| { |
| "task_name": "slicing vegetables", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 16782, |
| "valid_duration": [0, 16782] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 625], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [625, 1825], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bell_pepper_214", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["bell_pepper_214"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "middle_level"]], |
| "frame_duration": [1825, 2491], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bell_pepper_213", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["bell_pepper_213"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "low_level"]], |
| "frame_duration": [2491, 3247], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["cutting_board_210"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3247, 4156], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["bell_pepper_213", "cutting_board_210"]], |
| "manipulating_object_id": ["bell_pepper_213"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4156, 4640], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["bell_pepper_214", "cutting_board_210"]], |
| "manipulating_object_id": ["bell_pepper_214"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4640, 5322], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["beet_212"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [5322, 6281], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["beet_212", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["beet_212"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "low_level"]], |
| "frame_duration": [6281, 7049], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["beet_211", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["beet_211"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "high_level"]], |
| "frame_duration": [7049, 8111], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["cutting_board_209"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back", "the other"], |
| "spatial_prefix": [], |
| "frame_duration": [8111, 8702], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["beet_212", "cutting_board_209"]], |
| "manipulating_object_id": ["beet_212"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8702, 9375], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["beet_211", "cutting_board_209"]], |
| "manipulating_object_id": ["beet_211"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9375, 10060], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["zucchini_208"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [10060, 10671], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["zucchini_208", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["zucchini_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "high_level"]], |
| "frame_duration": [10671, 11394], |
| "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": [11394, 12374], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["cutting_board_209"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [12374, 12587], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["zucchini_208", "cutting_board_209"]], |
| "manipulating_object_id": ["zucchini_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12587, 12941], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["parer_207"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12941, 13543], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["parer_207", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [13543, 14251], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "bell_pepper_213"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [14251, 14547], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "half_bell_pepper_213_1"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [14547, 14594], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "half_bell_pepper_213_0"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [14594, 14665], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "bell_pepper_214"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [14665, 14806], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "half_bell_pepper_214_0"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [14806, 14892], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "half_bell_pepper_214_1"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [14892, 15019], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["zucchini_208"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [15019, 15633], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "zucchini_208"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [15633, 15869], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "half_zucchini_208_0"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [15869, 15951], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "half_zucchini_208_1"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [15951, 16017], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "beet_211"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16017, 16117], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "half_beet_211_0"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16117, 16164], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "half_beet_211_1"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16164, 16220], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "beet_212"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [16220, 16271], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "half_beet_212_0"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16271, 16359], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["parer_207", "half_beet_212_1"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16359, 16467], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["parer_207", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16467, 16782], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 1825], |
| "skill_idxes": [0, 1] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [2, 3], |
| "primitive_description": ["pick up from", "place on"], |
| "object_id": [[["bell_pepper_214", "bell_pepper_213"], "fridge_dszchb_0"], [["bell_pepper_213", "bell_pepper_214"], "cutting_board_210"]], |
| "manipulating_object_id": [["bell_pepper_214", "bell_pepper_213"], ["bell_pepper_213", "bell_pepper_214"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["middle_level", "low_level"]], []], |
| "frame_duration": [1825, 5322], |
| "skill_idxes": [2, 3, 4, 5, 6] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [2, 3], |
| "primitive_description": ["pick up from", "place on"], |
| "object_id": [[["beet_212", "beet_211"], "fridge_dszchb_0"], [["beet_212", "beet_211"], "cutting_board_209"]], |
| "manipulating_object_id": [["beet_212", "beet_211"], ["beet_212", "beet_211"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["low_level", "high_level"]], []], |
| "frame_duration": [5322, 10060], |
| "skill_idxes": [7, 8, 9, 10, 11, 12] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["zucchini_208", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["zucchini_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["high_level"]]], |
| "frame_duration": [10060, 11394], |
| "skill_idxes": [13, 14] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11394, 12374], |
| "skill_idxes": [15] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [3], |
| "primitive_description": ["place on"], |
| "object_id": [["zucchini_208", "cutting_board_209"]], |
| "manipulating_object_id": ["zucchini_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12374, 12941], |
| "skill_idxes": [16, 17] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [34], |
| "primitive_description": ["chop"], |
| "object_id": [["parer_207", ["bell_pepper_213", "half_bell_pepper_213_1", "half_bell_pepper_213_0", "bell_pepper_214", "half_bell_pepper_214_0", "half_bell_pepper_214_1"]]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12941, 15019], |
| "skill_idxes": [18, 19, 20, 21, 22, 23, 24, 25] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [34], |
| "primitive_description": ["chop"], |
| "object_id": [["parer_207", ["zucchini_208", "half_zucchini_208_0", "half_zucchini_208_1", "beet_211", "half_beet_211_0", "half_beet_211_1", "beet_212", "half_beet_212_0", "half_beet_212_1"]]], |
| "manipulating_object_id": ["parer_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [15019, 16782], |
| "skill_idxes": [26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36] |
| } |
| ] |
| } |