| { | |
| "task_name": "cook cabbage", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 13104, | |
| "valid_duration": [ | |
| 36, | |
| 13140 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 36, | |
| 132 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 132, | |
| 1157 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chili_211", | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chili_211" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "low_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1157, | |
| 2104 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "head_cabbage_212", | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "head_cabbage_212" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "high_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 2104, | |
| 2762 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2762, | |
| 3729 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3729, | |
| 3896 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "head_cabbage_212", | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "head_cabbage_212" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3896, | |
| 4371 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "plate_207" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4371, | |
| 4535 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chili_211", | |
| "plate_207" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chili_211" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4535, | |
| 5005 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "frying_pan_208", | |
| "countertop_kelker_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "frying_pan_208" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5005, | |
| 5346 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "burner_mjvqii_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5346, | |
| 5436 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "frying_pan_208", | |
| "burner_mjvqii_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "frying_pan_208" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5436, | |
| 5892 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209", | |
| "countertop_kelker_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5892, | |
| 6642 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209", | |
| "head_cabbage_212" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6642, | |
| 7062 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209", | |
| "half_head_cabbage_212_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7062, | |
| 7130 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209", | |
| "half_head_cabbage_212_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7130, | |
| 7290 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "burner_mjvqii_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7290, | |
| 7416 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 91 | |
| ], | |
| "skill_description": [ | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209", | |
| "countertop_kelker_0", | |
| "burner_mjvqii_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_209" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "left" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7416, | |
| 7500 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7500, | |
| 7587 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_210", | |
| "countertop_kelker_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_210" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7587, | |
| 8066 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_210", | |
| "countertop_kelker_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_210" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8066, | |
| 8496 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "diced__head_cabbage" | |
| ], | |
| "cutting_board_210", | |
| "frying_pan_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_210" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8496, | |
| 8853 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_210", | |
| "countertop_kelker_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_210" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 8853, | |
| 9153 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chili_211" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9153, | |
| 9257 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chili_211", | |
| "plate_207" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chili_211" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9257, | |
| 9791 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9791, | |
| 10033 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chili_211", | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chili_211" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10033, | |
| 10374 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10374, | |
| 10510 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209", | |
| "countertop_kelker_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10510, | |
| 10905 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chili_211" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10905, | |
| 11004 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209", | |
| "chili_211" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11004, | |
| 11181 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209", | |
| "half_chili_211_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11181, | |
| 11262 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209", | |
| "half_chili_211_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11262, | |
| 11344 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "countertop_kelker_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11344, | |
| 11467 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209", | |
| "countertop_kelker_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11467, | |
| 11590 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 35, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11590, | |
| 11734 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 36, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_210", | |
| "countertop_kelker_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_210" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11734, | |
| 12176 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 37, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "diced__chili" | |
| ], | |
| "cutting_board_210", | |
| "frying_pan_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_210" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12176, | |
| 12296 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 38, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_210", | |
| "countertop_kelker_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_210" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12296, | |
| 12628 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 39, | |
| "skill_id": [ | |
| 69 | |
| ], | |
| "skill_description": [ | |
| "turn on switch" | |
| ], | |
| "object_id": [ | |
| [ | |
| "burner_mjvqii_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "burner_mjvqii_0" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12628, | |
| 13140 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 36, | |
| 1157 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2 | |
| ], | |
| "primitive_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "chili_211", | |
| "head_cabbage_212" | |
| ], | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "chili_211", | |
| "head_cabbage_212" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "low_level", | |
| "high_level" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1157, | |
| 2762 | |
| ], | |
| "skill_idxes": [ | |
| 2, | |
| 3 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "fridge_dszchb_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2762, | |
| 3729 | |
| ], | |
| "skill_idxes": [ | |
| 4 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "head_cabbage_212", | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "head_cabbage_212" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3729, | |
| 4371 | |
| ], | |
| "skill_idxes": [ | |
| 5, | |
| 6 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chili_211", | |
| "plate_207" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chili_211" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4371, | |
| 5005 | |
| ], | |
| "skill_idxes": [ | |
| 7, | |
| 8 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "frying_pan_208", | |
| "countertop_kelker_0" | |
| ], | |
| [ | |
| "frying_pan_208", | |
| "burner_mjvqii_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "frying_pan_208", | |
| "frying_pan_208" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "right" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5005, | |
| 5892 | |
| ], | |
| "skill_idxes": [ | |
| 9, | |
| 10, | |
| 11 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 6, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209", | |
| [ | |
| "head_cabbage_212", | |
| "half_head_cabbage_212_1", | |
| "half_head_cabbage_212_0" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5892, | |
| 7500 | |
| ], | |
| "skill_idxes": [ | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16, | |
| 17 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 7, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "diced__head_cabbage" | |
| ], | |
| "cutting_board_210", | |
| "frying_pan_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_210" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7500, | |
| 9153 | |
| ], | |
| "skill_idxes": [ | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 8, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "chili_211", | |
| "plate_207" | |
| ], | |
| [ | |
| "chili_211", | |
| "cutting_board_210" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "chili_211", | |
| "chili_211" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9153, | |
| 10374 | |
| ], | |
| "skill_idxes": [ | |
| 23, | |
| 24, | |
| 25, | |
| 26 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 9, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "carving_knife_209", | |
| [ | |
| "chili_211", | |
| "half_chili_211_0", | |
| "half_chili_211_1" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "carving_knife_209" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10374, | |
| 11590 | |
| ], | |
| "skill_idxes": [ | |
| 27, | |
| 28, | |
| 29, | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 34 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 10, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "diced__chili" | |
| ], | |
| "cutting_board_210", | |
| "frying_pan_208" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_210" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11590, | |
| 12628 | |
| ], | |
| "skill_idxes": [ | |
| 35, | |
| 36, | |
| 37, | |
| 38 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 11, | |
| "primitive_id": [ | |
| 69 | |
| ], | |
| "primitive_description": [ | |
| "turn on switch" | |
| ], | |
| "object_id": [ | |
| [ | |
| "burner_mjvqii_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "burner_mjvqii_0" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12628, | |
| 13140 | |
| ], | |
| "skill_idxes": [ | |
| 39 | |
| ] | |
| } | |
| ] | |
| } |