| { |
| "task_name": "cook bacon", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 7469, |
| "valid_duration": [ |
| 67, |
| 7536 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 67, |
| 569 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 569, |
| 2168 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tray_208", |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tray_208" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "middle_level" |
| ] |
| ], |
| "frame_duration": [ |
| 2168, |
| 3330 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3330, |
| 4266 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "countertop_kelker_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4266, |
| 4756 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "tray_208", |
| "countertop_kelker_0", |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tray_208" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 4756, |
| 5074 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "frying_pan_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5074, |
| 5171 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "frying_pan_207", |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "frying_pan_207" |
| ], |
| "spatial_prefix": [ |
| [ |
| "right", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 5171, |
| 5590 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "frying_pan_207", |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "frying_pan_207" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 5590, |
| 5832 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tray_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5832, |
| 6023 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tray_208", |
| "countertop_kelker_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tray_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6023, |
| 6328 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "bacon_209", |
| "bacon_210", |
| "bacon_211", |
| "bacon_212", |
| "bacon_213", |
| "bacon_214" |
| ], |
| "tray_208", |
| "frying_pan_207" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tray_208" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 6328, |
| 6684 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "tray_208", |
| "countertop_kelker_0", |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tray_208" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 6684, |
| 7188 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 69 |
| ], |
| "skill_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "burner_mjvqii_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7194, |
| 7536 |
| ], |
| "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": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 67, |
| 2168 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tray_208", |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tray_208" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "middle_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 2168, |
| 3330 |
| ], |
| "skill_idxes": [ |
| 2 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3330, |
| 4266 |
| ], |
| "skill_idxes": [ |
| 3 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 91 |
| ], |
| "primitive_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "tray_208", |
| "countertop_kelker_0", |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tray_208" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [], |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 4266, |
| 5074 |
| ], |
| "skill_idxes": [ |
| 4, |
| 5 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "frying_pan_207", |
| "burner_mjvqii_0" |
| ], |
| [ |
| "frying_pan_207", |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "frying_pan_207", |
| "frying_pan_207" |
| ], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right" |
| ], |
| [ |
| "right" |
| ] |
| ], |
| [ |
| [], |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 5074, |
| 5832 |
| ], |
| "skill_idxes": [ |
| 6, |
| 7, |
| 8 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "bacon_209", |
| "bacon_210", |
| "bacon_211", |
| "bacon_212", |
| "bacon_213", |
| "bacon_214" |
| ], |
| "tray_208", |
| "frying_pan_207" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tray_208" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [], |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 5832, |
| 7188 |
| ], |
| "skill_idxes": [ |
| 9, |
| 10, |
| 11, |
| 12 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [ |
| 69 |
| ], |
| "primitive_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "burner_mjvqii_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "burner_mjvqii_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7194, |
| 7536 |
| ], |
| "skill_idxes": [ |
| 13 |
| ] |
| } |
| ] |
| } |
