| { |
| "task_name": "preparing lunch box", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 6290, |
| "valid_duration": [60, 6350] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["packing_box_210"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [60, 555], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["packing_box_210", "countertop_kelker_0"]], |
| "manipulating_object_id": ["packing_box_210"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [556, 876], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["burner_mjvqii_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [876, 1070], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["packing_box_210", "burner_mjvqii_0", "chopping_board_211"]], |
| "manipulating_object_id": ["packing_box_210"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "left"]], |
| "frame_duration": [1070, 1216], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["club_sandwich_209", "chopping_board_211"]], |
| "manipulating_object_id": ["club_sandwich_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1216, 1545], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["club_sandwich_209", "packing_box_210"]], |
| "manipulating_object_id": ["club_sandwich_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1545, 1776], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["half_apple_213", "chopping_board_211"]], |
| "manipulating_object_id": ["half_apple_213"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1776, 2006], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["half_apple_213", "packing_box_210"]], |
| "manipulating_object_id": ["half_apple_213"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2006, 2159], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["half_apple_212", "chopping_board_211"]], |
| "manipulating_object_id": ["half_apple_212"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [2159, 2332], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["half_apple_212", "packing_box_210"]], |
| "manipulating_object_id": ["half_apple_212"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2332, 2466], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["chocolate_chip_cookie_207", "chopping_board_211"]], |
| "manipulating_object_id": ["chocolate_chip_cookie_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2466, 2678], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["chocolate_chip_cookie_207", "packing_box_210"]], |
| "manipulating_object_id": ["chocolate_chip_cookie_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2679, 3047], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3047, 4051], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4051, 4737], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bottle_of_tea_208", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["bottle_of_tea_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "middle_level"]], |
| "frame_duration": [4737, 5123], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5123, 5541], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["packing_box_210"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [5541, 6060], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bottle_of_tea_208", "packing_box_210"]], |
| "manipulating_object_id": ["bottle_of_tea_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6060, 6350], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [2, 91], |
| "primitive_description": ["pick up from", "place on next to"], |
| "object_id": [["packing_box_210", "countertop_kelker_0"], ["packing_box_210", "burner_mjvqii_0", "chopping_board_211"]], |
| "manipulating_object_id": ["packing_box_210", "packing_box_210"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], [], ["left"]]], |
| "frame_duration": [60, 1216], |
| "skill_idxes": [0, 1, 2, 3] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [["club_sandwich_209", "chopping_board_211"], ["club_sandwich_209", "packing_box_210"]], |
| "manipulating_object_id": ["club_sandwich_209", "club_sandwich_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1216, 1776], |
| "skill_idxes": [4, 5] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["half_apple_213", "half_apple_212"], "chopping_board_211"], [["half_apple_213", "half_apple_212"], "packing_box_210"]], |
| "manipulating_object_id": [["half_apple_213", "half_apple_212"], ["half_apple_213", "half_apple_212"]], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1776, 2466], |
| "skill_idxes": [6, 7, 8, 9] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [["chocolate_chip_cookie_207", "chopping_board_211"], ["chocolate_chip_cookie_207", "packing_box_210"]], |
| "manipulating_object_id": ["chocolate_chip_cookie_207", "chocolate_chip_cookie_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2466, 3047], |
| "skill_idxes": [10, 11] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [], |
| "primitive_description": [], |
| "object_id": [], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3047, 6060], |
| "skill_idxes": [12, 13, 16] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["bottle_of_tea_208", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["bottle_of_tea_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["middle_level"]]], |
| "frame_duration": [4737, 5123], |
| "skill_idxes": [14] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5123, 5541], |
| "skill_idxes": [15] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [4], |
| "primitive_description": ["place in"], |
| "object_id": [["bottle_of_tea_208", "packing_box_210"]], |
| "manipulating_object_id": ["bottle_of_tea_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6060, 6350], |
| "skill_idxes": [17] |
| } |
| ] |
| } |