| { |
| "task_name": "make pizza", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 17220, |
| "valid_duration": [9, 17229] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["baking_sheet_79"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9, 342], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["baking_sheet_79", "bar_egwapq_0"]], |
| "manipulating_object_id": ["baking_sheet_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [342, 603], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [603, 726], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["baking_sheet_79", "bar_egwapq_0", "oven_ffitak_0"]], |
| "manipulating_object_id": ["baking_sheet_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "left"]], |
| "frame_duration": [726, 789], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["carving_knife_77"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [789, 983], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["carving_knife_77", "bar_egwapq_0"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [983, 1726], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["vidalia_onion_80"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1726, 1974], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [90], |
| "skill_description": ["push to"], |
| "object_id": [["vidalia_onion_80", "chopping_board_78"]], |
| "manipulating_object_id": ["vidalia_onion_80"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "center"]], |
| "frame_duration": [1974, 2331], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_77", "vidalia_onion_80"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2331, 2697], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_77", "half_vidalia_onion_80_1"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2697, 2874], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_77", "half_vidalia_onion_80_0"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2874, 2913], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["carving_knife_77", "bar_egwapq_0", "chopping_board_78"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "in_front_of"]], |
| "frame_duration": [2913, 3417], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["chopping_board_78", "bar_egwapq_0"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3417, 3819], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bowl_76"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3819, 3903], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["diced__vidalia_onion"], "chopping_board_78", "bowl_76"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3903, 4143], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["chopping_board_78", "bar_egwapq_0", "bowl_76"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [["", "", "right"]], |
| "frame_duration": [4143, 4242], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [4242, 4443], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4443, 5031], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["baking_sheet_79", "bar_egwapq_0"]], |
| "manipulating_object_id": ["baking_sheet_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5031, 5214], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["baking_sheet_79", "oven_ffitak_0"]], |
| "manipulating_object_id": ["baking_sheet_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5214, 5508], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5508, 5637], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right_door"]], |
| "frame_duration": [5637, 6459], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_74", "fridge_petcxr_0"]], |
| "manipulating_object_id": ["tupperware_74"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "layer_4"]], |
| "frame_duration": [6459, 7113], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_73", "fridge_petcxr_0"]], |
| "manipulating_object_id": ["tupperware_73"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "layer_5"]], |
| "frame_duration": [7113, 7326], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["drop_in_sink_lkklqs_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7326, 7539], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["tupperware_74", "bar_egwapq_0", "drop_in_sink_lkklqs_0"]], |
| "manipulating_object_id": ["tupperware_74"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "left"]], |
| "frame_duration": [7539, 7691], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["tupperware_73", "bar_egwapq_0", "drop_in_sink_lkklqs_0"]], |
| "manipulating_object_id": ["tupperware_73"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "left"]], |
| "frame_duration": [7691, 7785], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [7785, 8208], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right_door"]], |
| "frame_duration": [8208, 8475], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [8475, 9072], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_75", "fridge_petcxr_0"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "layer_6"]], |
| "frame_duration": [9072, 9597], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [9597, 9867], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [9867, 10161], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [91], |
| "skill_description": ["place on next to"], |
| "object_id": [["tupperware_75", "bar_egwapq_0", "oven_ffitak_0"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "left"]], |
| "frame_duration": [10161, 10293], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["tupperware_73"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [10293, 10431], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_73", "bar_egwapq_0"]], |
| "manipulating_object_id": ["tupperware_73"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10431, 10605], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86"], "tupperware_73", "bowl_76"]], |
| "manipulating_object_id": ["tupperware_73"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10605, 10857], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["drop_in_sink_lkklqs_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10857, 10920], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 38, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["tupperware_73", "drop_in_sink_lkklqs_0"]], |
| "manipulating_object_id": ["tupperware_73"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10920, 11052], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["tupperware_74"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [11052, 11067], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_74", "bar_egwapq_0"]], |
