| { |
| "task_name": "canning food", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 33138, |
| "valid_duration": [72, 33210] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["carving_knife_207"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [72, 411], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["carving_knife_207", "cutting_board_208"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [411, 1038], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["cutting_board_208", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1038, 1542], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1542, 1656], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1656, 2196], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["carving_knife_207", "countertop_kelzer_0", "cutting_board_208"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "right"]], |
| "frame_duration": [2196, 2700], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2700, 3456], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3456, 4923], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["steak_212", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["steak_212"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "high_level"]], |
| "frame_duration": [4923, 6543], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["pineapple_211", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["pineapple_211"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "low_level"]], |
| "frame_duration": [6543, 8559], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8559, 9660], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["cutting_board_208"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [9660, 10170], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["steak_212", "cutting_board_208"]], |
| "manipulating_object_id": ["steak_212"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10170, 10443], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["pineapple_211", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["pineapple_211"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10443, 10719], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["carving_knife_207"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [10719, 10794], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["carving_knife_207", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10794, 11091], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["steak_212"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [11091, 11127], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_207", "steak_212"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11127, 11403], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_207", "half_steak_212_1"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11403, 11472], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_207", "half_steak_212_0"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11472, 11553], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["carving_knife_207", "countertop_kelzer_0", "cutting_board_208"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [["", "", "right"]], |
| "frame_duration": [11553, 11853], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11853, 12651], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [12651, 13599], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bowl_210", "bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": ["bowl_210"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "layer_3"]], |
| "frame_duration": [13599, 14523], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bowl_209", "bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": ["bowl_209"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "layer_4"]], |
| "frame_duration": [14523, 15360], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [15360, 16449], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["countertop_kelzer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [16449, 17550], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["bowl_209", "countertop_kelzer_0", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["bowl_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "right"]], |
| "frame_duration": [17550, 17790], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bowl_210", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["bowl_210"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [17790, 18237], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["cutting_board_208"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [18237, 18363], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [18363, 18900], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["diced__steak"], "cutting_board_208", "bowl_210"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [18900, 19323], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [19323, 19482], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bowl_210"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [19482, 19572], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bowl_210", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["bowl_210"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [19572, 19950], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [19950, 20883], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [20883, 21822], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bowl_210", "bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": ["bowl_210"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "layer_4"]], |
| "frame_duration": [21822, 22737], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 38, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pineapple_211"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [22737, 23334], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["pineapple_211", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["pineapple_211"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [23334, 23610], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["cutting_board_208"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [23610, 23625], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["pineapple_211", "cutting_board_208"]], |
