{ "task_name": "sorting vegetables", "data_folder": "", "meta_data": { "task_duration": 11280, "valid_duration": [ 0, 11280 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "wicker_basket_221" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 377 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "wicker_basket_221", "floors_kxcpgy_0" ] ], "manipulating_object_id": [ "wicker_basket_221" ], "spatial_prefix": [], "frame_duration": [ 377, 903 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mixing_bowl_224" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 903, 1042 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 3, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "sweet_corn_211", "wicker_basket_221" ] ], "manipulating_object_id": [ "sweet_corn_211" ], "spatial_prefix": [], "frame_duration": [ 1042, 1391 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 4, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "sweet_corn_211", "mixing_bowl_224" ] ], "manipulating_object_id": [ "sweet_corn_211" ], "spatial_prefix": [], "frame_duration": [ 1391, 1553 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 5, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "sweet_corn_213", "wicker_basket_221" ] ], "manipulating_object_id": [ "sweet_corn_213" ], "spatial_prefix": [], "frame_duration": [ 1553, 2043 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 6, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "sweet_corn_213", "mixing_bowl_224" ] ], "manipulating_object_id": [ "sweet_corn_213" ], "spatial_prefix": [], "frame_duration": [ 2043, 2158 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bok_choy_219", "wicker_basket_221" ] ], "manipulating_object_id": [ "bok_choy_219" ], "spatial_prefix": [], "frame_duration": [ 2158, 2436 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 8, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mixing_bowl_223" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2436, 2512 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 9, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bok_choy_219", "mixing_bowl_223" ] ], "manipulating_object_id": [ "bok_choy_219" ], "spatial_prefix": [], "frame_duration": [ 2512, 2590 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "sweet_corn_212", "wicker_basket_221" ] ], "manipulating_object_id": [ "sweet_corn_212" ], "spatial_prefix": [], "frame_duration": [ 2590, 2904 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 11, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "sweet_corn_212", "mixing_bowl_224" ] ], "manipulating_object_id": [ "sweet_corn_212" ], "spatial_prefix": [], "frame_duration": [ 2904, 2962 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bok_choy_217", "wicker_basket_221" ] ], "manipulating_object_id": [ "bok_choy_217" ], "spatial_prefix": [], "frame_duration": [ 2962, 3273 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 13, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mixing_bowl_223" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3273, 3325 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 14, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bok_choy_217", "mixing_bowl_223" ] ], "manipulating_object_id": [ "bok_choy_217" ], "spatial_prefix": [], "frame_duration": [ 3325, 3415 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bok_choy_218", "wicker_basket_221" ] ], "manipulating_object_id": [ "bok_choy_218" ], "spatial_prefix": [], "frame_duration": [ 3415, 3659 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 16, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "bok_choy_218", "mixing_bowl_223" ] ], "manipulating_object_id": [ "bok_choy_218" ], "spatial_prefix": [], "frame_duration": [ 3659, 3825 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "wicker_basket_221", "floors_kxcpgy_0" ] ], "manipulating_object_id": [ "wicker_basket_221" ], "spatial_prefix": [], "frame_duration": [ 3825, 4271 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "wicker_basket_220" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4271, 5012 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 19, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "wicker_basket_220", "floors_kxcpgy_0" ] ], "manipulating_object_id": [ "wicker_basket_220" ], "spatial_prefix": [], "frame_duration": [ 5012, 5991 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mixing_bowl_222" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 5991, 6904 ], [ 7299, 7385 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 21, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "leek_208", "wicker_basket_220" ] ], "manipulating_object_id": [ "leek_208" ], "spatial_prefix": [], "frame_duration": [ 6904, 7299 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 22, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "leek_208", "mixing_bowl_222" ] ], "manipulating_object_id": [ "leek_208" ], "spatial_prefix": [], "frame_duration": [ 7385, 7453 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "broccoli_210", "wicker_basket_220" ] ], "manipulating_object_id": [ "broccoli_210" ], "spatial_prefix": [], "frame_duration": [ 7453, 7819 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 24, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "broccoli_210", "mixing_bowl_222" ] ], "manipulating_object_id": [ "broccoli_210" ], "spatial_prefix": [], "frame_duration": [ 7819, 7890 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "broccoli_209", "wicker_basket_220" ] ], "manipulating_object_id": [ "broccoli_209" ], "spatial_prefix": [], "frame_duration": [ 