| { | |
| "task_name": "sorting household items", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 20820, | |
| "valid_duration": [ | |
| 0, | |
| 20820 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hamper_226" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 147 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hamper_226", | |
| "robot" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hamper_226" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "away" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 148, | |
| 1761 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "sliding_door_tprpvb_10" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1761, | |
| 2457 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "sliding_door_tprpvb_10" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2457, | |
| 4341 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_detergent_228" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4342, | |
| 5166 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_detergent_228", | |
| "hamper_226" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bottle_of_detergent_228" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5167, | |
| 5691 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_detergent_227", | |
| "hamper_226" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bottle_of_detergent_227" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5692, | |
| 6387 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "multi_station_furniture_sink_upwldu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6388, | |
| 7320 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 98 | |
| ], | |
| "skill_description": [ | |
| "place under" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_detergent_228", | |
| "multi_station_furniture_sink_upwldu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bottle_of_detergent_228" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7320, | |
| 8364 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 98 | |
| ], | |
| "skill_description": [ | |
| "place under" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_detergent_227", | |
| "multi_station_furniture_sink_upwldu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "bottle_of_detergent_227" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8365, | |
| 8847 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "soap_dispenser_223" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8848, | |
| 10131 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "soap_dispenser_223", | |
| "hamper_225" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "soap_dispenser_223" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10132, | |
| 10926 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_sanitary_napkins_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10927, | |
| 11295 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_sanitary_napkins_224", | |
| "hamper_226" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_sanitary_napkins_224" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11296, | |
| 12465 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "multi_station_furniture_sink_upwldu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12466, | |
| 13380 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "soap_dispenser_223", | |
| "multi_station_furniture_sink_upwldu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "soap_dispenser_223" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13380, | |
| 13971 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_sanitary_napkins_224", | |
| "shelf_fjozhc_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_sanitary_napkins_224" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13972, | |
| 14490 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tube_of_toothpaste_222" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14491, | |
| 15642 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tube_of_toothpaste_222", | |
| "hamper_225" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tube_of_toothpaste_222" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15643, | |
| 16614 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hamper_225", | |
| "robot" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hamper_225" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "away" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 16615, | |
| 16743 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toothbrush_221", | |
| "hamper_225" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "toothbrush_221" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16744, | |
| 17808 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "coffee_cup_220" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17809, | |
| 18696 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toothbrush_221", | |
| "coffee_cup_220" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "toothbrush_221" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18697, | |
| 19752 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tube_of_toothpaste_222", | |
| "coffee_cup_220" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tube_of_toothpaste_222" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 19753, | |
| 20820 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "sliding_door_tprpvb_10" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 4341 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2, | |
| 98 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place under" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "bottle_of_detergent_228", | |
| "bottle_of_detergent_227" | |
| ], | |
| "hamper_226" | |
| ], | |
| [ | |
| [ | |
| "bottle_of_detergent_228", | |
| "bottle_of_detergent_227" | |
| ], | |
| "multi_station_furniture_sink_upwldu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "bottle_of_detergent_228", | |
| "bottle_of_detergent_227" | |
| ], | |
| [ | |
| "bottle_of_detergent_228", | |
| "bottle_of_detergent_227" | |
| ] | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4342, | |
| 8847 | |
| ], | |
| "skill_idxes": [ | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "soap_dispenser_223", | |
| "hamper_225" | |
| ], | |
| [ | |
| "soap_dispenser_223", | |
| "multi_station_furniture_sink_upwldu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "soap_dispenser_223", | |
| "soap_dispenser_223" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8848, | |
| 13971 | |
| ], | |
| "skill_idxes": [ | |
| 10, | |
| 11, | |
| 14, | |
| 15 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_sanitary_napkins_224", | |
| "hamper_226" | |
| ], | |
| [ | |
| "box_of_sanitary_napkins_224", | |
| "shelf_fjozhc_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "box_of_sanitary_napkins_224", | |
| "box_of_sanitary_napkins_224" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10927, | |
| 14490 | |
| ], | |
| "skill_idxes": [ | |
| 12, | |
| 13, | |
| 14, | |
| 16 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "tube_of_toothpaste_222", | |
| "toothbrush_221" | |
| ], | |
| "hamper_225" | |
| ], | |
| [ | |
| [ | |
| "toothbrush_221", | |
| "tube_of_toothpaste_222" | |
| ], | |
| "coffee_cup_220" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "tube_of_toothpaste_222", | |
| "toothbrush_221" | |
| ], | |
| [ | |
| "toothbrush_221", | |
| "tube_of_toothpaste_222" | |
| ] | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14491, | |
| 20820 | |
| ], | |
| "skill_idxes": [ | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22, | |
| 23 | |
| ] | |
| } | |
| ] | |
| } |