| { | |
| "task_name": "carrying in groceries", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 12354, | |
| "valid_duration": [ | |
| 0, | |
| 12354 | |
| ] | |
| }, | |
| "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, | |
| 930 | |
| ], | |
| "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": [ | |
| 930, | |
| 1662 | |
| ], | |
| "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": [ | |
| 1662, | |
| 2499 | |
| ], | |
| "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": [ | |
| 2499, | |
| 2916 | |
| ], | |
| "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": [ | |
| 2916, | |
| 3300 | |
| ], | |
| "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": [ | |
| 3300, | |
| 4404 | |
| ], | |
| "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": [ | |
| 4404, | |
| 5001 | |
| ], | |
| "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": [ | |
| 5001, | |
| 5514 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5514, | |
| 6153 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6153, | |
| 6765 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "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": [ | |
| 6765, | |
| 7209 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "paper_bag_81" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7209, | |
| 7991 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "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": [ | |
| 7991, | |
| 8345 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 99 | |
| ], | |
| "skill_description": [ | |
| "tip over" | |
| ], | |
| "object_id": [ | |
| [ | |
| "paper_bag_81" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "paper_bag_81" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8345, | |
| 8571 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "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": [ | |
| 8571, | |
| 9105 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "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": [ | |
| 9106, | |
| 9333 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "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": [ | |
| 9333, | |
| 9577 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9577, | |
| 10212 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "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": [ | |
| 10212, | |
| 10547 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10547, | |
| 11607 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 11607, | |
| 12354 | |
| ], | |
| "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, | |
| 1662 | |
| ], | |
| "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": [ | |
| 1662, | |
| 2499 | |
| ], | |
| "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": [ | |
| 2499, | |
| 3300 | |
| ], | |
| "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": [ | |
| 3300, | |
| 5001 | |
| ], | |
| "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": [ | |
| 5001, | |
| 5514 | |
| ], | |
| "skill_idxes": [ | |
| 7 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5514, | |
| 6765 | |
| ], | |
| "skill_idxes": [ | |
| 8, | |
| 9 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 6765, | |
| 7209 | |
| ], | |
| "skill_idxes": [ | |
| 10 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 7209, | |
| 8571 | |
| ], | |
| "skill_idxes": [ | |
| 11, | |
| 12, | |
| 13 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 8571, | |
| 9333 | |
| ], | |
| "skill_idxes": [ | |
| 14, | |
| 15 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 9333, | |
| 10547 | |
| ], | |
| "skill_idxes": [ | |
| 16, | |
| 17, | |
| 18 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 10, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 10547, | |
| 12354 | |
| ], | |
| "skill_idxes": [ | |
| 19, | |
| 20 | |
| ] | |
| } | |
| ] | |
| } |