| { | |
| "task_name": "sorting household items", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 14913, | |
| "valid_duration": [ | |
| 30, | |
| 14943 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "sliding_door_tprpvb_10" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 30, | |
| 439 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "sliding_door_tprpvb_10" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 440, | |
| 1409 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_detergent_228" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1409, | |
| 2257 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "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": [ | |
| 2257, | |
| 2827 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "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": [ | |
| 2828, | |
| 3219 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "multi_station_furniture_sink_upwldu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3219, | |
| 4161 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "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": [ | |
| 4162, | |
| 4707 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "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": [ | |
| 4707, | |
| 4974 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_sanitary_napkins_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4974, | |
| 6227 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "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": [ | |
| 6227, | |
| 6848 | |
| ], | |
| "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": [ | |
| 6848, | |
| 7801 | |
| ], | |
| "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": [ | |
| 7801, | |
| 8390 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "shelf_fjozhc_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8390, | |
| 9176 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "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": [ | |
| 9176, | |
| 10088 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "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": [ | |
| 10088, | |
| 10498 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toothbrush_221" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10498, | |
| 11256 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toothbrush_221", | |
| "hamper_225" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "toothbrush_221" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11257, | |
| 12036 | |
| ], | |
| "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": [ | |
| 12036, | |
| 12279 | |
| ], | |
| "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": [ | |
| 12279, | |
| 12711 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "coffee_cup_220" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12711, | |
| 13308 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toothbrush_221", | |
| "coffee_cup_220" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "toothbrush_221" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13308, | |
| 14280 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "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": [ | |
| 14280, | |
| 14943 | |
| ], | |
| "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": [ | |
| 30, | |
| 1409 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1 | |
| ] | |
| }, | |
| { | |
| "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_227", | |
| "bottle_of_detergent_228" | |
| ], | |
| "multi_station_furniture_sink_upwldu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "bottle_of_detergent_228", | |
| "bottle_of_detergent_227" | |
| ], | |
| [ | |
| "bottle_of_detergent_227", | |
| "bottle_of_detergent_228" | |
| ] | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1409, | |
| 4974 | |
| ], | |
| "skill_idxes": [ | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "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": [ | |
| 4974, | |
| 10088 | |
| ], | |
| "skill_idxes": [ | |
| 8, | |
| 9, | |
| 12, | |
| 13 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "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": [ | |
| 6848, | |
| 10498 | |
| ], | |
| "skill_idxes": [ | |
| 10, | |
| 11, | |
| 12, | |
| 14 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "toothbrush_221", | |
| "tube_of_toothpaste_222" | |
| ], | |
| "hamper_225" | |
| ], | |
| [ | |
| [ | |
| "toothbrush_221", | |
| "tube_of_toothpaste_222" | |
| ], | |
| "coffee_cup_220" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "toothbrush_221", | |
| "tube_of_toothpaste_222" | |
| ], | |
| [ | |
| "toothbrush_221", | |
| "tube_of_toothpaste_222" | |
| ] | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10498, | |
| 14943 | |
| ], | |
| "skill_idxes": [ | |
| 15, | |
| 16, | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21 | |
| ] | |
| } | |
| ] | |
| } |