| { | |
| "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": [], | |
| "memory_prefix": [], | |
| "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"], | |
| "memory_prefix": [], | |
| "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"], | |
| "memory_prefix": [], | |
| "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": [], | |
| "memory_prefix": [], | |
| "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"], | |
| "memory_prefix": [], | |
| "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": [], | |
| "memory_prefix": ["back"], | |
| "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"], | |
| "memory_prefix": [], | |
| "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": [], | |
| "memory_prefix": [], | |
| "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"], | |
| "memory_prefix": [], | |
| "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": [], | |
| "memory_prefix": ["back"], | |
| "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"], | |
| "memory_prefix": [], | |
| "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": [], | |
| "memory_prefix": [], | |
| "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"], | |
| "memory_prefix": [], | |
| "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": [], | |
| "memory_prefix": [], | |
| "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"], | |
| "memory_prefix": [], | |
| "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"], | |
| "memory_prefix": [], | |
| "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"], | |
| "memory_prefix": [], | |
| "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"], | |
| "memory_prefix": [], | |
| "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"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [5654, 6722], | |
| "skill_idxes": [11, 12, 13, 14] | |
| } | |
| ] | |
| } |