| { | |
| "task_name": "clearing food from table into fridge", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 15249, | |
| "valid_duration": [ | |
| 0, | |
| 15249 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 622 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 622, | |
| 1040 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1041, | |
| 1078 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "breakfast_table_xftrki_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1078, | |
| 1914 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73", | |
| "breakfast_table_xftrki_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tupperware_73" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1914, | |
| 2231 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 2232, | |
| 2445 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_chicken_78" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2445, | |
| 3456 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "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": [ | |
| 3456, | |
| 4327 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4327, | |
| 5419 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_chicken_78", | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "half_chicken_78" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5419, | |
| 5835 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "half_apple_pie_77" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5835, | |
| 6898 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "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": [ | |
| 6899, | |
| 7632 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "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": [ | |
| 7632, | |
| 8426 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_74" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8426, | |
| 9388 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "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": [ | |
| 9388, | |
| 9783 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9783, | |
| 10479 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 10479, | |
| 11405 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tupperware_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11406, | |
| 12246 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "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": [ | |
| 12246, | |
| 12759 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 12759, | |
| 13000 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13000, | |
| 13649 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "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": [ | |
| 13649, | |
| 14321 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "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": [ | |
| 14327, | |
| 14835 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 14835, | |
| 15249 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "tupperware_74", | |
| "tupperware_73" | |
| ], | |
| "bar_egwapq_0" | |
| ], | |
| [ | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ], | |
| "breakfast_table_xftrki_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "tupperware_74", | |
| "tupperware_73" | |
| ], | |
| [ | |
| "tupperware_73", | |
| "tupperware_74" | |
| ] | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 2445 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3, | |
| 4, | |
| 5 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 2445, | |
| 5835 | |
| ], | |
| "skill_idxes": [ | |
| 6, | |
| 7, | |
| 8, | |
| 9 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 5835, | |
| 9783 | |
| ], | |
| "skill_idxes": [ | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 9783, | |
| 11405 | |
| ], | |
| "skill_idxes": [ | |
| 15, | |
| 16 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 11406, | |
| 14835 | |
| ], | |
| "skill_idxes": [ | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_petcxr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 14835, | |
| 15249 | |
| ], | |
| "skill_idxes": [ | |
| 23 | |
| ] | |
| } | |
| ] | |
| } |