| { |
| "task_name": "can meat", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 11715, |
| "valid_duration": [198, 11913] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [198, 1023], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right_door"]], |
| "frame_duration": [1023, 2406], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [2406, 3069], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["hinged_jar_235", "top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": ["hinged_jar_235"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "low_level"]], |
| "frame_duration": [3069, 3744], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [13], |
| "skill_description": ["open lid"], |
| "object_id": [["hinged_jar_235"]], |
| "manipulating_object_id": ["hinged_jar_235"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3744, 4134], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bratwurst_232"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4134, 4602], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bratwurst_232", "cutting_board_234"]], |
| "manipulating_object_id": ["bratwurst_232"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4602, 5055], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bratwurst_232", "hinged_jar_235"]], |
| "manipulating_object_id": ["bratwurst_232"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5055, 5322], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bratwurst_230", "cutting_board_234"]], |
| "manipulating_object_id": ["bratwurst_230"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [5322, 5751], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bratwurst_230", "hinged_jar_235"]], |
| "manipulating_object_id": ["bratwurst_230"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5751, 6006], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [14], |
| "skill_description": ["close lid"], |
| "object_id": [["hinged_jar_235"]], |
| "manipulating_object_id": ["hinged_jar_235"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6006, 6186], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [6186, 6399], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["hinged_jar_235", "top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": ["hinged_jar_235"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [["", "low_level"]], |
| "frame_duration": [6399, 6879], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["hinged_jar_236", "top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": ["hinged_jar_236"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "low_level"]], |
| "frame_duration": [6879, 7653], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [5], |
| "skill_description": ["hand over"], |
| "object_id": [["hinged_jar_236", "left", "right"]], |
| "manipulating_object_id": ["hinged_jar_236"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7653, 7953], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [5], |
| "skill_description": ["hand over"], |
| "object_id": [["hinged_jar_236", "right", "left"]], |
| "manipulating_object_id": ["hinged_jar_236"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7953, 8193], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [13], |
| "skill_description": ["open lid"], |
| "object_id": [["hinged_jar_236"]], |
| "manipulating_object_id": ["hinged_jar_236"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8193, 8481], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bratwurst_231"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back", "the other"], |
| "spatial_prefix": [], |
| "frame_duration": [8481, 9048], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bratwurst_231", "cutting_board_234"]], |
| "manipulating_object_id": ["bratwurst_231"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [9048, 9351], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bratwurst_231", "hinged_jar_236"]], |
| "manipulating_object_id": ["bratwurst_231"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9351, 9585], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bratwurst_233", "cutting_board_234"]], |
| "manipulating_object_id": ["bratwurst_233"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [9585, 9885], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bratwurst_233", "hinged_jar_236"]], |
| "manipulating_object_id": ["bratwurst_233"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9885, 10092], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [14], |
| "skill_description": ["close lid"], |
| "object_id": [["hinged_jar_236"]], |
| "manipulating_object_id": ["hinged_jar_236"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10092, 10275], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [10275, 10350], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["hinged_jar_236", "top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": ["hinged_jar_236"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [["", "low_level"]], |
| "frame_duration": [10350, 11115], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right_door"]], |
| "frame_duration": [11115, 11487], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [11487, 11913], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right_door", "left_door"]]], |
| "frame_duration": [198, 3069], |
| "skill_idxes": [0, 1, 2] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["hinged_jar_235", "bratwurst_232", "bratwurst_230"], ["top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234"]], [["bratwurst_232", "bratwurst_230"], "hinged_jar_235"]], |
| "manipulating_object_id": [["hinged_jar_235", "bratwurst_232", "bratwurst_230"], ["bratwurst_232", "bratwurst_230"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["low_level", "", ""]], []], |
| "frame_duration": [3069, 6186], |
| "skill_idxes": [3, 4, 5, 6, 7, 8, 9, 10] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [4], |
| "primitive_description": ["place in"], |
| "object_id": [["hinged_jar_235", "top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": ["hinged_jar_235"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [[[], ["low_level"]]], |
| "frame_duration": [6186, 6879], |
| "skill_idxes": [11, 12] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["hinged_jar_236", "bratwurst_231", "bratwurst_233"], ["top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234"]], [["bratwurst_231", "bratwurst_233"], "hinged_jar_236"]], |
| "manipulating_object_id": [["hinged_jar_236", "bratwurst_231", "bratwurst_233"], ["bratwurst_231", "bratwurst_233"]], |
| "memory_prefix": ["the other", ""], |
| "spatial_prefix": [[[], ["low_level", "", ""]], []], |
| "frame_duration": [6879, 10275], |
| "skill_idxes": [13, 14, 15, 16, 17, 18, 19, 20, 21, 22] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [4], |
| "primitive_description": ["place in"], |
| "object_id": [["hinged_jar_236", "top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": ["hinged_jar_236"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [[[], ["low_level"]]], |
| "frame_duration": [10275, 11115], |
| "skill_idxes": [23, 24] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["top_cabinet_lkxmne_2"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right_door", "left_door"]]], |
| "frame_duration": [11115, 11913], |
| "skill_idxes": [25, 26] |
| } |
| ] |
| } |