7890, 8325 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 26, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "broccoli_209", "mixing_bowl_222" ] ], "manipulating_object_id": [ "broccoli_209" ], "spatial_prefix": [], "frame_duration": [ 8325, 8370 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "leek_207", "wicker_basket_220" ] ], "manipulating_object_id": [ "leek_207" ], "spatial_prefix": [], "frame_duration": [ 8370, 9149 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 28, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "leek_207", "mixing_bowl_222" ] ], "manipulating_object_id": [ "leek_207" ], "spatial_prefix": [], "frame_duration": [ 9149, 9270 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mixing_bowl_223" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9270, 9468 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 30, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "vidalia_onion_214", "wicker_basket_220" ] ], "manipulating_object_id": [ "vidalia_onion_214" ], "spatial_prefix": [], "frame_duration": [ 9468, 9727 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 31, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "vidalia_onion_214", "mixing_bowl_223" ] ], "manipulating_object_id": [ "vidalia_onion_214" ], "spatial_prefix": [], "frame_duration": [ 9727, 9860 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "vidalia_onion_216", "wicker_basket_220" ] ], "manipulating_object_id": [ "vidalia_onion_216" ], "spatial_prefix": [], "frame_duration": [ 9860, 10180 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 33, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "vidalia_onion_216", "mixing_bowl_223" ] ], "manipulating_object_id": [ "vidalia_onion_216" ], "spatial_prefix": [], "frame_duration": [ 10180, 10314 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 34, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "vidalia_onion_215", "wicker_basket_220" ] ], "manipulating_object_id": [ "vidalia_onion_215" ], "spatial_prefix": [], "frame_duration": [ 10314, 10595 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 35, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "vidalia_onion_215", "mixing_bowl_223" ] ], "manipulating_object_id": [ "vidalia_onion_215" ], "spatial_prefix": [], "frame_duration": [ 10595, 10722 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 36, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "wicker_basket_220", "floors_kxcpgy_0" ] ], "manipulating_object_id": [ "wicker_basket_220" ], "spatial_prefix": [], "frame_duration": [ 10722, 11280 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "wicker_basket_221", "floors_kxcpgy_0" ] ], "manipulating_object_id": [ "wicker_basket_221" ], "spatial_prefix": [], "frame_duration": [ 0, 903 ], "skill_idxes": [ 0, 1 ] }, { "primitive_idx": 1, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "sweet_corn_211", "sweet_corn_213", "sweet_corn_212" ], "wicker_basket_221" ], [ [ "sweet_corn_211", "sweet_corn_213", "sweet_corn_212" ], "mixing_bowl_224" ] ], "manipulating_object_id": [ [ "sweet_corn_211", "sweet_corn_213", "sweet_corn_212" ], [ "sweet_corn_211", "sweet_corn_213", "sweet_corn_212" ] ], "spatial_prefix": [], "frame_duration": [ 903, 2962 ], "skill_idxes": [ 2, 3, 4, 5, 6, 10, 11 ] }, { "primitive_idx": 2, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "bok_choy_219", "bok_choy_217", "bok_choy_218" ], "wicker_basket_221" ], [ [ "bok_choy_219", "bok_choy_217", "bok_choy_218" ], "mixing_bowl_223" ] ], "manipulating_object_id": [ [ "bok_choy_219", "bok_choy_217", "bok_choy_218" ], [ "bok_choy_219", "bok_choy_217", "bok_choy_218" ] ], "spatial_prefix": [], "frame_duration": [ 2158, 3825 ], "skill_idxes": [ 7, 8, 9, 12, 13, 14, 15, 16 ] }, { "primitive_idx": 3, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ "wicker_basket_221", "floors_kxcpgy_0" ] ], "manipulating_object_id": [ "wicker_basket_221" ], "spatial_prefix": [], "frame_duration": [ 3825, 4271 ], "skill_idxes": [ 17 ] }, { "primitive_idx": 4, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "wicker_basket_220", "floors_kxcpgy_0" ] ], "manipulating_object_id": [ "wicker_basket_220" ], "spatial_prefix": [], "frame_duration": [ 4271, 5991 ], "skill_idxes": [ 18, 19 ] }, { "primitive_idx": 5, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "leek_208", "broccoli_210", "broccoli_209", "leek_207" ], "wicker_basket_220" ], [ [ "leek_208", "broccoli_210", "broccoli_209", "leek_207" ], "mixing_bowl_222" ] ], "manipulating_object_id": [ [ "leek_208", "broccoli_210", "broccoli_209", "leek_207" ], [ "leek_208", "broccoli_210", "broccoli_209", "leek_207" ] ], "spatial_prefix": [], "frame_duration": [ [ 5991, 6904 ], 9270 ], "skill_idxes": [ 20, 21, 22, 23, 24, 25, 26, 27, 28 ] }, { "primitive_idx": 6, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "vidalia_onion_214", "vidalia_onion_216", "vidalia_onion_215" ], "wicker_basket_220" ], [ [ "vidalia_onion_214", "vidalia_onion_216", "vidalia_onion_215" ], "mixing_bowl_223" ] ], "manipulating_object_id": [ [ "vidalia_onion_214", "vidalia_onion_216", "vidalia_onion_215" ], [ "vidalia_onion_214", "vidalia_onion_216", "vidalia_onion_215" ] ], "spatial_prefix": [], "frame_duration": [ 9270, 10722 ], "skill_idxes": [ 29, 30, 31, 32, 33, 34, 35 ] }, { "primitive_idx": 7, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ "wicker_basket_220", "floors_kxcpgy_0" ] ], "manipulating_object_id": [ "wicker_basket_220" ], "spatial_prefix": [], "frame_duration": [ 10722, 11280 ], "skill_idxes": [ 36 ] } ] }