| { |
| "task_name": "set up a coffee station in your kitchen", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 8310, |
| "valid_duration": [0, 8310] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["paper_coffee_filter_210"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 682], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [682, 1701], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["coffee_maker_212"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1701, 2097], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2097, 3457], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottle_of_coffee_211"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3457, 3683], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3683, 4258], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "left"]], |
| "frame_duration": [4258, 5293], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["saucer_208"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5293, 5676], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5676, 6249], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["coffee_maker_212"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [6249, 6928], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["saucer_208", "countertop_kelzer_0", "coffee_maker_212"]], |
| "manipulating_object_id": ["saucer_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "left"]], |
| "frame_duration": [6929, 7317], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["coffee_cup_209", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["coffee_cup_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7317, 7884], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["coffee_cup_209", "saucer_208"]], |
| "manipulating_object_id": ["coffee_cup_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7884, 8310], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 3457], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], [], ["left"]]], |
| "frame_duration": [3457, 5293], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], [], ["left"]]], |
| "frame_duration": [5293, 7317], |
| "skill_idxes": [7, 8, 9, 10] |
| }, |
| { |
| "primitive_idx": 3, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7317, 8310], |
| "skill_idxes": [11, 12] |
| } |
| ] |
| } |