| "manipulating_object_id": ["pineapple_211"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [23625, 24102], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 42, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["carving_knife_207"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [24102, 24168], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 43, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["carving_knife_207", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [24168, 24429], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 44, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_207", "pineapple_211"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [24429, 24672], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 45, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["half_pineapple_211_1", "cutting_board_208"]], |
| "manipulating_object_id": ["half_pineapple_211_1"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [24672, 25086], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 46, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["half_pineapple_211_1", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["half_pineapple_211_1"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [25086, 25323], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 47, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_207", "half_pineapple_211_0"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [25323, 25572], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["carving_knife_207", "countertop_kelzer_0", "cutting_board_208"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [["", "", "right"]], |
| "frame_duration": [25572, 25866], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bowl_209"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [25866, 25935], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bowl_209", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["bowl_209"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [25935, 26205], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bowl_209", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["bowl_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [26205, 26712], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 52, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["cutting_board_208"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [26712, 26811], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 53, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [26811, 27198], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 54, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["diced__pineapple"], "cutting_board_208", "bowl_209"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [27198, 28104], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 55, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [28104, 28287], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 56, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["half_pineapple_211_1", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["half_pineapple_211_1"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [28287, 28482], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 57, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["half_pineapple_211_1", "cutting_board_208"]], |
| "manipulating_object_id": ["half_pineapple_211_1"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [28482, 28692], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 58, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["carving_knife_207", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [28692, 28899], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 59, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_207", "half_pineapple_211_1"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [28899, 29070], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 60, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["carving_knife_207", "countertop_kelzer_0", "cutting_board_208"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [["", "", "right"]], |
| "frame_duration": [29070, 29340], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 61, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["cutting_board_208"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [29340, 29358], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 62, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [29358, 29934], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 63, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["diced__pineapple"], "cutting_board_208", "bowl_209"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [29934, 30492], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 64, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["cutting_board_208", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [30492, 30722], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 65, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bowl_209", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["bowl_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [30722, 31457], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 66, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [31457, 32220], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 67, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bowl_209", "bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": ["bowl_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "layer_3"]], |
| "frame_duration": [32220, 32652], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 68, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [32652, 33210], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [2, 3, 91], |
| "primitive_description": ["pick up from", "place on", "place on next to"], |
| "object_id": [[["carving_knife_207", "cutting_board_208"], ["cutting_board_208", "countertop_kelzer_0"]], ["cutting_board_208", "drop_in_sink_awvzkn_0"], ["carving_knife_207", "countertop_kelzer_0", "cutting_board_208"]], |
| "manipulating_object_id": [["carving_knife_207", "cutting_board_208"], "cutting_board_208", "carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [], [[], [], ["right"]]], |
| "frame_duration": [72, 2700], |
| "skill_idxes": [0, 1, 2, 3, 4, 5] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2700, 4923], |
| "skill_idxes": [6, 7] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [[["steak_212", "pineapple_211"], "fridge_dszchb_0"]], |
| "manipulating_object_id": [["steak_212", "pineapple_211"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["high_level", "low_level"]]], |
