| { | |
| "task_name": "storing food", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 23976, | |
| "valid_duration": [ | |
| 0, | |
| 23976 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 1007 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1008, | |
| 1993 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jar_of_sugar_207" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1994, | |
| 2456 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jar_of_sugar_207", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jar_of_sugar_207" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2456, | |
| 2876 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jar_of_sugar_208", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jar_of_sugar_208" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2876, | |
| 3443 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3443, | |
| 3947 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jar_of_sugar_208", | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jar_of_sugar_208" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_2" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 3947, | |
| 4787 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jar_of_sugar_207", | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jar_of_sugar_207" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_2" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4787, | |
| 5545 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bag_of_chips_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5546, | |
| 6214 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bag_of_chips_212", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bag_of_chips_212" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6215, | |
| 6718 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bag_of_chips_211" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6718, | |
| 7222 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bag_of_chips_211", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bag_of_chips_211" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7222, | |
| 7600 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7600, | |
| 8314 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bag_of_chips_211", | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bag_of_chips_211" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_3" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 8314, | |
| 8650 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bag_of_chips_212", | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bag_of_chips_212" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_3" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 8650, | |
| 9154 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_olive_oil_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9154, | |
| 9822 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_olive_oil_209", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bottle_of_olive_oil_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9822, | |
| 10371 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_olive_oil_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10372, | |
| 10911 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_olive_oil_210", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bottle_of_olive_oil_210" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10911, | |
| 11517 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11517, | |
| 12261 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_olive_oil_209", | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bottle_of_olive_oil_209" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_2" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12261, | |
| 13206 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_olive_oil_210", | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bottle_of_olive_oil_210" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_2" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 13206, | |
| 13987 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_213" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13988, | |
| 14697 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 99 | |
| ], | |
| "skill_description": [ | |
| "tip over" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_213" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_213" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14697, | |
| 14988 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_213", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_213" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 14988, | |
| 15326 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_213", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_213" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15327, | |
| 16208 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16208, | |
| 16868 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_213", | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_213" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_4" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 16868, | |
| 17519 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_213", | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_213" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "center" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 17519, | |
| 17846 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_214" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17846, | |
| 18623 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_214", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_214" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 18623, | |
| 19169 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "skill_id": [ | |
| 99 | |
| ], | |
| "skill_description": [ | |
| "tip over" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_214" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_214" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 19169, | |
| 19274 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_214", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_214" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 19274, | |
| 19651 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_214", | |
| "countertop_kelzer_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_214" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 19652, | |
| 20752 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 20753, | |
| 21592 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 35, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_214", | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_214" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_4" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 21592, | |
| 22552 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 36, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_214", | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_214" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "center" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 22552, | |
| 23305 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 37, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 23305, | |
| 23976 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 0, | |
| 1993 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "jar_of_sugar_207", | |
| "jar_of_sugar_208" | |
| ], | |
| "countertop_kelzer_0" | |
| ], | |
| [ | |
| [ | |
| "jar_of_sugar_208", | |
| "jar_of_sugar_207" | |
| ], | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "jar_of_sugar_207", | |
| "jar_of_sugar_208" | |
| ], | |
| [ | |
| "jar_of_sugar_208", | |
| "jar_of_sugar_207" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "layer_2", | |
| "layer_2" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1994, | |
| 5545 | |
| ], | |
| "skill_idxes": [ | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "bag_of_chips_212", | |
| "bag_of_chips_211" | |
| ], | |
| "countertop_kelzer_0" | |
| ], | |
| [ | |
| [ | |
| "bag_of_chips_211", | |
| "bag_of_chips_212" | |
| ], | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "bag_of_chips_212", | |
| "bag_of_chips_211" | |
| ], | |
| [ | |
| "bag_of_chips_211", | |
| "bag_of_chips_212" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "layer_3", | |
| "layer_3" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5546, | |
| 9154 | |
| ], | |
| "skill_idxes": [ | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "bottle_of_olive_oil_209", | |
| "bottle_of_olive_oil_210" | |
| ], | |
| "countertop_kelzer_0" | |
| ], | |
| [ | |
| [ | |
| "bottle_of_olive_oil_209", | |
| "bottle_of_olive_oil_210" | |
| ], | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "bottle_of_olive_oil_209", | |
| "bottle_of_olive_oil_210" | |
| ], | |
| [ | |
| "bottle_of_olive_oil_209", | |
| "bottle_of_olive_oil_210" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "layer_2", | |
| "layer_2" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 9154, | |
| 13987 | |
| ], | |
| "skill_idxes": [ | |
| 15, | |
| 16, | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_213", | |
| "countertop_kelzer_0" | |
| ], | |
| [ | |
| "box_of_oatmeal_213", | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_213", | |
| "box_of_oatmeal_213" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "layer_4" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 13988, | |
| 17846 | |
| ], | |
| "skill_idxes": [ | |
| 22, | |
| 23, | |
| 24, | |
| 25, | |
| 26, | |
| 27, | |
| 28 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_oatmeal_214", | |
| "countertop_kelzer_0" | |
| ], | |
| [ | |
| "box_of_oatmeal_214", | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_oatmeal_214", | |
| "box_of_oatmeal_214" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "layer_4" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 17846, | |
| 23305 | |
| ], | |
| "skill_idxes": [ | |
| 29, | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 34, | |
| 35, | |
| 36 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 6, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_fancyy_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 23305, | |
| 23976 | |
| ], | |
| "skill_idxes": [ | |
| 37 | |
| ] | |
| } | |
| ] | |
| } |