| { | |
| "task_name": "chop an onion", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 6762, | |
| "valid_duration": [122, 6884] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["cutting_board_76"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [122, 865], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["cutting_board_76", "bar_egwapq_0"]], | |
| "manipulating_object_id": ["cutting_board_76"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [865, 1733], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [91], | |
| "skill_description": ["place on next to"], | |
| "object_id": [["cutting_board_76", "bar_egwapq_0", "drop_in_sink_lkklqs_0"]], | |
| "manipulating_object_id": ["cutting_board_76"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [["", "", "left"]], | |
| "frame_duration": [1733, 2250], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["vidalia_onion_75"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [2250, 2351], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["vidalia_onion_75", "drop_in_sink_lkklqs_0"]], | |
| "manipulating_object_id": ["vidalia_onion_75"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [2351, 2724], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["cutting_board_76"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [2724, 2814], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [3], | |
| "skill_description": ["place on"], | |
| "object_id": [["vidalia_onion_75", "cutting_board_76"]], | |
| "manipulating_object_id": ["vidalia_onion_75"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [2814, 3146], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["parer_74"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [3146, 3264], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [93], | |
| "skill_description": ["turn to"], | |
| "object_id": [["parer_74", "robot"]], | |
| "manipulating_object_id": ["parer_74"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [["", "face_away"]], | |
| "frame_duration": [3264, 3809], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["parer_74", "bar_egwapq_0"]], | |
| "manipulating_object_id": ["parer_74"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [3809, 4346], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["vidalia_onion_75"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [4346, 4511], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [34], | |
| "skill_description": ["chop"], | |
| "object_id": [["parer_74", "vidalia_onion_75"]], | |
| "manipulating_object_id": ["parer_74"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [4511, 4737], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [34], | |
| "skill_description": ["chop"], | |
| "object_id": [["parer_74", "half_vidalia_onion_75_0"]], | |
| "manipulating_object_id": ["parer_74"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [4737, 4885], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [34], | |
| "skill_description": ["chop"], | |
| "object_id": [["parer_74", "half_vidalia_onion_75_1"]], | |
| "manipulating_object_id": ["parer_74"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [4885, 5069], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["parer_74", "drop_in_sink_lkklqs_0"]], | |
| "manipulating_object_id": ["parer_74"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [5069, 5313], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["cutting_board_76", "bar_egwapq_0"]], | |
| "manipulating_object_id": ["cutting_board_76"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [5313, 5750], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [28], | |
| "skill_description": ["pour"], | |
| "object_id": [[["diced__vidalia_onion"], "cutting_board_76", "bowl_73"]], | |
| "manipulating_object_id": ["cutting_board_76"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [5750, 6193], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["drop_in_sink_lkklqs_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [6193, 6280], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["cutting_board_76", "drop_in_sink_lkklqs_0"]], | |
| "manipulating_object_id": ["cutting_board_76"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [6280, 6884], | |
| "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": [["cutting_board_76", "bar_egwapq_0"], ["cutting_board_76", "bar_egwapq_0", "drop_in_sink_lkklqs_0"]], | |
| "manipulating_object_id": ["cutting_board_76", "cutting_board_76"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [[], [[], [], ["left"]]], | |
| "frame_duration": [122, 2250], | |
| "skill_idxes": [0, 1, 2] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [2, 3], | |
| "primitive_description": ["pick up from", "place on"], | |
| "object_id": [["vidalia_onion_75", "drop_in_sink_lkklqs_0"], ["vidalia_onion_75", "cutting_board_76"]], | |
| "manipulating_object_id": ["vidalia_onion_75", "vidalia_onion_75"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [2250, 3146], | |
| "skill_idxes": [3, 4, 5, 6] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [34], | |
| "primitive_description": ["chop"], | |
| "object_id": [["parer_74", ["vidalia_onion_75", "half_vidalia_onion_75_0", "half_vidalia_onion_75_1"]]], | |
| "manipulating_object_id": ["parer_74"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [3146, 5313], | |
| "skill_idxes": [7, 8, 9, 10, 11, 12, 13, 14] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [28], | |
| "primitive_description": ["pour"], | |
| "object_id": [[["diced__vidalia_onion"], "cutting_board_76", "bowl_73"]], | |
| "manipulating_object_id": ["cutting_board_76"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [5313, 6884], | |
| "skill_idxes": [15, 16, 17, 18] | |
| } | |
| ] | |
| } |