| { |
| "task_name": "canning food", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 25122, |
| "valid_duration": [9, 25131] |
| }, |
| "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": [9, 639], |
| "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": [639, 1167], |
| "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": [1167, 1488], |
| "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": [1488, 1689], |
| "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": [1689, 1755], |
| "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": [1755, 2093], |
| "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": [2093, 2592], |
| "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": [2592, 3621], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["pineapple_211", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["pineapple_211"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "high_level"]], |
| "frame_duration": [3621, 4410], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["steak_212", "fridge_dszchb_0"]], |
| "manipulating_object_id": ["steak_212"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "middle_level"]], |
| "frame_duration": [4410, 5331], |
| "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": [5331, 6516], |
| "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": [6516, 6981], |
| "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": [6981, 7179], |
| "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": [7179, 7470], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "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": [7470, 7710], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["steak_212"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [7710, 7728], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 16, |
| "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": [7728, 7833], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 17, |
| "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": [7833, 7886], |
| "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": [7886, 7941], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 19, |
| "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": [7941, 8235], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8235, 8988], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [8988, 9660], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 22, |
| "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": [9660, 10491], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [10491, 11130], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right_upper_door"]], |
| "frame_duration": [11130, 11937], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 25, |
| "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": [["", "low_level"]], |
| "frame_duration": [11937, 12240], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right_upper_door"]], |
| "frame_duration": [12240, 13053], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["countertop_kelzer_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [13053, 13749], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 28, |
| "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": [13749, 14145], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 29, |
| "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": [14145, 14502], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["cutting_board_208"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [14502, 14580], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 31, |
| "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": [14580, 14781], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 32, |
| "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": [14781, 15036], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 33, |
| "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": [15036, 15129], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bowl_210"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [15129, 15213], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 35, |
| "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": [15213, 15360], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [15360, 16163], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [16163, 16914], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 38, |
| "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": [16914, 17466], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pineapple_211"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [17466, 18018], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 40, |
| "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": [18018, 18432], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["cutting_board_208"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [18432, 18516], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 42, |
| "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": [18516, 18852], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 43, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["carving_knife_207"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [18852, 18909], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 44, |
| "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": [18909, 19167], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 45, |
| "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": [19167, 19293], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 46, |
| "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": [19293, 19525], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 47, |
| "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": [19525, 19623], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 48, |
| "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": [19623, 19710], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 49, |
| "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": [19710, 19907], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "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": [19907, 20149], |
| "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": [20149, 20437], |
| "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": [20437, 20472], |
| "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": [20472, 20820], |
| "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": [20820, 21645], |
| "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": [21645, 21825], |
| "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": [21825, 21961], |
| "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": [21961, 22137], |
| "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": [22137, 22326], |
| "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": [22326, 22416], |
| "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": [22416, 22566], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 61, |
| "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": [22566, 22833], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 62, |
| "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": [22833, 23016], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 63, |
| "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": [23016, 23295], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 64, |
| "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": [23295, 23745], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 65, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [23745, 24246], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 66, |
| "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": [24246, 24630], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 67, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [24630, 25131], |
| "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": [9, 2093], |
| "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": [2093, 3621], |
| "skill_idxes": [6, 7] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [[["pineapple_211", "steak_212"], "fridge_dszchb_0"]], |
| "manipulating_object_id": [["pineapple_211", "steak_212"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["high_level", "middle_level"]]], |
| "frame_duration": [3621, 5331], |
| "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": [5331, 6516], |
| "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": [6516, 7470], |
| "skill_idxes": [11, 12, 13] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [34], |
| "primitive_description": ["chop"], |
| "object_id": [["carving_knife_207", ["steak_212", "half_steak_212_0", "half_steak_212_1"]]], |
| "manipulating_object_id": ["carving_knife_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7470, 8235], |
| "skill_idxes": [14, 15, 16, 17, 18, 19] |
| }, |
| { |
| "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": [8235, 9660], |
| "skill_idxes": [20, 21] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [2], |
| "primitive_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": [9660, 10491], |
| "skill_idxes": [22] |
| }, |
| { |
| "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": [10491, 11130], |
| "skill_idxes": [23] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right_upper_door"]]], |
| "frame_duration": [11130, 11937], |
| "skill_idxes": [24] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["bowl_209", "bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": ["bowl_209"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [[[], ["low_level"]]], |
| "frame_duration": [11937, 12240], |
| "skill_idxes": [25] |
| }, |
| { |
| "primitive_idx": 11, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right_upper_door"]]], |
| "frame_duration": [12240, 13053], |
| "skill_idxes": [26] |
| }, |
| { |
| "primitive_idx": 12, |
| "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": [13053, 14502], |
| "skill_idxes": [27, 28, 29] |
| }, |
| { |
| "primitive_idx": 13, |
| "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": [14502, 15129], |
| "skill_idxes": [30, 31, 32, 33] |
| }, |
| { |
| "primitive_idx": 14, |
| "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": [15129, 15360], |
| "skill_idxes": [34, 35] |
| }, |
| { |
| "primitive_idx": 15, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left_door"]]], |
| "frame_duration": [15360, 16914], |
| "skill_idxes": [36, 37] |
| }, |
| { |
| "primitive_idx": 16, |
| "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": [16914, 17466], |
| "skill_idxes": [38] |
| }, |
| { |
| "primitive_idx": 17, |
| "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": [17466, 18852], |
| "skill_idxes": [39, 40, 41, 42] |
| }, |
| { |
| "primitive_idx": 18, |
| "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": [18852, 19293], |
| "skill_idxes": [43, 44, 45] |
| }, |
| { |
| "primitive_idx": 19, |
| "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": [19293, 19623], |
| "skill_idxes": [46, 47] |
| }, |
| { |
| "primitive_idx": 20, |
| "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": [19623, 19907], |
| "skill_idxes": [48, 49] |
| }, |
| { |
| "primitive_idx": 21, |
| "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": [19907, 20437], |
| "skill_idxes": [50, 51] |
| }, |
| { |
| "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": [20437, 21825], |
| "skill_idxes": [52, 53, 54, 55] |
| }, |
| { |
| "primitive_idx": 23, |
| "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": [21825, 22137], |
| "skill_idxes": [56, 57] |
| }, |
| { |
| "primitive_idx": 24, |
| "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": [22137, 22566], |
| "skill_idxes": [58, 59, 60] |
| }, |
| { |
| "primitive_idx": 25, |
| "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": [22566, 23295], |
| "skill_idxes": [61, 62, 63] |
| }, |
| { |
| "primitive_idx": 26, |
| "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": [23295, 24630], |
| "skill_idxes": [64, 65, 66] |
| }, |
| { |
| "primitive_idx": 27, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["bottom_cabinet_fancyy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left_door"]]], |
| "frame_duration": [24630, 25131], |
| "skill_idxes": [67] |
| } |
| ] |
| } |
