| { |
| "_uitleg": "Wollah dit is de motion annotations file khoya, hier zet je segments met frame ranges voor elke video zodat de AI snapt wat er gebeurt sahbi.", |
| "schema_version": "motion_v1_frames", |
| "fps_default": 30, |
| "all_task_types": [ |
| "Fold the white t-shirt on the bed.", |
| "Fold the jeans on the bed.", |
| "Fold the two underwear and stack them on top of each other.", |
| "Put the pillow on the right place", |
| "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "Go out the door and close it behind yourself.", |
| "Pick up the sandals and put them neatly next to the scale.", |
| "Put the orange cloth in the washing machine basket and close the drawer.", |
| "Screw the cap on your bottle.", |
| "Pick up the two object on the floor and put them on the bed." |
| ], |
| "enums": { |
| "temporal_phase": [ |
| "start", |
| "contact", |
| "manipulate", |
| "end" |
| ], |
| "actor": [ |
| "left_hand", |
| "right_hand", |
| "both_hands" |
| ], |
| "error": [ |
| "misalignment", |
| "slip", |
| "drop", |
| "occlusion", |
| "regrasp_required", |
| "wrong_order", |
| "none" |
| ] |
| }, |
| "tasks": { |
| "Task1": { |
| "task_id": "Task1", |
| "title": "Fold the white t-shirt on the bed.", |
| "description": "Fold the white t-shirt on the bed.", |
| "preset": { |
| "motion_type": "grasp/pull/align/fold/smooth/release/adjust", |
| "target_type": "cloth_region/surface", |
| "target_value": "left_sleeve/right_sleeve/top_edge/bottom_edge/center_mass/collar/hem/bed_surface", |
| "state_stage": "unfolded/half_folded/final", |
| "flatness": "wrinkled/mostly_flat/flat", |
| "symmetry": "asymmetric/mostly_symmetric/symmetric" |
| }, |
| "episodes": [ |
| { |
| "episode_id": "Task1_Vid2", |
| "video_id": "Vid2", |
| "task_type": "Fold the white t-shirt on the bed.", |
| "fps": 30, |
| "frame_count": 424, |
| "segments": [ |
| { |
| "start_frame": 54, |
| "end_frame_exclusive": 73, |
| "motion_type": "pull", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "bottom_edge" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "wrinkled", |
| "symmetry": "asymmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 92, |
| "end_frame_exclusive": 140, |
| "motion_type": "align", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "cloth_region", |
| "value": "right_sleeve" |
| }, |
| "state": { |
| "stage": "half_folded", |
| "flatness": "flat", |
| "symmetry": "mostly_symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 166, |
| "end_frame_exclusive": 350, |
| "motion_type": "fold", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task1_Vid4", |
| "video_id": "Vid4", |
| "task_type": "Fold the white t-shirt on the bed.", |
| "fps": 30, |
| "frame_count": 423, |
| "segments": [ |
| { |
| "start_frame": 67, |
| "end_frame_exclusive": 138, |
| "motion_type": "pull", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "bottom_edge" |
| }, |
| "state": { |
| "stage": "half_folded", |
| "flatness": "mostly_flat", |
| "symmetry": "mostly_symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 172, |
| "end_frame_exclusive": 350, |
| "motion_type": "fold", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 352, |
| "end_frame_exclusive": 365, |
| "motion_type": "release", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task1_Vid5", |
| "video_id": "Vid5", |
| "task_type": "Fold the white t-shirt on the bed", |
| "fps": 30, |
| "frame_count": 478, |
| "segments": [ |
| { |
| "start_frame": 80, |
| "end_frame_exclusive": 134, |
| "motion_type": "pull", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "bottom_edge" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "mostly_flat", |
| "symmetry": "mostly_symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 155, |
| "end_frame_exclusive": 371, |
| "motion_type": "fold", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 394, |
| "end_frame_exclusive": 416, |
| "motion_type": "release", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task1_Vid6", |
| "video_id": "Vid6", |
| "task_type": "Fold the white t-shirt on the bed", |
| "fps": 30, |
| "frame_count": 451, |
| "segments": [ |
| { |
| "start_frame": 92, |
| "end_frame_exclusive": 98, |
| "motion_type": "pull", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth_region", |
| "value": "bottom_edge" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "wrinkled", |
| "symmetry": "asymmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 100, |
| "end_frame_exclusive": 370, |
| "motion_type": "fold", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "mostly_flat", |
| "symmetry": "mostly_symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 376, |
| "end_frame_exclusive": 395, |
| "motion_type": "release", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task1_Vid7", |
| "video_id": "Vid7", |
| "task_type": "Fold the white t-shirt on the bed", |
| "fps": 30, |
| "frame_count": 451, |
| "segments": [ |
| { |
| "start_frame": 70, |
| "end_frame_exclusive": 98, |
| "motion_type": "adjust", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth_region", |
| "value": "bottom_edge" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "wrinkled", |
| "symmetry": "asymmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 101, |
| "end_frame_exclusive": 171, |
| "motion_type": "align", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "mostly_flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 206, |
| "end_frame_exclusive": 358, |
| "motion_type": "fold", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task1_Vid8", |
| "video_id": "Vid8", |
| "task_type": "Fold the white t-shirt on the bed", |
| "fps": 30, |
| "frame_count": 403, |
| "segments": [ |
| { |
| "start_frame": 69, |
| "end_frame_exclusive": 90, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth_region", |
| "value": "bottom_edge" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "wrinkled", |
| "symmetry": "asymmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 92, |
