| { | |
| "task_name": "sorting household items", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 22799, | |
| "valid_duration": [ | |
| 0, | |
| 22799 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hamper_226" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 305 | |
| ], | |
| "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": [ | |
| 305, | |
| 1191 | |
| ], | |
| "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": [ | |
| 1191, | |
| 2270 | |
| ], | |
| "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": [ | |
| 2271, | |
| 3937 | |
| ], | |
| "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": [ | |
| 3937, | |
| 4209 | |
| ], | |
| "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": [ | |
| 4209, | |
| 4922 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottle_of_detergent_227" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4923, | |
| 5658 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "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": [ | |
| 5658, | |
| 6055 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "multi_station_furniture_sink_upwldu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6056, | |
| 6779 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 6779, | |
| 8469 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "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": [ | |
| 8469, | |
| 9219 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "soap_dispenser_223" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9220, | |
| 11015 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "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": [ | |
| 11016, | |
| 11916 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "box_of_sanitary_napkins_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11916, | |
| 12681 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "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": [ | |
| 12681, | |
| 13745 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "multi_station_furniture_sink_upwldu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13746, | |
| 14309 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "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": [ | |
| 14309, | |
| 15169 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "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": [ | |
| 15169, | |
| 15738 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toothbrush_221" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15739, | |
| 17140 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toothbrush_221", | |
| "hamper_225" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "toothbrush_221" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17140, | |
| 18369 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tube_of_toothpaste_222" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18369, | |
| 18669 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "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": [ | |
| 18670, | |
| 19977 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "coffee_cup_220" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 19978, | |
| 21390 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toothbrush_221", | |
| "coffee_cup_220" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "toothbrush_221" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 21390, | |
| 22012 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "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": [ | |
| 22012, | |
| 22799 | |
| ], | |
| "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, | |
| 3937 | |
| ], | |
| "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_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": [ | |
| 3937, | |
| 9219 | |
| ], | |
| "skill_idxes": [ | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 9220, | |
| 15169 | |
| ], | |
| "skill_idxes": [ | |
| 11, | |
| 12, | |
| 15, | |
| 16 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 11916, | |
| 15738 | |
| ], | |
| "skill_idxes": [ | |
| 13, | |
| 14, | |
| 15, | |
| 17 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 15739, | |
| 22799 | |
| ], | |
| "skill_idxes": [ | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22, | |
| 23, | |
| 24 | |
| ] | |
| } | |
| ] | |
| } |