| { |
| "task_name": "carrying in groceries", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 13200, |
| "valid_duration": [0, 13200] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["paper_bag_81"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 420], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["paper_bag_81", "car_ssxsje_0"]], |
| "manipulating_object_id": ["paper_bag_81"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [420, 979], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [14], |
| "skill_description": ["close lid"], |
| "object_id": [["car_ssxsje_0"]], |
| "manipulating_object_id": ["car_ssxsje_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [979, 2039], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["door_bexenl_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2039, 2736], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["door_bexenl_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2736, 3324], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["breakfast_table_xftrki_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3324, 4945], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["paper_bag_81", "breakfast_table_xftrki_0"]], |
| "manipulating_object_id": ["paper_bag_81"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4945, 5571], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["beefsteak_tomato_80", "paper_bag_81"]], |
| "manipulating_object_id": ["beefsteak_tomato_80"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5571, 6039], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6039, 6519], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right_door"]], |
| "frame_duration": [6519, 7302], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["beefsteak_tomato_80", "fridge_petcxr_0"]], |
| "manipulating_object_id": ["beefsteak_tomato_80"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "layer_5"]], |
| "frame_duration": [7302, 7679], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["paper_bag_81"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [7679, 8454], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["paper_bag_81", "breakfast_table_xftrki_0"]], |
| "manipulating_object_id": ["paper_bag_81"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8454, 8805], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [99], |
| "skill_description": ["tip over"], |
| "object_id": [["paper_bag_81"]], |
| "manipulating_object_id": ["paper_bag_81"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8805, 8975], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["carton_of_milk_79"], "paper_bag_81", "breakfast_table_xftrki_0"]], |
| "manipulating_object_id": ["paper_bag_81"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8976, 9521], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["paper_bag_81", "breakfast_table_xftrki_0"]], |
| "manipulating_object_id": ["paper_bag_81"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [9522, 9722], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["carton_of_milk_79", "breakfast_table_xftrki_0"]], |
| "manipulating_object_id": ["carton_of_milk_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9722, 10051], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [10051, 10557], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["carton_of_milk_79", "fridge_petcxr_0"]], |
| "manipulating_object_id": ["carton_of_milk_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "layer_4"]], |
| "frame_duration": [10557, 10890], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [10890, 11880], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right_door"]], |
| "frame_duration": [11880, 13200], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["paper_bag_81", "car_ssxsje_0"]], |
| "manipulating_object_id": ["paper_bag_81"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 979], |
| "skill_idxes": [0, 1] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [14], |
| "primitive_description": ["close lid"], |
| "object_id": [["car_ssxsje_0"]], |
| "manipulating_object_id": ["car_ssxsje_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [979, 2039], |
| "skill_idxes": [2] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["door_bexenl_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2039, 3324], |
| "skill_idxes": [3, 4] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [3], |
| "primitive_description": ["place on"], |
| "object_id": [["paper_bag_81", "breakfast_table_xftrki_0"]], |
| "manipulating_object_id": ["paper_bag_81"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3324, 5571], |
| "skill_idxes": [5, 6] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["beefsteak_tomato_80", "paper_bag_81"]], |
| "manipulating_object_id": ["beefsteak_tomato_80"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5571, 6039], |
| "skill_idxes": [7] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right_door"]]], |
| "frame_duration": [6039, 7302], |
| "skill_idxes": [8, 9] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [4], |
| "primitive_description": ["place in"], |
| "object_id": [["beefsteak_tomato_80", "fridge_petcxr_0"]], |
| "manipulating_object_id": ["beefsteak_tomato_80"], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["layer_5"]]], |
| "frame_duration": [7302, 7679], |
| "skill_idxes": [10] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [99], |
| "primitive_description": ["tip over"], |
| "object_id": [["paper_bag_81"]], |
| "manipulating_object_id": ["paper_bag_81"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7679, 8975], |
| "skill_idxes": [11, 12, 13] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["carton_of_milk_79"], "paper_bag_81", "breakfast_table_xftrki_0"]], |
| "manipulating_object_id": ["paper_bag_81"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8976, 9722], |
| "skill_idxes": [14, 15] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [["carton_of_milk_79", "breakfast_table_xftrki_0"], ["carton_of_milk_79", "fridge_petcxr_0"]], |
| "manipulating_object_id": ["carton_of_milk_79", "carton_of_milk_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], ["layer_4"]]], |
| "frame_duration": [9722, 10890], |
| "skill_idxes": [16, 17, 18] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right_door"]]], |
| "frame_duration": [10890, 13200], |
| "skill_idxes": [19, 20] |
| } |
| ] |
| } |
