| { |
| "task_name": "clearing food from table into fridge", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 15119, |
| "valid_duration": [ |
| 0, |
| 15119 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 779 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 779, |
| 1237 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1238, |
| 1476 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1476, |
| 1662 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1662, |
| 2470 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2471, |
| 2756 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2759, |
| 3041 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "half_chicken_78" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3041, |
| 3971 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "half_chicken_78", |
| "plate_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_chicken_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3971, |
| 4855 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4856, |
| 5904 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "half_chicken_78", |
| "tupperware_73" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_chicken_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5904, |
| 6196 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "half_apple_pie_77" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6197, |
| 6863 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_apple_pie_77", |
| "plate_75" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_apple_pie_77" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 6863, |
| 7628 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "half_apple_pie_77", |
| "plate_75" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_apple_pie_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7628, |
| 8498 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8498, |
| 9030 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "half_apple_pie_77", |
| "tupperware_74" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_apple_pie_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9030, |
| 9456 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9456, |
| 10238 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 10238, |
| 11055 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11055, |
| 11891 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11891, |
| 12371 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12371, |
| 12538 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12538, |
| 13257 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_73", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_73" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_4" |
| ] |
| ], |
| "frame_duration": [ |
| 13257, |
| 13894 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_74", |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_74" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "layer_5" |
| ] |
| ], |
| "frame_duration": [ |
| 13894, |
| 14562 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 14562, |
| 15119 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "tupperware_73", |
| "tupperware_74" |
| ], |
| "bar_egwapq_0" |
| ], |
| [ |
| [ |
| "tupperware_73", |
| "tupperware_74" |
| ], |
| "breakfast_table_xftrki_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "tupperware_73", |
| "tupperware_74" |
| ], |
| [ |
| "tupperware_73", |
| "tupperware_74" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 3041 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "half_chicken_78", |
| "plate_76" |
| ], |
| [ |
| "half_chicken_78", |
| "tupperware_73" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_chicken_78", |
| "half_chicken_78" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3041, |
| 6196 |
| ], |
| "skill_idxes": [ |
| 7, |
| 8, |
| 9, |
| 10 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "half_apple_pie_77", |
| "plate_75" |
| ], |
| [ |
| "half_apple_pie_77", |
| "tupperware_74" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_apple_pie_77", |
| "half_apple_pie_77" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6197, |
| 9456 |
| ], |
| "skill_idxes": [ |
| 11, |
| 12, |
| 13, |
| 14, |
| 15 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 9456, |
| 11055 |
| ], |
| "skill_idxes": [ |
| 16, |
| 17 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "tupperware_73", |
| "tupperware_74" |
| ], |
| "breakfast_table_xftrki_0" |
| ], |
| [ |
| [ |
| "tupperware_73", |
| "tupperware_74" |
| ], |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "tupperware_73", |
| "tupperware_74" |
| ], |
| [ |
| "tupperware_73", |
| "tupperware_74" |
| ] |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "layer_4", |
| "layer_5" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 11055, |
| 14562 |
| ], |
| "skill_idxes": [ |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_petcxr_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 14562, |
| 15119 |
| ], |
| "skill_idxes": [ |
| 24 |
| ] |
| } |
| ] |
| } |