| "end_frame_exclusive": 165, |
| "motion_type": "adjust", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "mostly_flat", |
| "symmetry": "mostly_symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 288, |
| "end_frame_exclusive": 371, |
| "motion_type": "none", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "none", |
| "value": "none" |
| }, |
| "state": { |
| "stage": "none", |
| "flatness": "none", |
| "symmetry": "none" |
| }, |
| "error": "occlusion" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task1_Vid9", |
| "video_id": "Vid9", |
| "task_type": "Fold the white t-shirt on the bed./Fold the jeans on the bed./Fold the two underwear and stack them on top of each other./Put the pillow on the right place/Pick up the plate and glass and put them somewhere on the kitchen stove./Go out the door and close it behind yourself./Pick up the sandals and put them neatly next to the scale./Put the orange cloth in the washing machine basket and close the drawer./Screw the cap on your bottle./Pick up the two object on the floor and put them on the bed.", |
| "fps": 30, |
| "frame_count": 551, |
| "segments": [ |
| { |
| "start_frame": 86, |
| "end_frame_exclusive": 146, |
| "motion_type": "align", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "top_edge" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "mostly_flat", |
| "symmetry": "mostly_symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 127, |
| "end_frame_exclusive": 142, |
| "motion_type": "none", |
| "temporal_phase": "none", |
| "actor": "none", |
| "target": { |
| "type": "none", |
| "value": "none" |
| }, |
| "state": { |
| "stage": "none", |
| "flatness": "none", |
| "symmetry": "none" |
| }, |
| "error": "occlusion" |
| }, |
| { |
| "start_frame": 198, |
| "end_frame_exclusive": 459, |
| "motion_type": "fold", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task1_Vid10", |
| "video_id": "Vid10", |
| "task_type": "Fold the white t-shirt on the bed./Fold the jeans on the bed./Fold the two underwear and stack them on top of each other./Put the pillow on the right place/Pick up the plate and glass and put them somewhere on the kitchen stove./Go out the door and close it behind yourself./Pick up the sandals and put them neatly next to the scale./Put the orange cloth in the washing machine basket and close the drawer./Screw the cap on your bottle./Pick up the two object on the floor and put them on the bed.", |
| "fps": 30, |
| "frame_count": 406, |
| "segments": [ |
| { |
| "start_frame": 82, |
| "end_frame_exclusive": 157, |
| "motion_type": "align", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "bottom_edge" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "wrinkled", |
| "symmetry": "asymmetric" |
| }, |
| "error": "regrasp_required" |
| }, |
| { |
| "start_frame": 197, |
| "end_frame_exclusive": 326, |
| "motion_type": "fold", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 339, |
| "end_frame_exclusive": 359, |
| "motion_type": "release", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_mass" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| } |
| ] |
| } |
| ] |
| }, |
| "Task2": { |
| "task_id": "Task2", |
| "title": "Fold the jeans on the bed.", |
| "description": "Fold the jeans on the bed.", |
| "preset": { |
| "motion_type": "grasp/pull/align/fold/smooth/release/adjust", |
| "target_type": "cloth_region/surface", |
| "target_value": "left_leg/right_leg/waistband/crotch/hem/center_fold/bed_surface", |
| "state_stage": "unfolded/half_folded/final", |
| "flatness": "wrinkled/mostly_flat/flat", |
| "symmetry": "asymmetric/mostly_symmetric/symmetric" |
| }, |
| "episodes": [ |
| { |
| "episode_id": "Task2_Vid1", |
| "video_id": "Vid1", |
| "task_type": "Fold the jeans on the bed.", |
| "fps": 30, |
| "frame_count": 542, |
| "segments": [ |
| { |
| "start_frame": 104, |
| "end_frame_exclusive": 171, |
| "motion_type": "align", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "waistband" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "mostly_flat", |
| "symmetry": "mostly_symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 203, |
| "end_frame_exclusive": 263, |
| "motion_type": "smooth", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "cloth_region", |
| "value": "left_leg" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "mostly_flat", |
| "symmetry": "mostly_symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 280, |
| "end_frame_exclusive": 443, |
| "motion_type": "fold", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_fold" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task2_Vid2", |
| "video_id": "Vid2", |
| "task_type": "Fold the jeans on the bed.", |
| "fps": 30, |
| "frame_count": 507, |
| "segments": [ |
| { |
| "start_frame": 80, |
| "end_frame_exclusive": 116, |
| "motion_type": "align", |
| "temporal_phase": "start", |
| "actor": "right_hand", |
| "target": { |
| "type": "cloth_region", |
| "value": "left_leg" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "wrinkled", |
| "symmetry": "mostly_symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 120, |
| "end_frame_exclusive": 180, |
| "motion_type": "adjust", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "waistband" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "mostly_flat", |
| "symmetry": "mostly_symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 225, |
| "end_frame_exclusive": 412, |
| "motion_type": "fold", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_fold" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "occlusion" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task2_Vid3", |
| "video_id": "Vid3", |
| "task_type": "Fold the jeans on the bed.", |
| "fps": 30, |
| "frame_count": 566, |
| "segments": [ |
| { |
| "start_frame": 80, |
| "end_frame_exclusive": 100, |
| "motion_type": "adjust", |
| "temporal_phase": "start", |
| "actor": "left_hand/", |
| "target": { |
| "type": "cloth_region", |
