| { | |
| "task_name": "clearing food from table into fridge", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 12839, | |
| "valid_duration": [ | |
| 0, | |
| 12839 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 623 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 623, | |
| 987 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 987, | |
| 1246 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1247, | |
| 1396 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "breakfast_table_xftrki_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1396, | |
| 2227 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74", | |
| "breakfast_table_xftrki_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2227, | |
| 2498 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "breakfast_table_xftrki_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2498, | |
| 2647 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_chicken_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2648, | |
| 2757 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_chicken_78", | |
| "plate_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "half_chicken_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2757, | |
| 3815 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3815, | |
| 3960 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_chicken_78", | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "half_chicken_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3960, | |
| 4280 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_apple_pie_77" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4280, | |
| 5345 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_apple_pie_77", | |
| "plate_75" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "half_apple_pie_77" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5345, | |
| 5905 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_apple_pie_77", | |
| "plate_75" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "half_apple_pie_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5906, | |
| 6602 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6602, | |
| 7609 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_apple_pie_77", | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "half_apple_pie_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7610, | |
| 7877 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7877, | |
| 8556 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 8556, | |
| 9329 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9329, | |
| 10013 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74", | |
| "breakfast_table_xftrki_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10013, | |
| 10305 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "breakfast_table_xftrki_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10305, | |
| 10641 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10641, | |
| 11292 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_4" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 11292, | |
| 11974 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74", | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "layer_5" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 11974, | |
| 12431 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12431, | |
| 12839 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ], | |
| "bar_egwapq_0" | |
| ], | |
| [ | |
| [ | |
| "tupperware_74", | |
| "tupperware_73" | |
| ], | |
| "breakfast_table_xftrki_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ], | |
| [ | |
| "tupperware_74", | |
| "tupperware_73" | |
| ] | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 2647 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_chicken_78", | |
| "plate_76" | |
| ], | |
| [ | |
| "half_chicken_78", | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "half_chicken_78", | |
| "half_chicken_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2648, | |
| 4280 | |
| ], | |
| "skill_idxes": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_apple_pie_77", | |
| "plate_75" | |
| ], | |
| [ | |
| "half_apple_pie_77", | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "half_apple_pie_77", | |
| "half_apple_pie_77" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4280, | |
| 7877 | |
| ], | |
| "skill_idxes": [ | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7877, | |
| 9329 | |
| ], | |
| "skill_idxes": [ | |
| 16, | |
| 17 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "tupperware_74", | |
| "tupperware_73" | |
| ], | |
| "breakfast_table_xftrki_0" | |
| ], | |
| [ | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ], | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "tupperware_74", | |
| "tupperware_73" | |
| ], | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "layer_4", | |
| "layer_5" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 9329, | |
| 12431 | |
| ], | |
| "skill_idxes": [ | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22, | |
| 23 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12431, | |
| 12839 | |
| ], | |
| "skill_idxes": [ | |
| 24 | |
| ] | |
| } | |
| ] | |
| } |