| "manipulating_object_id": ["tupperware_74"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11067, 11160], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["mushroom_81", "mushroom_82"], "tupperware_74", "chopping_board_78"]], |
| "manipulating_object_id": ["tupperware_74"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11160, 11301], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 42, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["tupperware_74", "tupperware_73"]], |
| "manipulating_object_id": ["tupperware_74"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11301, 11391], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 43, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["carving_knife_77", "bar_egwapq_0"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11391, 11550], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 44, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_77", "mushroom_81"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11550, 11817], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 45, |
| "skill_id": [34], |
| "skill_description": ["chop"], |
| "object_id": [["carving_knife_77", "mushroom_82"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [11817, 11925], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 46, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["carving_knife_77", "bar_egwapq_0"]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [11925, 12021], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 47, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["chopping_board_78", "bar_egwapq_0"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12021, 12243], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bowl_76"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [12243, 12447], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1"], "chopping_board_78", "bowl_76"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12447, 12546], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["chopping_board_78", "bar_egwapq_0"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [12546, 12672], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bowl_76", "bar_egwapq_0"]], |
| "manipulating_object_id": ["bowl_76"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12672, 12846], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 52, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pizza_dough_87"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12846, 13052], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 53, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86", "half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1", "diced__vidalia_onion"], "bowl_76", "pizza_dough_87"]], |
| "manipulating_object_id": ["bowl_76"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [13052, 13608], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 54, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["tupperware_74"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [13608, 13794], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 55, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["bowl_76", "tupperware_74"]], |
| "manipulating_object_id": ["bowl_76"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [13794, 13833], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 56, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["tupperware_75"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [13833, 13974], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 57, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["tupperware_75", "bar_egwapq_0"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [13974, 14145], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 58, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pizza_dough_87"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [14145, 14211], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 59, |
| "skill_id": [28], |
| "skill_description": ["pour"], |
| "object_id": [[["grated_cheese"], "tupperware_75", "pizza_dough_87"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [14211, 14781], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 60, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["tupperware_75", "bar_egwapq_0"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [14781, 14973], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 61, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [14973, 15081], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 62, |
| "skill_id": [101], |
| "skill_description": ["pull tray"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": ["oven_ffitak_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [["high_level"]], |
| "frame_duration": [15081, 15522], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 63, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["baking_sheet_79"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [15522, 15696], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 64, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["baking_sheet_79", "oven_ffitak_0"]], |
| "manipulating_object_id": ["baking_sheet_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [15696, 15826], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 65, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["baking_sheet_79", "oven_ffitak_0"]], |
| "manipulating_object_id": ["baking_sheet_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "high_level"]], |
| "frame_duration": [15826, 16013], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 66, |
| "skill_id": [100], |
| "skill_description": ["push tray"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": ["oven_ffitak_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [["high_level"]], |
| "frame_duration": [16013, 16446], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 67, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16446, 16782], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 68, |
| "skill_id": [69], |
| "skill_description": ["turn on switch"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": ["oven_ffitak_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16782, 16914], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 69, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16914, 17229], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [2, 91], |
