| { |
| "task_name": "cleaning up plates and food", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 13408, |
| "valid_duration": [ |
| 0, |
| 13408 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 651 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 651, |
| 2798 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "plate_93" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2799, |
| 3026 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "plate_93", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_93" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3027, |
| 3482 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3482, |
| 3726 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "plate_93", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_93" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_4" |
| ] |
| ], |
| "frame_duration": [ |
| 3726, |
| 4897 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "plate_94" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4898, |
| 5442 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "plate_94", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_94" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5443, |
| 6118 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6118, |
| 6598 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "plate_94", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_94" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_5" |
| ] |
| ], |
| "frame_duration": [ |
| 6598, |
| 8284 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8284, |
| 9840 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 9840, |
| 10650 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_92" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10650, |
| 10951 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_92", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_92" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10951, |
| 11358 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_91", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_91" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11358, |
| 11667 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11667, |
| 12198 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bowl_91", |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_91" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12198, |
| 12830 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bowl_92", |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_92" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12830, |
| 13408 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 0, |
| 2798 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "plate_93", |
| "breakfast_table_xftrki_0" |
| ], |
| [ |
| "plate_93", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_93", |
| "plate_93" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "layer_4" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 2799, |
| 4897 |
| ], |
| "skill_idxes": [ |
| 2, |
| 3, |
| 4, |
| 5 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "plate_94", |
| "breakfast_table_xftrki_0" |
| ], |
| [ |
| "plate_94", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_94", |
| "plate_94" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "layer_5" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 4898, |
| 8284 |
| ], |
| "skill_idxes": [ |
| 6, |
| 7, |
| 8, |
| 9 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 8284, |
| 10650 |
| ], |
| "skill_idxes": [ |
| 10, |
| 11 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "bowl_92", |
| "bowl_91" |
| ], |
| "breakfast_table_xftrki_0" |
| ], |
| [ |
| [ |
| "bowl_91", |
| "bowl_92" |
| ], |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "bowl_92", |
| "bowl_91" |
| ], |
| [ |
| "bowl_91", |
| "bowl_92" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10650, |
| 13408 |
| ], |
| "skill_idxes": [ |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17 |
| ] |
| } |
| ] |
| } |
