| { | |
| "task_name": "can meat", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 13380, | |
| "valid_duration": [ | |
| 0, | |
| 13380 | |
| ] | |
| }, | |
| "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, | |
| 462 | |
| ], | |
| "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": [ | |
| 462, | |
| 1848 | |
| ], | |
| "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": [ | |
| 1848, | |
| 2449 | |
| ], | |
| "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": [ | |
| 2449, | |
| 3385 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 5 | |
| ], | |
| "skill_description": [ | |
| "hand over" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_236", | |
| "left", | |
| "right" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_236" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3386, | |
| 3762 | |
| ], | |
| "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": [ | |
| 3763, | |
| 4130 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_233" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4131, | |
| 5017 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_233", | |
| "cutting_board_234" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_233" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5017, | |
| 5601 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_233", | |
| "hinged_jar_236" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_233" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5602, | |
| 5866 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_231", | |
| "cutting_board_234" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_231" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5866, | |
| 6281 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_231", | |
| "hinged_jar_236" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_231" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6281, | |
| 6573 | |
| ], | |
| "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": [ | |
| 6573, | |
| 6875 | |
| ], | |
| "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": [ | |
| 6875, | |
| 7011 | |
| ], | |
| "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": [ | |
| 7012, | |
| 7809 | |
| ], | |
| "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": [ | |
| 7809, | |
| 8827 | |
| ], | |
| "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": [ | |
| 8827, | |
| 9034 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 5 | |
| ], | |
| "skill_description": [ | |
| "hand over" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_235", | |
| "right", | |
| "left" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_235" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9034, | |
| 9268 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 13 | |
| ], | |
| "skill_description": [ | |
| "open lid" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_235" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_235" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9268, | |
| 9541 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_230" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9541, | |
| 9975 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_230", | |
| "cutting_board_234" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_230" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9975, | |
| 10335 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_230", | |
| "hinged_jar_235" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_230" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10335, | |
| 10628 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_232", | |
| "cutting_board_234" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_232" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10629, | |
| 11157 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bratwurst_232", | |
| "hinged_jar_235" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bratwurst_232" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11157, | |
| 11402 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 14 | |
| ], | |
| "skill_description": [ | |
| "close lid" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hinged_jar_235" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hinged_jar_235" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11402, | |
| 11647 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11647, | |
| 12077 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "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": [ | |
| 12077, | |
| 12602 | |
| ], | |
| "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": [ | |
| 12603, | |
| 12920 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12920, | |
| 13380 | |
| ], | |
| "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, | |
| 2449 | |
| ], | |
| "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_233", | |
| "bratwurst_231" | |
| ], | |
| [ | |
| "top_cabinet_lkxmne_2", | |
| "cutting_board_234", | |
| "cutting_board_234" | |
| ] | |
| ], | |
| [ | |
| [ | |
| "bratwurst_233", | |
| "bratwurst_231" | |
| ], | |
| "hinged_jar_236" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "hinged_jar_236", | |
| "bratwurst_233", | |
| "bratwurst_231" | |
| ], | |
| [ | |
| "bratwurst_233", | |
| "bratwurst_231" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "low_level", | |
| "", | |
| "" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 2449, | |
| 6875 | |
| ], | |
| "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": [ | |
| 6875, | |
| 7809 | |
| ], | |
| "skill_idxes": [ | |
| 12, | |
| 13 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "hinged_jar_235", | |
| "bratwurst_230", | |
| "bratwurst_232" | |
| ], | |
| [ | |
| "top_cabinet_lkxmne_2", | |
| "cutting_board_234", | |
| "cutting_board_234" | |
| ] | |
| ], | |
| [ | |
| [ | |
| "bratwurst_230", | |
| "bratwurst_232" | |
| ], | |
| "hinged_jar_235" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "hinged_jar_235", | |
| "bratwurst_230", | |
| "bratwurst_232" | |
| ], | |
| [ | |
| "bratwurst_230", | |
| "bratwurst_232" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "high_level", | |
| "", | |
| "" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 7809, | |
| 11647 | |
| ], | |
| "skill_idxes": [ | |
| 14, | |
| 15, | |
| 16, | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22, | |
| 23 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 11647, | |
| 12602 | |
| ], | |
| "skill_idxes": [ | |
| 24, | |
| 25 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_lkxmne_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door", | |
| "left_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12603, | |
| 13380 | |
| ], | |
| "skill_idxes": [ | |
| 26, | |
| 27 | |
| ] | |
| } | |
| ] | |
| } |