| { | |
| "task_name": "set up a coffee station in your kitchen", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 6722, | |
| "valid_duration": [ | |
| 0, | |
| 6722 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "paper_coffee_filter_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 132 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "paper_coffee_filter_210", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "paper_coffee_filter_210" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 132, | |
| 769 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "paper_coffee_filter_210", | |
| "coffee_maker_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "paper_coffee_filter_210" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 769, | |
| 1526 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_coffee_211" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1526, | |
| 1952 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_coffee_211", | |
| "shelf_pfusrd_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bottle_of_coffee_211" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1952, | |
| 2519 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "coffee_maker_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2519, | |
| 2887 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 91 | |
| ], | |
| "skill_description": [ | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_coffee_211", | |
| "countertop_kelzer_0", | |
| "coffee_maker_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bottle_of_coffee_211" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 2887, | |
| 3557 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "electric_kettle_207" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3557, | |
| 4053 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "electric_kettle_207", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "electric_kettle_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4053, | |
| 4442 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "coffee_maker_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4442, | |
| 4777 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 91 | |
| ], | |
| "skill_description": [ | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "electric_kettle_207", | |
| "countertop_kelzer_0", | |
| "coffee_maker_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "electric_kettle_207" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "left" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4777, | |
| 5654 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "coffee_cup_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5654, | |
| 5853 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "coffee_cup_209", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "coffee_cup_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5853, | |
| 6242 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "saucer_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6242, | |
| 6381 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "coffee_cup_209", | |
| "saucer_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "coffee_cup_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6381, | |
| 6722 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "paper_coffee_filter_210", | |
| "countertop_kelzer_0" | |
| ], | |
| [ | |
| "paper_coffee_filter_210", | |
| "coffee_maker_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "paper_coffee_filter_210", | |
| "paper_coffee_filter_210" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 1526 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2, | |
| 91 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_coffee_211", | |
| "shelf_pfusrd_1" | |
| ], | |
| [ | |
| "bottle_of_coffee_211", | |
| "countertop_kelzer_0", | |
| "coffee_maker_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bottle_of_coffee_211", | |
| "bottle_of_coffee_211" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [], | |
| [ | |
| "right" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1526, | |
| 3557 | |
| ], | |
| "skill_idxes": [ | |
| 3, | |
| 4, | |
| 5, | |
| 6 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 91 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "electric_kettle_207", | |
| "countertop_kelzer_0" | |
| ], | |
| [ | |
| "electric_kettle_207", | |
| "countertop_kelzer_0", | |
| "coffee_maker_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "electric_kettle_207", | |
| "electric_kettle_207" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [], | |
| [ | |
| "left" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 3557, | |
| 5654 | |
| ], | |
| "skill_idxes": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "coffee_cup_209", | |
| "countertop_kelzer_0" | |
| ], | |
| [ | |
| "coffee_cup_209", | |
| "saucer_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "coffee_cup_209", | |
| "coffee_cup_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5654, | |
| 6722 | |
| ], | |
| "skill_idxes": [ | |
| 11, | |
| 12, | |
| 13, | |
| 14 | |
| ] | |
| } | |
| ] | |
| } |