| { |
| "task_name": "carrying in groceries", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 18156, |
| "valid_duration": [ |
| 0, |
| 18156 |
| ] |
| }, |
| "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, |
| 868 |
| ], |
| "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": [ |
| 868, |
| 1290 |
| ], |
| "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": [ |
| 1290, |
| 1967 |
| ], |
| "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": [ |
| 1967, |
| 2412 |
| ], |
| "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": [ |
| 2412, |
| 3347 |
| ], |
| "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": [ |
| 3347, |
| 5682 |
| ], |
| "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": [ |
| 5682, |
| 6354 |
| ], |
| "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": [ |
| 6354, |
| 6975 |
| ], |
| "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": [ |
| 6975, |
| 7396 |
| ], |
| "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": [ |
| 7396, |
| 7996 |
| ], |
| "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": [ |
| 7996, |
| 8891 |
| ], |
| "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": [ |
| 8891, |
| 9708 |
| ], |
| "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": [ |
| 9708, |
| 10316 |
| ], |
| "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": [ |
| 10316, |
| 11100 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11100, |
| 11714 |
| ], |
| "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": [ |
| 11714, |
| 12097 |
| ], |
| "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": [ |
| 12097, |
| 12704 |
| ], |
| "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": [ |
| 12710, |
| 13349 |
| ], |
| "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": [ |
| 13349, |
| 13592 |
| ], |
| "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": [ |
| 13592, |
| 14269 |
| ], |
| "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": [ |
| 14269, |
| 14613 |
| ], |
| "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": [ |
| 14613, |
| 15559 |
| ], |
| "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": [ |
| 15559, |
| 16521 |
| ], |
| "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": [ |
| 16521, |
| 18156 |
| ], |
| "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, |
| 1290 |
| ], |
| "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": [ |
| 1290, |
| 1967 |
| ], |
| "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": [ |
| 1967, |
| 3347 |
| ], |
| "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": [ |
| 3347, |
| 6354 |
| ], |
| "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": [ |
| 6354, |
| 7396 |
| ], |
| "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": [ |
| 7396, |
| 10316 |
| ], |
| "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": [ |
| 8891, |
| 11100 |
| ], |
| "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": [ |
| 11100, |
| 12704 |
| ], |
| "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": [ |
| 12710, |
| 13592 |
| ], |
| "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": [ |
| 13592, |
| 15559 |
| ], |
| "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": [ |
| 15559, |
| 18156 |
| ], |
| "skill_idxes": [ |
| 22, |
| 23 |
| ] |
| } |
| ] |
| } |