| "frame_duration": [4923, 8559], |
| "skill_idxes": [8, 9] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["fridge_dszchb_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8559, 9660], |
| "skill_idxes": [10] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [3], |
| "primitive_description": ["place on"], |
| "object_id": [[["steak_212", "pineapple_211"], ["cutting_board_208", "countertop_kelzer_0"]]], |
| "manipulating_object_id": [["steak_212", "pineapple_211"]], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9660, 10719], |
| "skill_idxes": [11, 12, 13] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [34], |
| "primitive_description": ["chop"], |
| "object_id": [["carving_knife_207", ["steak_212", "half_steak_212_1", "half_steak_212_0"]]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10719, 11853], |
| "skill_idxes": [14, 15, 16, 17, 18, 19, 20] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left_door"]]], |
| "frame_duration": [11853, 13599], |
| "skill_idxes": [21, 22] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [[["bowl_210", "bowl_209"], "bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [["bowl_210", "bowl_209"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["layer_3", "layer_4"]]], |
| "frame_duration": [13599, 15360], |
| "skill_idxes": [23, 24] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left_door"]]], |
| "frame_duration": [15360, 16449], |
| "skill_idxes": [25] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [91, 4], |
| "primitive_description": ["place on next to", "place in"], |
| "object_id": [["bowl_209", "countertop_kelzer_0", "drop_in_sink_awvzkn_0"], ["bowl_210", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["bowl_209", "bowl_210"], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], [], ["right"]], []], |
| "frame_duration": [16449, 18237], |
| "skill_idxes": [26, 27, 28] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["diced__steak"], "cutting_board_208", "bowl_210"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [18237, 19482], |
| "skill_idxes": [29, 30, 31, 32] |
| }, |
| { |
| "primitive_idx": 11, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["bowl_210", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["bowl_210"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [19482, 19950], |
| "skill_idxes": [33, 34] |
| }, |
| { |
| "primitive_idx": 12, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left_door"]]], |
| "frame_duration": [19950, 21822], |
| "skill_idxes": [35, 36] |
| }, |
| { |
| "primitive_idx": 13, |
| "primitive_id": [4], |
| "primitive_description": ["place in"], |
| "object_id": [["bowl_210", "bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": ["bowl_210"], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["layer_4"]]], |
| "frame_duration": [21822, 22737], |
| "skill_idxes": [37] |
| }, |
| { |
| "primitive_idx": 14, |
| "primitive_id": [2, 3], |
| "primitive_description": ["pick up from", "place on"], |
| "object_id": [["pineapple_211", "countertop_kelzer_0"], ["pineapple_211", "cutting_board_208"]], |
| "manipulating_object_id": ["pineapple_211", "pineapple_211"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [22737, 24102], |
| "skill_idxes": [38, 39, 40, 41] |
| }, |
| { |
| "primitive_idx": 15, |
| "primitive_id": [34], |
| "primitive_description": ["chop"], |
| "object_id": [["carving_knife_207", "pineapple_211"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [24102, 24672], |
| "skill_idxes": [42, 43, 44] |
| }, |
| { |
| "primitive_idx": 16, |
| "primitive_id": [2, 3], |
| "primitive_description": ["pick up from", "place on"], |
| "object_id": [["half_pineapple_211_1", "cutting_board_208"], ["half_pineapple_211_1", "countertop_kelzer_0"]], |
| "manipulating_object_id": ["half_pineapple_211_1", "half_pineapple_211_1"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [24672, 25323], |
| "skill_idxes": [45, 46] |
| }, |
| { |
| "primitive_idx": 17, |
| "primitive_id": [34], |
| "primitive_description": ["chop"], |
| "object_id": [["carving_knife_207", "half_pineapple_211_0"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [25323, 25866], |
| "skill_idxes": [47, 48] |
| }, |
| { |
| "primitive_idx": 18, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [["bowl_209", "countertop_kelzer_0"], ["bowl_209", "drop_in_sink_awvzkn_0"]], |
| "manipulating_object_id": ["bowl_209", "bowl_209"], |
| "memory_prefix": ["the other", ""], |
| "spatial_prefix": [], |
| "frame_duration": [25866, 26712], |
| "skill_idxes": [49, 50, 51] |
| }, |
| { |
| "primitive_idx": 19, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["diced__pineapple"], "cutting_board_208", "bowl_209"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [26712, 28287], |
| "skill_idxes": [52, 53, 54, 55] |
| }, |
| { |
| "primitive_idx": 20, |
| "primitive_id": [2, 3], |
| "primitive_description": ["pick up from", "place on"], |
| "object_id": [["half_pineapple_211_1", "countertop_kelzer_0"], ["half_pineapple_211_1", "cutting_board_208"]], |
| "manipulating_object_id": ["half_pineapple_211_1", "half_pineapple_211_1"], |
| "memory_prefix": ["", "back"], |
| "spatial_prefix": [], |
| "frame_duration": [28287, 28692], |
| "skill_idxes": [56, 57] |
| }, |
| { |
| "primitive_idx": 21, |
| "primitive_id": [34], |
| "primitive_description": ["chop"], |
| "object_id": [["carving_knife_207", "half_pineapple_211_1"]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [28692, 29340], |
| "skill_idxes": [58, 59, 60] |
| }, |
| { |
| "primitive_idx": 22, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["diced__pineapple"], "cutting_board_208", "bowl_209"]], |
| "manipulating_object_id": ["cutting_board_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [29340, 30722], |
| "skill_idxes": [61, 62, 63, 64] |
| }, |
| { |
| "primitive_idx": 23, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [["bowl_209", "drop_in_sink_awvzkn_0"], ["bowl_209", "bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": ["bowl_209", "bowl_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], ["layer_3"]]], |
| "frame_duration": [30722, 32652], |
| "skill_idxes": [65, 66, 67] |
| }, |
| { |
| "primitive_idx": 24, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left_door"]]], |
| "frame_duration": [32652, 33210], |
| "skill_idxes": [68] |
| } |
| ] |
| } |
