| { |
| "task_name": "carrying in groceries", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 15864, |
| "valid_duration": [ |
| 0, |
| 15864 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "paper_bag_81" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 1074 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "paper_bag_81", |
| "car_ssxsje_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_bag_81" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1074, |
| 1728 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 14 |
| ], |
| "skill_description": [ |
| "close lid" |
| ], |
| "object_id": [ |
| [ |
| "car_ssxsje_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "car_ssxsje_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1728, |
| 2570 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "door_bexenl_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2570, |
| 2983 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "door_bexenl_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2983, |
| 3780 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3780, |
| 5457 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "paper_bag_81", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_bag_81" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5457, |
| 6137 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "beefsteak_tomato_80", |
| "paper_bag_81" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "beefsteak_tomato_80" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6137, |
| 6599 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 5 |
| ], |
| "skill_description": [ |
| "hand over" |
| ], |
| "object_id": [ |
| [ |
| "beefsteak_tomato_80", |
| "right", |
| "left" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "beefsteak_tomato_80" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6599, |
| 6906 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6906, |
| 7417 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 7417, |
| 8047 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 5 |
| ], |
| "skill_description": [ |
| "hand over" |
| ], |
| "object_id": [ |
| [ |
| "beefsteak_tomato_80", |
| "left", |
| "right" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "beefsteak_tomato_80" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8047, |
| 8460 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 8460, |
| 9195 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "beefsteak_tomato_80", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "beefsteak_tomato_80" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_5" |
| ] |
| ], |
| "frame_duration": [ |
| 9195, |
| 9937 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "paper_bag_81" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9937, |
| 10654 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "paper_bag_81", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_bag_81" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10654, |
| 10925 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 99 |
| ], |
| "skill_description": [ |
| "tip over" |
| ], |
| "object_id": [ |
| [ |
| "paper_bag_81" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_bag_81" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10925, |
| 11270 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "carton_of_milk_79" |
| ], |
| "paper_bag_81", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_bag_81" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11270, |
| 11730 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "paper_bag_81", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_bag_81" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11730, |
| 11885 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "carton_of_milk_79", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carton_of_milk_79" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11885, |
| 12365 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12365, |
| 12795 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "carton_of_milk_79", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carton_of_milk_79" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_4" |
| ] |
| ], |
| "frame_duration": [ |
| 12795, |
| 13591 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13591, |
| 14397 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 14397, |
| 15864 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "paper_bag_81", |
| "car_ssxsje_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_bag_81" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 1728 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 14 |
| ], |
| "primitive_description": [ |
| "close lid" |
| ], |
| "object_id": [ |
| [ |
| "car_ssxsje_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "car_ssxsje_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1728, |
| 2570 |
| ], |
| "skill_idxes": [ |
| 2 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "door_bexenl_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2570, |
| 3780 |
| ], |
| "skill_idxes": [ |
| 3, |
| 4 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "paper_bag_81", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_bag_81" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3780, |
| 6137 |
| ], |
| "skill_idxes": [ |
| 5, |
| 6 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "beefsteak_tomato_80", |
| "paper_bag_81" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "beefsteak_tomato_80" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6137, |
| 6906 |
| ], |
| "skill_idxes": [ |
| 7, |
| 8 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door", |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6906, |
| 9195 |
| ], |
| "skill_idxes": [ |
| 9, |
| 10, |
| 12 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [ |
| 4 |
| ], |
| "primitive_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "beefsteak_tomato_80", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "beefsteak_tomato_80" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "layer_5" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 8047, |
| 9937 |
| ], |
| "skill_idxes": [ |
| 11, |
| 13 |
| ] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [ |
| 99 |
| ], |
| "primitive_description": [ |
| "tip over" |
| ], |
| "object_id": [ |
| [ |
| "paper_bag_81" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_bag_81" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9937, |
| 11270 |
| ], |
| "skill_idxes": [ |
| 14, |
| 15, |
| 16 |
| ] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "carton_of_milk_79" |
| ], |
| "paper_bag_81", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "paper_bag_81" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11270, |
| 11885 |
| ], |
| "skill_idxes": [ |
| 17, |
| 18 |
| ] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "carton_of_milk_79", |
| "breakfast_table_xftrki_0" |
| ], |
| [ |
| "carton_of_milk_79", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "carton_of_milk_79", |
| "carton_of_milk_79" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "layer_4" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 11885, |
| 13591 |
| ], |
| "skill_idxes": [ |
| 19, |
| 20, |
| 21 |
| ] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 13591, |
| 15864 |
| ], |
| "skill_idxes": [ |
| 22, |
| 23 |
| ] |
| } |
| ] |
| } |
