| { |
| "task_name": "set up a coffee station in your kitchen", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 4952, |
| "valid_duration": [ |
| 0, |
| 4952 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "paper_coffee_filter_210" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 719 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "paper_coffee_filter_210", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_coffee_filter_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 719, |
| 1029 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "coffee_maker_212" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1029, |
| 1401 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "paper_coffee_filter_210", |
| "coffee_maker_212" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_coffee_filter_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1401, |
| 1665 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_coffee_211" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1665, |
| 1704 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_coffee_211", |
| "shelf_pfusrd_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_coffee_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1704, |
| 2067 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_coffee_211", |
| "countertop_kelzer_0", |
| "coffee_maker_212" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_coffee_211" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 2067, |
| 2338 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "saucer_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2338, |
| 2375 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "saucer_208", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "saucer_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2375, |
| 3087 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "saucer_208", |
| "countertop_kelzer_0", |
| "coffee_maker_212" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "saucer_208" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 3087, |
| 3324 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "electric_kettle_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3324, |
| 3570 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "electric_kettle_207", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "electric_kettle_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3570, |
| 3733 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "coffee_maker_212" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3733, |
| 4074 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "electric_kettle_207", |
| "countertop_kelzer_0", |
| "coffee_maker_212" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "electric_kettle_207" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 4074, |
| 4238 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "coffee_cup_209", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "coffee_cup_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4239, |
| 4527 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "saucer_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4527, |
| 4701 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "coffee_cup_209", |
| "saucer_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "coffee_cup_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4701, |
| 4952 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "paper_coffee_filter_210", |
| "countertop_kelzer_0" |
| ], |
| [ |
| "paper_coffee_filter_210", |
| "coffee_maker_212" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_coffee_filter_210", |
| "paper_coffee_filter_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 1665 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_coffee_211", |
| "shelf_pfusrd_1" |
| ], |
| [ |
| "bottle_of_coffee_211", |
| "countertop_kelzer_0", |
| "coffee_maker_212" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_coffee_211", |
| "bottle_of_coffee_211" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 1665, |
| 2338 |
| ], |
| "skill_idxes": [ |
| 4, |
| 5, |
| 6 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "saucer_208", |
| "countertop_kelzer_0" |
| ], |
| [ |
| "saucer_208", |
| "countertop_kelzer_0", |
| "coffee_maker_212" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "saucer_208", |
| "saucer_208" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 2338, |
| 3324 |
| ], |
| "skill_idxes": [ |
| 7, |
| 8, |
| 9 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "electric_kettle_207", |
| "countertop_kelzer_0" |
| ], |
| [ |
| "electric_kettle_207", |
| "countertop_kelzer_0", |
| "coffee_maker_212" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "electric_kettle_207", |
| "electric_kettle_207" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 3324, |
| 4238 |
| ], |
| "skill_idxes": [ |
| 10, |
| 11, |
| 12, |
| 13 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "coffee_cup_209", |
| "countertop_kelzer_0" |
| ], |
| [ |
| "coffee_cup_209", |
| "saucer_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "coffee_cup_209", |
| "coffee_cup_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4239, |
| 4952 |
| ], |
| "skill_idxes": [ |
| 14, |
| 15, |
| 16 |
| ] |
| } |
| ] |
| } |
