| { | |
| "task_name": "clearing food from table into fridge", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 12750, | |
| "valid_duration": [ | |
| 0, | |
| 12750 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 180 | |
| ], | |
| "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": [ | |
| 181, | |
| 501 | |
| ], | |
| "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": [ | |
| 501, | |
| 667 | |
| ], | |
| "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": [ | |
| 668, | |
| 805 | |
| ], | |
| "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": [ | |
| 805, | |
| 1563 | |
| ], | |
| "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": [ | |
| 1564, | |
| 1866 | |
| ], | |
| "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": [ | |
| 1866, | |
| 2073 | |
| ], | |
| "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": [ | |
| 2073, | |
| 2923 | |
| ], | |
| "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": [ | |
| 2923, | |
| 3814 | |
| ], | |
| "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, | |
| 4915 | |
| ], | |
| "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": [ | |
| 4915, | |
| 5506 | |
| ], | |
| "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": [ | |
| 5506, | |
| 5644 | |
| ], | |
| "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": [ | |
| 5644, | |
| 6633 | |
| ], | |
| "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": [ | |
| 6633, | |
| 7281 | |
| ], | |
| "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": [ | |
| 7281, | |
| 7324 | |
| ], | |
| "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": [ | |
| 7324, | |
| 7711 | |
| ], | |
| "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": [ | |
| 7712, | |
| 8431 | |
| ], | |
| "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": [ | |
| 8432, | |
| 9123 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9123, | |
| 9888 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "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": [ | |
| 9888, | |
| 10366 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "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": [ | |
| 10366, | |
| 10576 | |
| ], | |
| "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": [ | |
| 10576, | |
| 11173 | |
| ], | |
| "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": [ | |
| 11173, | |
| 11859 | |
| ], | |
| "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": [ | |
| 11859, | |
| 12363 | |
| ], | |
| "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": [ | |
| 12363, | |
| 12750 | |
| ], | |
| "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, | |
| 2073 | |
| ], | |
| "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": [ | |
| 2073, | |
| 5506 | |
| ], | |
| "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": [ | |
| 5506, | |
| 7711 | |
| ], | |
| "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": [ | |
| 7712, | |
| 9123 | |
| ], | |
| "skill_idxes": [ | |
| 16, | |
| 17 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ], | |
| "breakfast_table_xftrki_0" | |
| ], | |
| [ | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ], | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ], | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "layer_4", | |
| "layer_5" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 9123, | |
| 12363 | |
| ], | |
| "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": [ | |
| 12363, | |
| 12750 | |
| ], | |
| "skill_idxes": [ | |
| 24 | |
| ] | |
| } | |
| ] | |
| } |