| { | |
| "task_name": "chop an onion", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 7131, | |
| "valid_duration": [ | |
| 15, | |
| 7146 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15, | |
| 351 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_76", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 351, | |
| 1478 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1478, | |
| 1652 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 91 | |
| ], | |
| "skill_description": [ | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_76", | |
| "bar_egwapq_0", | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_76" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "left" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1652, | |
| 1868 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_74", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1868, | |
| 2760 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "vidalia_onion_75" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2760, | |
| 2903 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "vidalia_onion_75", | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "vidalia_onion_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2903, | |
| 3638 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "vidalia_onion_75", | |
| "cutting_board_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "vidalia_onion_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3638, | |
| 4038 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_74", | |
| "vidalia_onion_75" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4038, | |
| 4538 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_74", | |
| "half_vidalia_onion_75_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4538, | |
| 4620 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_74", | |
| "half_vidalia_onion_75_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4620, | |
| 4914 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_74", | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4914, | |
| 5338 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5338, | |
| 5422 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_76", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5422, | |
| 5992 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bowl_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5992, | |
| 6085 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 28 | |
| ], | |
| "skill_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "diced__vidalia_onion" | |
| ], | |
| "cutting_board_76", | |
| "bowl_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6085, | |
| 6378 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6378, | |
| 6483 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_76", | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6483, | |
| 7146 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 2, | |
| 91 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cutting_board_76", | |
| "bar_egwapq_0" | |
| ], | |
| [ | |
| "cutting_board_76", | |
| "bar_egwapq_0", | |
| "drop_in_sink_lkklqs_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_76", | |
| "cutting_board_76" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [], | |
| [ | |
| "left" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 15, | |
| 1868 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2 | |
| ], | |
| "primitive_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_74", | |
| "bar_egwapq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1868, | |
| 2760 | |
| ], | |
| "skill_idxes": [ | |
| 4 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "vidalia_onion_75", | |
| "drop_in_sink_lkklqs_0" | |
| ], | |
| [ | |
| "vidalia_onion_75", | |
| "cutting_board_76" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "vidalia_onion_75", | |
| "vidalia_onion_75" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2760, | |
| 4038 | |
| ], | |
| "skill_idxes": [ | |
| 5, | |
| 6, | |
| 7 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "parer_74", | |
| [ | |
| "vidalia_onion_75", | |
| "half_vidalia_onion_75_1", | |
| "half_vidalia_onion_75_0" | |
| ] | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "parer_74" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4038, | |
| 5338 | |
| ], | |
| "skill_idxes": [ | |
| 8, | |
| 9, | |
| 10, | |
| 11 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 28 | |
| ], | |
| "primitive_description": [ | |
| "pour" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "diced__vidalia_onion" | |
| ], | |
| "cutting_board_76", | |
| "bowl_73" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cutting_board_76" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5338, | |
| 7146 | |
| ], | |
| "skill_idxes": [ | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16, | |
| 17 | |
| ] | |
| } | |
| ] | |
| } |