| { |
| "task_name": "can meat", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 14122, |
| "valid_duration": [ |
| 154, |
| 14276 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 154, |
| 577 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 577, |
| 1936 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 1937, |
| 2424 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_235", |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_235" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "low_level" |
| ] |
| ], |
| "frame_duration": [ |
| 2424, |
| 3126 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 5 |
| ], |
| "skill_description": [ |
| "hand over" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_235", |
| "right", |
| "left" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_235" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3126, |
| 3484 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 13 |
| ], |
| "skill_description": [ |
| "open lid" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_235" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_235" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3484, |
| 3717 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_230" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3718, |
| 4405 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_230", |
| "cutting_board_234" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_230" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4405, |
| 4756 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_230", |
| "hinged_jar_235" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_230" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4756, |
| 5006 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_233", |
| "cutting_board_234" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_233" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5006, |
| 5562 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_233", |
| "hinged_jar_235" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_233" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5562, |
| 5796 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 14 |
| ], |
| "skill_description": [ |
| "close lid" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_235" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_235" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5796, |
| 6150 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6151, |
| 7130 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_235", |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_235" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "low_level" |
| ] |
| ], |
| "frame_duration": [ |
| 7130, |
| 7651 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_236", |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_236" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 7652, |
| 8412 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 13 |
| ], |
| "skill_description": [ |
| "open lid" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_236" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_236" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8413, |
| 8734 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_231" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8734, |
| 9457 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_231", |
| "cutting_board_234" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_231" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9457, |
| 10055 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_231", |
| "hinged_jar_236" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_231" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10055, |
| 10381 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_232", |
| "cutting_board_234" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_232" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10381, |
| 11030 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_232", |
| "hinged_jar_236" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_232" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11030, |
| 11355 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 14 |
| ], |
| "skill_description": [ |
| "close lid" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_236" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_236" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11355, |
| 11699 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11699, |
| 12550 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_236", |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_236" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 12551, |
| 13530 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 13530, |
| 13822 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 13822, |
| 14276 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door", |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 154, |
| 2424 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "hinged_jar_235", |
| "bratwurst_230", |
| "bratwurst_233" |
| ], |
| [ |
| "top_cabinet_lkxmne_2", |
| "cutting_board_234", |
| "cutting_board_234" |
| ] |
| ], |
| [ |
| [ |
| "bratwurst_230", |
| "bratwurst_233" |
| ], |
| "hinged_jar_235" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "hinged_jar_235", |
| "bratwurst_230", |
| "bratwurst_233" |
| ], |
| [ |
| "bratwurst_230", |
| "bratwurst_233" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "low_level", |
| "", |
| "" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 2424, |
| 6150 |
| ], |
| "skill_idxes": [ |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 4 |
| ], |
| "primitive_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_235", |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_235" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "low_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6151, |
| 7651 |
| ], |
| "skill_idxes": [ |
| 12, |
| 13 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "hinged_jar_236", |
| "bratwurst_231", |
| "bratwurst_232" |
| ], |
| [ |
| "top_cabinet_lkxmne_2", |
| "cutting_board_234", |
| "cutting_board_234" |
| ] |
| ], |
| [ |
| [ |
| "bratwurst_231", |
| "bratwurst_232" |
| ], |
| "hinged_jar_236" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "hinged_jar_236", |
| "bratwurst_231", |
| "bratwurst_232" |
| ], |
| [ |
| "bratwurst_231", |
| "bratwurst_232" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "high_level", |
| "", |
| "" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 7652, |
| 11699 |
| ], |
| "skill_idxes": [ |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 4 |
| ], |
| "primitive_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_236", |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_236" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "high_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 11699, |
| 13530 |
| ], |
| "skill_idxes": [ |
| 22, |
| 23 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door", |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 13530, |
| 14276 |
| ], |
| "skill_idxes": [ |
| 24, |
| 25 |
| ] |
| } |
| ] |
| } |
