| { | |
| "task_name": "can meat", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 13992, | |
| "valid_duration": [ | |
| 0, | |
| 13992 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 609 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 609, | |
| 1911 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1911, | |
| 2648 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_236", | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_236" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "low_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 2648, | |
| 3603 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 5 | |
| ], | |
| "skill_description": [ | |
| "hand over" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_236", | |
| "right", | |
| "left" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_236" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3603, | |
| 3942 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 13 | |
| ], | |
| "skill_description": [ | |
| "open lid" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_236" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_236" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3942, | |
| 4289 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_231" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4289, | |
| 4797 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_231", | |
| "cutting_board_234" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_231" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4797, | |
| 5270 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_231", | |
| "hinged_jar_236" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_231" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5270, | |
| 5575 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_230", | |
| "cutting_board_234" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_230" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5575, | |
| 6271 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_230", | |
| "hinged_jar_236" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_230" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6271, | |
| 6505 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 14 | |
| ], | |
| "skill_description": [ | |
| "close lid" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_236" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_236" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6505, | |
| 6725 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6725, | |
| 7106 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_236", | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_236" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "low_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7106, | |
| 7791 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_235", | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_235" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7791, | |
| 9077 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 5 | |
| ], | |
| "skill_description": [ | |
| "hand over" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_235", | |
| "left", | |
| "right" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_235" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9077, | |
| 9458 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 13 | |
| ], | |
| "skill_description": [ | |
| "open lid" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_235" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_235" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9458, | |
| 9780 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_232" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9780, | |
| 10372 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_232", | |
| "cutting_board_234" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_232" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10372, | |
| 10719 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_232", | |
| "hinged_jar_235" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_232" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10719, | |
| 10896 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_233", | |
| "cutting_board_234" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_233" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10896, | |
| 11192 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_233", | |
| "hinged_jar_235" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_233" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11192, | |
| 11429 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 14 | |
| ], | |
| "skill_description": [ | |
| "close lid" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_235" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_235" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11429, | |
| 11768 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11768, | |
| 12064 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_235", | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_235" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12064, | |
| 12994 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12994, | |
| 13519 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 13519, | |
| 13992 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door", | |
| "left_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 0, | |
| 2648 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "hinged_jar_236", | |
| "bratwurst_231", | |
| "bratwurst_230" | |
| ], | |
| [ | |
| "top_cabinet_lkxmne_2", | |
| "cutting_board_234", | |
| "cutting_board_234" | |
| ] | |
| ], | |
| [ | |
| [ | |
| "bratwurst_231", | |
| "bratwurst_230" | |
| ], | |
| "hinged_jar_236" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "hinged_jar_236", | |
| "bratwurst_231", | |
| "bratwurst_230" | |
| ], | |
| [ | |
| "bratwurst_231", | |
| "bratwurst_230" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "low_level", | |
| "", | |
| "" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 2648, | |
| 6725 | |
| ], | |
| "skill_idxes": [ | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_236", | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_236" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "low_level" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6725, | |
| 7791 | |
| ], | |
| "skill_idxes": [ | |
| 12, | |
| 13 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "hinged_jar_235", | |
| "bratwurst_232", | |
| "bratwurst_233" | |
| ], | |
| [ | |
| "top_cabinet_lkxmne_2", | |
| "cutting_board_234", | |
| "cutting_board_234" | |
| ] | |
| ], | |
| [ | |
| [ | |
| "bratwurst_232", | |
| "bratwurst_233" | |
| ], | |
| "hinged_jar_235" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "hinged_jar_235", | |
| "bratwurst_232", | |
| "bratwurst_233" | |
| ], | |
| [ | |
| "bratwurst_232", | |
| "bratwurst_233" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "high_level", | |
| "", | |
| "" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 7791, | |
| 11768 | |
| ], | |
| "skill_idxes": [ | |
| 14, | |
| 15, | |
| 16, | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_235", | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_235" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "high_level" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 11768, | |
| 12994 | |
| ], | |
| "skill_idxes": [ | |
| 23, | |
| 24 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door", | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12994, | |
| 13992 | |
| ], | |
| "skill_idxes": [ | |
| 25, | |
| 26 | |
| ] | |
| } | |
| ] | |
| } |