| { |
| "task_name": "freeze pies", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 12180, |
| "valid_duration": [0, 12180] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 118], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["second_right_door"]], |
| "frame_duration": [118, 1090], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": ["tupperware_231"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "high_level"]], |
| "frame_duration": [1090, 1771], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["second_right_door"]], |
| "frame_duration": [1771, 2230], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["countertop_kelzer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2230, 2522], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["tupperware_231", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["tupperware_231"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2522, 2674], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["apple_pie_234", "plate_232"]], |
| "manipulating_object_id": ["apple_pie_234"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2674, 3396], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["apple_pie_234", "tupperware_231"]], |
| "manipulating_object_id": ["apple_pie_234"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3396, 3781], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [3781, 3964], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["first_left_door"]], |
| "frame_duration": [3964, 5067], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": ["tupperware_230"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "high_level"]], |
| "frame_duration": [5067, 5616], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["first_left_door"]], |
| "frame_duration": [5616, 6135], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["countertop_kelzer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [6135, 6543], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["tupperware_230", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["tupperware_230"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6543, 6654], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["apple_pie_235"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [6654, 6748], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["apple_pie_235", "plate_233"]], |
| "manipulating_object_id": ["apple_pie_235"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [6748, 7203], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["apple_pie_235", "tupperware_230"]], |
| "manipulating_object_id": ["apple_pie_235"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7203, 7593], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7593, 7952], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7952, 8886], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["tupperware_231"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [8886, 9417], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_231", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["tupperware_231"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9417, 9715], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["tupperware_230"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [9715, 9804], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_230", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["tupperware_230"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [9804, 9979], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [9979, 10494], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["tupperware_231", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["tupperware_231"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "middle_level"]], |
| "frame_duration": [10494, 10764], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["tupperware_230", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["tupperware_230"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "high_level"]], |
| "frame_duration": [10764, 11086], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11086, 12180], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["second_right_door"]]], |
| "frame_duration": [0, 1090], |
| "skill_idxes": [0, 1] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": ["tupperware_231"], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["high_level"]]], |
| "frame_duration": [1090, 1771], |
| "skill_idxes": [2] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["second_right_door"]]], |
| "frame_duration": [1771, 2230], |
| "skill_idxes": [3] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [3], |
| "primitive_description": ["place on"], |
| "object_id": [["tupperware_231", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["tupperware_231"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2230, 2674], |
| "skill_idxes": [4, 5] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], |
| "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2674, 3781], |
| "skill_idxes": [6, 7] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["first_left_door"]]], |
| "frame_duration": [3781, 5067], |
| "skill_idxes": [8, 9] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": ["tupperware_230"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [[[], ["high_level"]]], |
| "frame_duration": [5067, 5616], |
| "skill_idxes": [10] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["first_left_door"]]], |
| "frame_duration": [5616, 6135], |
| "skill_idxes": [11] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [3], |
| "primitive_description": ["place on"], |
| "object_id": [["tupperware_230", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["tupperware_230"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6135, 6654], |
| "skill_idxes": [12, 13] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], |
| "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], |
| "memory_prefix": ["the other", ""], |
| "spatial_prefix": [], |
| "frame_duration": [6654, 7593], |
| "skill_idxes": [14, 15, 16] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7593, 8886], |
| "skill_idxes": [17, 18] |
| }, |
| { |
| "primitive_idx": 11, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], |
| "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], |
| "frame_duration": [8886, 11086], |
| "skill_idxes": [19, 20, 21, 22, 23, 24, 25] |
| }, |
| { |
| "primitive_idx": 12, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11086, 12180], |
| "skill_idxes": [26] |
| } |
| ] |
| } |
