{ "task_name": "cleaning up plates and food", "data_folder": "", "meta_data": { "task_duration": 13460, "valid_duration": [0, 13460] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [1], "skill_description": ["move to"], "object_id": [["fridge_petcxr_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [0, 363], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 1, "skill_id": [10], "skill_description": ["open door"], "object_id": [["fridge_petcxr_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["right_door"]], "frame_duration": [363, 2133], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 2, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["plate_93", "breakfast_table_xftrki_0"]], "manipulating_object_id": ["plate_93"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [2133, 3308], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 3, "skill_id": [1], "skill_description": ["move to"], "object_id": [["fridge_petcxr_0"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [3308, 3688], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 4, "skill_id": [4], "skill_description": ["place in"], "object_id": [["plate_93", "fridge_petcxr_0"]], "manipulating_object_id": ["plate_93"], "memory_prefix": [], "spatial_prefix": [["", "layer_5"]], "frame_duration": [3688, 4978], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 5, "skill_id": [1], "skill_description": ["move to"], "object_id": [["plate_94"]], "manipulating_object_id": [], "memory_prefix": ["back", "the other"], "spatial_prefix": [], "frame_duration": [4978, 5477], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 6, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["plate_94", "breakfast_table_xftrki_0"]], "manipulating_object_id": ["plate_94"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [5477, 6631], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 7, "skill_id": [1], "skill_description": ["move to"], "object_id": [["fridge_petcxr_0"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [6631, 7297], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 8, "skill_id": [4], "skill_description": ["place in"], "object_id": [["plate_94", "fridge_petcxr_0"]], "manipulating_object_id": ["plate_94"], "memory_prefix": [], "spatial_prefix": [["", "layer_4"]], "frame_duration": [7297, 8289], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 9, "skill_id": [1], "skill_description": ["move to"], "object_id": [["fridge_petcxr_0"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [8289, 9015], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 10, "skill_id": [12], "skill_description": ["close door"], "object_id": [["fridge_petcxr_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [["right_door"]], "frame_duration": [9015, 10759], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 11, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bowl_91"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [10759, 11102], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 12, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bowl_91", "breakfast_table_xftrki_0"]], "manipulating_object_id": ["bowl_91"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [11102, 11635], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 13, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bowl_92"]], "manipulating_object_id": [], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [11635, 11730], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 14, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["bowl_92", "breakfast_table_xftrki_0"]], "manipulating_object_id": ["bowl_92"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [11730, 12067], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 15, "skill_id": [1], "skill_description": ["move to"], "object_id": [["drop_in_sink_lkklqs_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [12067, 12673], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 16, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bowl_92", "drop_in_sink_lkklqs_0"]], "manipulating_object_id": ["bowl_92"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [12673, 13025], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 17, "skill_id": [4], "skill_description": ["place in"], "object_id": [["bowl_91", "drop_in_sink_lkklqs_0"]], "manipulating_object_id": ["bowl_91"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [13025, 13460], "mp_ef": [], "skill_type": ["uncoordinated"] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [10], "primitive_description": ["open door"], "object_id": [["fridge_petcxr_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [[["right_door"]]], "frame_duration": [0, 2133], "skill_idxes": [0, 1] }, { "primitive_idx": 1, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [["plate_93", "breakfast_table_xftrki_0"], ["plate_93", "fridge_petcxr_0"]], "manipulating_object_id": ["plate_93", "plate_93"], "memory_prefix": [], "spatial_prefix": [[], [[], ["layer_5"]]], "frame_duration": [2133, 4978], "skill_idxes": [2, 3, 4] }, { "primitive_idx": 2, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [["plate_94", "breakfast_table_xftrki_0"], ["plate_94", "fridge_petcxr_0"]], "manipulating_object_id": ["plate_94", "plate_94"], "memory_prefix": ["the other", ""], "spatial_prefix": [[], [[], ["layer_4"]]], "frame_duration": [4978, 8289], "skill_idxes": [5, 6, 7, 8] }, { "primitive_idx": 3, "primitive_id": [12], "primitive_description": ["close door"], "object_id": [["fridge_petcxr_0"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [[["right_door"]]], "frame_duration": [8289, 10759], "skill_idxes": [9, 10] }, { "primitive_idx": 4, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [[["bowl_91", "bowl_92"], "breakfast_table_xftrki_0"], [["bowl_92", "bowl_91"], "drop_in_sink_lkklqs_0"]], "manipulating_object_id": [["bowl_91", "bowl_92"], ["bowl_92", "bowl_91"]], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [10759, 13460], "skill_idxes": [11, 12, 13, 14, 15, 16, 17] } ] }