| { |
| "task_name": "can meat", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 12869, |
| "valid_duration": [ |
| 0, |
| 12869 |
| ] |
| }, |
| "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": [ |
| 0, |
| 306 |
| ], |
| "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": [ |
| 306, |
| 1620 |
| ], |
| "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": [ |
| 1620, |
| 2096 |
| ], |
| "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": [ |
| 2096, |
| 3086 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 13 |
| ], |
| "skill_description": [ |
| "open lid" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_235" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_235" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3086, |
| 3416 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_231" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3416, |
| 4128 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_231", |
| "cutting_board_234" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_231" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4128, |
| 4369 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_231", |
| "hinged_jar_235" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_231" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4370, |
| 4593 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_233", |
| "cutting_board_234" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_233" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4593, |
| 4893 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_233", |
| "hinged_jar_235" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_233" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4893, |
| 5133 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 14 |
| ], |
| "skill_description": [ |
| "close lid" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_235" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_235" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5133, |
| 5313 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5313, |
| 6029 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "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": [ |
| 6029, |
| 6663 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "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": [ |
| [ |
| "", |
| "low_level" |
| ] |
| ], |
| "frame_duration": [ |
| 6663, |
| 7461 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 5 |
| ], |
| "skill_description": [ |
| "hand over" |
| ], |
| "object_id": [ |
| [ |
| "hinged_jar_236", |
| "right", |
| "left" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hinged_jar_236" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7461, |
| 7803 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "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": [ |
| 7803, |
| 7983 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_230" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7983, |
| 9141 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_230", |
| "cutting_board_234" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_230" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9141, |
| 9572 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "bratwurst_230", |
| "hinged_jar_236" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bratwurst_230" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9573, |
| 9752 |
| ], |
| "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": [ |
| 9753, |
| 10142 |
| ], |
| "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": [ |
| 10143, |
| 10322 |
| ], |
| "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": [ |
| 10323, |
| 10609 |
| ], |
| "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": [ |
| 10610, |
| 11069 |
| ], |
| "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": [ |
| [ |
| "", |
| "low_level" |
| ] |
| ], |
| "frame_duration": [ |
| 11069, |
| 11903 |
| ], |
| "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": [ |
| 11903, |
| 12248 |
| ], |
| "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": [ |
| 12248, |
| 12869 |
| ], |
| "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": [ |
| 0, |
| 2096 |
| ], |
| "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_231", |
| "bratwurst_233" |
| ], |
| [ |
| "top_cabinet_lkxmne_2", |
| "cutting_board_234", |
| "cutting_board_234" |
| ] |
| ], |
| [ |
| [ |
| "bratwurst_231", |
| "bratwurst_233" |
| ], |
| "hinged_jar_235" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "hinged_jar_235", |
| "bratwurst_231", |
| "bratwurst_233" |
| ], |
| [ |
| "bratwurst_231", |
| "bratwurst_233" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "low_level", |
| "", |
| "" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 2096, |
| 5313 |
| ], |
| "skill_idxes": [ |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10 |
| ] |
| }, |
| { |
| "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": [ |
| 5313, |
| 6663 |
| ], |
| "skill_idxes": [ |
| 11, |
| 12 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "hinged_jar_236", |
| "bratwurst_230", |
| "bratwurst_232" |
| ], |
| [ |
| "top_cabinet_lkxmne_2", |
| "cutting_board_234", |
| "cutting_board_234" |
| ] |
| ], |
| [ |
| [ |
| "bratwurst_230", |
| "bratwurst_232" |
| ], |
| "hinged_jar_236" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "hinged_jar_236", |
| "bratwurst_230", |
| "bratwurst_232" |
| ], |
| [ |
| "bratwurst_230", |
| "bratwurst_232" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "low_level", |
| "", |
| "" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 6663, |
| 10609 |
| ], |
| "skill_idxes": [ |
| 13, |
| 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": [ |
| [ |
| [], |
| [ |
| "low_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 10610, |
| 11903 |
| ], |
| "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": [ |
| 11903, |
| 12869 |
| ], |
| "skill_idxes": [ |
| 24, |
| 25 |
| ] |
| } |
| ] |
| } |
