| { |
| "task_name": "putting dishes away after cleaning", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 11095, |
| "valid_duration": [ |
| 157, |
| 11252 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 157, |
| 381 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 381, |
| 1407 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 1407, |
| 2193 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "plate_208" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2193, |
| 2399 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "plate_208", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_208" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2399, |
| 2714 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "plate_209", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_209" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2714, |
| 2849 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2849, |
| 3120 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "plate_209", |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_209" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "low_level" |
| ] |
| ], |
| "frame_duration": [ |
| 3120, |
| 3581 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "plate_208", |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_208" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "low_level" |
| ] |
| ], |
| "frame_duration": [ |
| 3581, |
| 3885 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "plate_207" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3885, |
| 4167 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "plate_207", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4167, |
| 4476 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "plate_210" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4476, |
| 4513 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "plate_210", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4513, |
| 4654 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4654, |
| 4922 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "plate_210", |
| "plate_209" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_210" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4922, |
| 5350 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "plate_207", |
| "plate_208" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_207" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5350, |
| 5688 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "plate_211" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5688, |
| 6124 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "plate_211", |
| "bar_udatjt_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6124, |
| 6352 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "plate_214" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6352, |
| 6408 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "plate_214", |
| "bar_udatjt_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_214" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6408, |
| 6622 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6622, |
| 7129 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "plate_211", |
| "plate_210" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_211" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7129, |
| 7445 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "plate_214", |
| "plate_207" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_214" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7445, |
| 7749 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "plate_213" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7749, |
| 8263 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "plate_213", |
| "bar_udatjt_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_213" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8263, |
| 8479 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "plate_212" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8479, |
| 9010 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "plate_212", |
| "bar_udatjt_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_212" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9010, |
| 9323 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9323, |
| 9663 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "plate_213", |
| "plate_211" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_213" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9663, |
| 10103 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "plate_212", |
| "plate_214" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "plate_212" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10103, |
| 10452 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 10452, |
| 10835 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 10835, |
| 11252 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door", |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 157, |
| 2193 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "plate_208", |
| "plate_209" |
| ], |
| "countertop_kelzer_0" |
| ], |
| [ |
| [ |
| "plate_209", |
| "plate_208" |
| ], |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "plate_208", |
| "plate_209" |
| ], |
| [ |
| "plate_209", |
| "plate_208" |
| ] |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "low_level", |
| "low_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 2193, |
| 3885 |
| ], |
| "skill_idxes": [ |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "plate_207", |
| "plate_210" |
| ], |
| "countertop_kelzer_0" |
| ], |
| [ |
| [ |
| "plate_210", |
| "plate_207" |
| ], |
| [ |
| "plate_209", |
| "plate_208" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "plate_207", |
| "plate_210" |
| ], |
| [ |
| "plate_210", |
| "plate_207" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3885, |
| 5688 |
| ], |
| "skill_idxes": [ |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "plate_211", |
| "plate_214" |
| ], |
| "bar_udatjt_0" |
| ], |
| [ |
| [ |
| "plate_211", |
| "plate_214" |
| ], |
| [ |
| "plate_210", |
| "plate_207" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "plate_211", |
| "plate_214" |
| ], |
| [ |
| "plate_211", |
| "plate_214" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5688, |
| 7749 |
| ], |
| "skill_idxes": [ |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "plate_213", |
| "plate_212" |
| ], |
| "bar_udatjt_0" |
| ], |
| [ |
| [ |
| "plate_213", |
| "plate_212" |
| ], |
| [ |
| "plate_211", |
| "plate_214" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "plate_213", |
| "plate_212" |
| ], |
| [ |
| "plate_213", |
| "plate_212" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7749, |
| 10452 |
| ], |
| "skill_idxes": [ |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_lkxmne_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door", |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 10452, |
| 11252 |
| ], |
| "skill_idxes": [ |
| 30, |
| 31 |
| ] |
| } |
| ] |
| } |
