "top_cabinet_lkxmne_1"]], "manipulating_object_id": ["plate_208"], "memory_prefix": [], "spatial_prefix": [["", "low_level"]], "frame_duration": [2903, 3267], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 8, "skill_id": [4], "skill_description": ["place in"], "object_id": [["plate_209", "top_cabinet_lkxmne_1"]], "manipulating_object_id": ["plate_209"], "memory_prefix": [], "spatial_prefix": [["", "low_level"]], "frame_duration": [3267, 3741], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 9, "skill_id": [1], "skill_description": ["move to"], "object_id": [["plate_210"]], "manipulating_object_id": [], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [3741, 3959], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 10, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["plate_210", "countertop_kelzer_0"]], "manipulating_object_id": ["plate_210"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [3959, 4144], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 11, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["plate_207", "countertop_kelzer_0"]], "manipulating_object_id": ["plate_207"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [4144, 4353], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 12, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_lkxmne_1"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [4353, 4609], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 13, "skill_id": [3], "skill_description": ["place on"], "object_id": [["plate_207", "plate_208"]], "manipulating_object_id": ["plate_207"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4609, 4899], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 14, "skill_id": [3], "skill_description": ["place on"], "object_id": [["plate_210", "plate_209"]], "manipulating_object_id": ["plate_210"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4899, 5222], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 15, "skill_id": [1], "skill_description": ["move to"], "object_id": [["plate_211"]], "manipulating_object_id": [], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [5222, 5553], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 16, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["plate_211", "bar_udatjt_0"]], "manipulating_object_id": ["plate_211"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [5553, 5839], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 17, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["plate_213", "bar_udatjt_0"]], "manipulating_object_id": ["plate_213"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [5839, 5942], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 18, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_lkxmne_1"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [5942, 6208], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 19, "skill_id": [3], "skill_description": ["place on"], "object_id": [["plate_213", "plate_207"]], "manipulating_object_id": ["plate_213"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [6208, 6530], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 20, "skill_id": [3], "skill_description": ["place on"], "object_id": [["plate_211", "plate_210"]], "manipulating_object_id": ["plate_211"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [6530, 6916], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 21, "skill_id": [1], "skill_description": ["move to"], "object_id": [["plate_214"]], "manipulating_object_id": [], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [6916, 7106], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 22, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["plate_214", "bar_udatjt_0"]], "manipulating_object_id": ["plate_214"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [7106, 7315], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 23, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["plate_212", "bar_udatjt_0"]], "manipulating_object_id": ["plate_212"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [7315, 7590], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 24, "skill_id": [1], "skill_description": ["move to"], "object_id": [["top_cabinet_lkxmne_1"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [7590, 7801], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 25, "skill_id": [3], "skill_description": ["place on"], "object_id": [["plate_214", "plate_213"]], "manipulating_object_id": ["plate_214"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [7801, 8132], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 26, "skill_id": [3], "skill_description": ["place on"], "object_id": [["plate_212", "plate_211"]], "manipulating_object_id": ["plate_212"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [8132, 8558], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 27, "skill_id": [12], "skill_description": ["close door"], "object_id": [["top_cabinet_lkxmne_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["left_door"]], "frame_duration": [8558, 8967], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 28, "skill_id": [12], "skill_description": ["close door"], "object_id": [["top_cabinet_lkxmne_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["right_door"]], "frame_duration": [8967, 9429], "mp_ef": [], "skill_type": ["uncoordinated"] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [10], "primitive_description": ["open door"], "object_id": [["top_cabinet_lkxmne_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [[["right_door", "left_door"]]], "frame_duration": [168, 2071], "skill_idxes": [0, 1, 2] }, { "primitive_idx": 1, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [[["plate_209", "plate_208"], "countertop_kelzer_0"], [["plate_208", "plate_209"], "top_cabinet_lkxmne_1"]], "manipulating_object_id": [["plate_209", "plate_208"], ["plate_208", "plate_209"]], "memory_prefix": [], "spatial_prefix": [[], [[], ["low_level", "low_level"]]], "frame_duration": [2072, 3741], "skill_idxes": [3, 4, 5, 6, 7, 8] }, { "primitive_idx": 2, "primitive_id": [2, 3], "primitive_description": ["pick up from", "place on"], "object_id": [[["plate_210", "plate_207"], "countertop_kelzer_0"], [["plate_207", "plate_210"], ["plate_208", "plate_209"]]], "manipulating_object_id": [["plate_210", "plate_207"], ["plate_207", "plate_210"]], "memory_prefix": ["the other", ""], "spatial_prefix": [], "frame_duration": [3741, 5222], "skill_idxes": [9, 10, 11, 12, 13, 14] }, { "primitive_idx": 3, "primitive_id": [2, 3], "primitive_description": ["pick up from", "place on"], "object_id": [[["plate_211", "plate_213"], "bar_udatjt_0"], [["plate_213", "plate_211"], ["plate_207", "plate_210"]]], "manipulating_object_id": [["plate_211", "plate_213"], ["plate_213", "plate_211"]], "memory_prefix": ["the other", ""], "spatial_prefix": [], "frame_duration": [5222, 6916], "skill_idxes": [15, 16, 17, 18, 19, 20] }, { "primitive_idx": 4, "primitive_id": [2, 3], "primitive_description": ["pick up from", "place on"], "object_id": [[["plate_214", "plate_212"], "bar_udatjt_0"], [["plate_214", "plate_212"], ["plate_213", "plate_211"]]], "manipulating_object_id": [["plate_214", "plate_212"], ["plate_214", "plate_212"]], "memory_prefix": ["the other", ""], "spatial_prefix": [], "frame_duration": [6916, 8558], "skill_idxes": [21, 22, 23, 24, 25, 26] }, { "primitive_idx": 5, "primitive_id": [12], "primitive_description": ["close door"], "object_id": [["top_cabinet_lkxmne_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [[["left_door", "right_door"]]], "frame_duration": [8558, 9429], "skill_idxes": [27, 28] } ] }