| "primitive_description": ["pick up from", "place on next to"], |
| "object_id": [["baking_sheet_79", "bar_egwapq_0"], ["baking_sheet_79", "bar_egwapq_0", "oven_ffitak_0"]], |
| "manipulating_object_id": ["baking_sheet_79", "baking_sheet_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], [], ["left"]]], |
| "frame_duration": [9, 789], |
| "skill_idxes": [0, 1, 2, 3] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [2, 34], |
| "primitive_description": ["pick up from", "chop"], |
| "object_id": [["carving_knife_77", "bar_egwapq_0"], ["carving_knife_77", ["vidalia_onion_80", "half_vidalia_onion_80_1", "half_vidalia_onion_80_0"]]], |
| "manipulating_object_id": ["carving_knife_77", "carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [789, 3417], |
| "skill_idxes": [4, 5, 6, 7, 8, 9, 10, 11] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["diced__vidalia_onion"], "chopping_board_78", "bowl_76"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3417, 4242], |
| "skill_idxes": [12, 13, 14, 15] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4242, 5031], |
| "skill_idxes": [16, 17] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [2, 3], |
| "primitive_description": ["pick up from", "place on"], |
| "object_id": [["baking_sheet_79", "bar_egwapq_0"], ["baking_sheet_79", "oven_ffitak_0"]], |
| "manipulating_object_id": ["baking_sheet_79", "baking_sheet_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5031, 5508], |
| "skill_idxes": [18, 19] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right_door"]]], |
| "frame_duration": [5508, 6459], |
| "skill_idxes": [20, 21] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [2, 91], |
| "primitive_description": ["pick up from", "place on next to"], |
| "object_id": [[["tupperware_74", "tupperware_73"], "fridge_petcxr_0"], [["tupperware_74", "tupperware_73"], "bar_egwapq_0", "drop_in_sink_lkklqs_0"]], |
| "manipulating_object_id": [["tupperware_74", "tupperware_73"], ["tupperware_74", "tupperware_73"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["layer_4", "layer_5"]], [[], [], ["left", "left"]]], |
| "frame_duration": [6459, 7785], |
| "skill_idxes": [22, 23, 24, 25, 26] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right_door"]]], |
| "frame_duration": [7785, 8475], |
| "skill_idxes": [27, 28] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left_door"]]], |
| "frame_duration": [8475, 9072], |
| "skill_idxes": [29] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["tupperware_75", "fridge_petcxr_0"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [[[], ["layer_6"]]], |
| "frame_duration": [9072, 9597], |
| "skill_idxes": [30] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["fridge_petcxr_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left_door"]]], |
| "frame_duration": [9597, 9867], |
| "skill_idxes": [31] |
| }, |
| { |
| "primitive_idx": 11, |
| "primitive_id": [91], |
| "primitive_description": ["place on next to"], |
| "object_id": [["tupperware_75", "bar_egwapq_0", "oven_ffitak_0"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], [], ["left"]]], |
| "frame_duration": [9867, 10293], |
| "skill_idxes": [32, 33] |
| }, |
| { |
| "primitive_idx": 12, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86"], "tupperware_73", "bowl_76"]], |
| "manipulating_object_id": ["tupperware_73"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10293, 11052], |
| "skill_idxes": [34, 35, 36, 37, 38] |
| }, |
| { |
| "primitive_idx": 13, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["mushroom_81", "mushroom_82"], "tupperware_74", "chopping_board_78"]], |
| "manipulating_object_id": ["tupperware_74"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11052, 11391], |
| "skill_idxes": [39, 40, 41, 42] |
| }, |
| { |
| "primitive_idx": 14, |
| "primitive_id": [34], |
| "primitive_description": ["chop"], |
| "object_id": [["carving_knife_77", ["mushroom_81", "mushroom_82"]]], |
| "manipulating_object_id": ["carving_knife_77"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11391, 12021], |
| "skill_idxes": [43, 44, 45, 46] |
| }, |
| { |
| "primitive_idx": 15, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1"], "chopping_board_78", "bowl_76"]], |
| "manipulating_object_id": ["chopping_board_78"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12021, 12672], |
| "skill_idxes": [47, 48, 49, 50] |
| }, |
| { |
| "primitive_idx": 16, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86", "half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1", "diced__vidalia_onion"], "bowl_76", "pizza_dough_87"]], |
| "manipulating_object_id": ["bowl_76"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [12672, 13833], |
| "skill_idxes": [51, 52, 53, 54, 55] |
| }, |
| { |
| "primitive_idx": 17, |
| "primitive_id": [28], |
| "primitive_description": ["pour"], |
| "object_id": [[["grated_cheese"], "tupperware_75", "pizza_dough_87"]], |
| "manipulating_object_id": ["tupperware_75"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [13833, 14973], |
| "skill_idxes": [56, 57, 58, 59, 60] |
| }, |
| { |
| "primitive_idx": 18, |
| "primitive_id": [101], |
| "primitive_description": ["pull tray"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": ["oven_ffitak_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [[["high_level"]]], |
| "frame_duration": [14973, 15522], |
| "skill_idxes": [61, 62] |
| }, |
| { |
| "primitive_idx": 19, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [["baking_sheet_79", "oven_ffitak_0"], ["baking_sheet_79", "oven_ffitak_0"]], |
| "manipulating_object_id": ["baking_sheet_79", "baking_sheet_79"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], ["high_level"]]], |
| "frame_duration": [15522, 16446], |
| "skill_idxes": [63, 64, 65, 66] |
| }, |
| { |
| "primitive_idx": 20, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16446, 16782], |
| "skill_idxes": [67] |
| }, |
| { |
| "primitive_idx": 21, |
| "primitive_id": [69], |
| "primitive_description": ["turn on switch"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": ["oven_ffitak_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16782, 16914], |
| "skill_idxes": [68] |
| }, |
| { |
| "primitive_idx": 22, |
| "primitive_id": [10], |
| "primitive_description": ["open door"], |
| "object_id": [["oven_ffitak_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16914, 17229], |
| "skill_idxes": [69] |
| } |
| ] |
| } |
