| { |
| "task_name": "chop an onion", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 5852, |
| "valid_duration": [ |
| 84, |
| 5936 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_76" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 84, |
| 325 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_76", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 325, |
| 1005 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_76", |
| "bar_egwapq_0", |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_76" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 1005, |
| 1352 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_73" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1352, |
| 1473 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bowl_73", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_73" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1473, |
| 1926 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_76" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1926, |
| 2116 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_73", |
| "bar_egwapq_0", |
| "cutting_board_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_73" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 2116, |
| 2730 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_75" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2730, |
| 2963 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_75", |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "vidalia_onion_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2963, |
| 3180 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_76" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3180, |
| 3249 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_75", |
| "cutting_board_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "vidalia_onion_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3249, |
| 3484 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "parer_74" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3484, |
| 3662 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "parer_74", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "parer_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3662, |
| 4131 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_75" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4131, |
| 4309 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "parer_74", |
| "vidalia_onion_75" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "parer_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4309, |
| 4531 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "parer_74", |
| "half_vidalia_onion_75_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "parer_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4540, |
| 4555 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "parer_74", |
| "half_vidalia_onion_75_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "parer_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4555, |
| 4629 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "parer_74", |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "parer_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4629, |
| 4725 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_76", |
| "bar_egwapq_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4725, |
| 5012 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 28 |
| ], |
| "skill_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__vidalia_onion" |
| ], |
| "cutting_board_76", |
| "bowl_73" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5012, |
| 5316 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5316, |
| 5379 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_76", |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5379, |
| 5936 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "cutting_board_76", |
| "bar_egwapq_0" |
| ], |
| [ |
| "cutting_board_76", |
| "bar_egwapq_0", |
| "drop_in_sink_lkklqs_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_76", |
| "cutting_board_76" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 84, |
| 1352 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "bowl_73", |
| "bar_egwapq_0" |
| ], |
| [ |
| "bowl_73", |
| "bar_egwapq_0", |
| "cutting_board_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bowl_73", |
| "bowl_73" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 1352, |
| 2730 |
| ], |
| "skill_idxes": [ |
| 3, |
| 4, |
| 5, |
| 6 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "vidalia_onion_75", |
| "drop_in_sink_lkklqs_0" |
| ], |
| [ |
| "vidalia_onion_75", |
| "cutting_board_76" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "vidalia_onion_75", |
| "vidalia_onion_75" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2730, |
| 3484 |
| ], |
| "skill_idxes": [ |
| 7, |
| 8, |
| 9, |
| 10 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "parer_74", |
| [ |
| "vidalia_onion_75", |
| "half_vidalia_onion_75_0", |
| "half_vidalia_onion_75_1" |
| ] |
| ] |
| ], |
| "manipulating_object_id": [ |
| "parer_74" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3484, |
| 4725 |
| ], |
| "skill_idxes": [ |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 28 |
| ], |
| "primitive_description": [ |
| "pour" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "diced__vidalia_onion" |
| ], |
| "cutting_board_76", |
| "bowl_73" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cutting_board_76" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4725, |
| 5936 |
| ], |
| "skill_idxes": [ |
| 18, |
| 19, |
| 20, |
| 21 |
| ] |
| } |
| ] |
| } |