| { | |
| "task_name": "sorting household items", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 15180, | |
| "valid_duration": [ | |
| 0, | |
| 15180 | |
| ] | |
| }, | |
| "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": [ | |
| 0, | |
| 915 | |
| ], | |
| "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": [ | |
| 916, | |
| 2012 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_detergent_227" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2016, | |
| 2715 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "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": [ | |
| 2716, | |
| 3284 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "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": [ | |
| 3284, | |
| 3893 | |
| ], | |
| "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": [ | |
| 3897, | |
| 4857 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "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": [ | |
| 4857, | |
| 5250 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "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": [ | |
| 5251, | |
| 5526 | |
| ], | |
| "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": [ | |
| 5527, | |
| 6609 | |
| ], | |
| "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": [ | |
| 6610, | |
| 7341 | |
| ], | |
| "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": [ | |
| 7342, | |
| 8109 | |
| ], | |
| "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": [ | |
| 8110, | |
| 8709 | |
| ], | |
| "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": [ | |
| 8710, | |
| 9486 | |
| ], | |
| "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": [ | |
| 9487, | |
| 9997 | |
| ], | |
| "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": [ | |
| 9997, | |
| 10344 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tube_of_toothpaste_222" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10345, | |
| 11175 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "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": [ | |
| 11176, | |
| 11991 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toothbrush_221", | |
| "hamper_225" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "toothbrush_221" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11992, | |
| 12981 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "coffee_cup_220" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12982, | |
| 13806 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toothbrush_221", | |
| "coffee_cup_220" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "toothbrush_221" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13807, | |
| 14658 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "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": [ | |
| 14659, | |
| 15180 | |
| ], | |
| "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, | |
| 2012 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2, | |
| 98 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place under" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "bottle_of_detergent_227", | |
| "bottle_of_detergent_228" | |
| ], | |
| "hamper_226" | |
| ], | |
| [ | |
| [ | |
| "bottle_of_detergent_228", | |
| "bottle_of_detergent_227" | |
| ], | |
| "multi_station_furniture_sink_upwldu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "bottle_of_detergent_227", | |
| "bottle_of_detergent_228" | |
| ], | |
| [ | |
| "bottle_of_detergent_228", | |
| "bottle_of_detergent_227" | |
| ] | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2016, | |
| 5526 | |
| ], | |
| "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": [ | |
| 5527, | |
| 9997 | |
| ], | |
| "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": [ | |
| 7342, | |
| 10344 | |
| ], | |
| "skill_idxes": [ | |
| 10, | |
| 11, | |
| 12, | |
| 14 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 10345, | |
| 15180 | |
| ], | |
| "skill_idxes": [ | |
| 15, | |
| 16, | |
| 17, | |
| 18, | |
| 19, | |
| 20 | |
| ] | |
| } | |
| ] | |
| } |