| { | |
| "task_name": "cook hot dogs", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 8062, | |
| "valid_duration": [0, 8062] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["fridge_dszchb_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [0, 456], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [10], | |
| "skill_description": ["open door"], | |
| "object_id": [["fridge_dszchb_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [456, 1549], | |
| "mp_ef": [], | |
| "skill_type": ["coordinated"] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["hotdog_207", "fridge_dszchb_0"]], | |
| "manipulating_object_id": ["hotdog_207"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [["", "middle_level"]], | |
| "frame_duration": [1549, 2173], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["hotdog_208", "fridge_dszchb_0"]], | |
| "manipulating_object_id": ["hotdog_208"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [["", "low_level"]], | |
| "frame_duration": [2174, 3257], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [12], | |
| "skill_description": ["close door"], | |
| "object_id": [["fridge_dszchb_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [3257, 4327], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["microwave_abzvij_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [4328, 4955], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [3], | |
| "skill_description": ["place on"], | |
| "object_id": [["hotdog_207", "countertop_kelker_0"]], | |
| "manipulating_object_id": ["hotdog_207"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [4956, 5299], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [10], | |
| "skill_description": ["open door"], | |
| "object_id": [["microwave_abzvij_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [5299, 6185], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["hotdog_208", "microwave_abzvij_0"]], | |
| "manipulating_object_id": ["hotdog_208"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [6185, 6648], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["hotdog_207", "countertop_kelker_0"]], | |
| "manipulating_object_id": ["hotdog_207"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [6648, 7246], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["hotdog_207", "microwave_abzvij_0"]], | |
| "manipulating_object_id": ["hotdog_207"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [7246, 7632], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [12], | |
| "skill_description": ["close door"], | |
| "object_id": [["microwave_abzvij_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [7632, 7849], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [69], | |
| "skill_description": ["turn on switch"], | |
| "object_id": [["microwave_abzvij_0"]], | |
| "manipulating_object_id": ["microwave_abzvij_0"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [7849, 8062], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [10], | |
| "primitive_description": ["open door"], | |
| "object_id": [["fridge_dszchb_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [0, 1549], | |
| "skill_idxes": [0, 1] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [2], | |
| "primitive_description": ["pick up from"], | |
| "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], | |
| "manipulating_object_id": [["hotdog_207", "hotdog_208"]], | |
| "memory_prefix": [], | |
| "spatial_prefix": [[[], ["middle_level", "low_level"]]], | |
| "frame_duration": [1549, 3257], | |
| "skill_idxes": [2, 3] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [12], | |
| "primitive_description": ["close door"], | |
| "object_id": [["fridge_dszchb_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [3257, 4327], | |
| "skill_idxes": [4] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [3], | |
| "primitive_description": ["place on"], | |
| "object_id": [["hotdog_207", "countertop_kelker_0"]], | |
| "manipulating_object_id": ["hotdog_207"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [4328, 5299], | |
| "skill_idxes": [5, 6] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [4], | |
| "primitive_description": ["place in"], | |
| "object_id": [["hotdog_208", "microwave_abzvij_0"]], | |
| "manipulating_object_id": ["hotdog_208"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [5299, 6648], | |
| "skill_idxes": [7, 8] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [2, 4], | |
| "primitive_description": ["pick up from", "place in"], | |
| "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], | |
| "manipulating_object_id": ["hotdog_207", "hotdog_207"], | |
| "memory_prefix": ["the other", ""], | |
| "spatial_prefix": [], | |
| "frame_duration": [6648, 7632], | |
| "skill_idxes": [9, 10] | |
| }, | |
| { | |
| "primitive_idx": 6, | |
| "primitive_id": [12], | |
| "primitive_description": ["close door"], | |
| "object_id": [["microwave_abzvij_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [7632, 7849], | |
| "skill_idxes": [11] | |
| }, | |
| { | |
| "primitive_idx": 7, | |
| "primitive_id": [69], | |
| "primitive_description": ["turn on switch"], | |
| "object_id": [["microwave_abzvij_0"]], | |
| "manipulating_object_id": ["microwave_abzvij_0"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [7849, 8062], | |
| "skill_idxes": [12] | |
| } | |
| ] | |
| } |