| "value": "waistband" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "wrinkled", |
| "symmetry": "mostly_symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 105, |
| "end_frame_exclusive": 151, |
| "motion_type": "align", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "waistband" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "mostly_flat", |
| "symmetry": "mostly_symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 237, |
| "end_frame_exclusive": 470, |
| "motion_type": "fold", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_fold" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task2_Vid4", |
| "video_id": "Vid4", |
| "task_type": "Fold the jeans on the bed", |
| "fps": 30, |
| "frame_count": 532, |
| "segments": [ |
| { |
| "start_frame": 71, |
| "end_frame_exclusive": 0, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "waistband" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "wrinkled", |
| "symmetry": "asymmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 180, |
| "end_frame_exclusive": 203, |
| "motion_type": "adjust", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "left_leg" |
| }, |
| "state": { |
| "stage": "unfolded", |
| "flatness": "mostly_flat", |
| "symmetry": "asymmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 265, |
| "end_frame_exclusive": 452, |
| "motion_type": "fold", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "center_fold" |
| }, |
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| } |
| ] |
| }, |
| { |
| "episode_id": "Task2_Vid5", |
| "video_id": "Vid5", |
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| { |
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| { |
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| { |
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| "video_id": "Vid9", |
| "task_type": "Fold the jeans on the bed.", |
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| { |
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| }, |
| "Task3": { |
| "task_id": "Task3", |
| "title": "Fold the two underwear and stack them on top of each other.", |
| "description": "Fold the two underwear and stack them on top of each other.", |
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| "flatness": "wrinkled/mostly_flat/flat", |
| "symmetry": "asymmetric/mostly_symmetric/symmetric" |
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| { |
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| } |
| ] |
| }, |
| { |
| "episode_id": "Task3_Vid2", |
| "video_id": "Vid2", |
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| ] |
| }, |
| { |
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| "video_id": "Vid3", |
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| { |
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| ] |
| }, |
| { |
| "episode_id": "Task3_Vid5", |
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| ] |
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| { |
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| }, |
| { |
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| { |
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| "motion_type": "fold", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "right_underwear" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 227, |
| "end_frame_exclusive": 317, |
| "motion_type": "grasp", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "left_underwear" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
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| }, |
| { |
| "start_frame": 321, |
| "end_frame_exclusive": 392, |
| "motion_type": "stack", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "stack", |
| "value": "stack_top" |
| }, |
| "state": { |
| "stage": "stacked", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task3_Vid9", |
| "video_id": "Vid9", |
| "task_type": "Fold the two underwear and stack them on top of each other.", |
| "fps": 30, |
| "frame_count": 373, |
| "segments": [ |
| { |
| "start_frame": 119, |
| "end_frame_exclusive": 190, |
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| "target": { |
| "type": "cloth_region", |
| "value": "left_underwear" |
| }, |
| "state": { |
| "stage": "final", |
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| { |
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| "end_frame_exclusive": 266, |
| "motion_type": "grasp", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "right_underwear" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
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| { |
| "start_frame": 272, |
| "end_frame_exclusive": 338, |
| "motion_type": "stack", |
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| "actor": "both_hands", |
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| "type": "stack", |
| "value": "stack_top" |
| }, |
| "state": { |
| "stage": "stacked", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task3_Vid10", |
| "video_id": "Vid10", |
| "task_type": "Fold the two underwear and stack them on top of each other.", |
| "fps": 30, |
| "frame_count": 432, |
| "segments": [ |
| { |
| "start_frame": 61, |
| "end_frame_exclusive": 173, |
| "motion_type": "fold", |
| "temporal_phase": "start", |
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| "target": { |
| "type": "cloth_region", |
| "value": "left_underwear" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
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| }, |
| { |
| "start_frame": 208, |
| "end_frame_exclusive": 326, |
| "motion_type": "grasp", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cloth_region", |
| "value": "right_underwear" |
| }, |
| "state": { |
| "stage": "final", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
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| }, |
| { |
| "start_frame": 336, |
| "end_frame_exclusive": 398, |
| "motion_type": "stack", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "stack", |
| "value": "both_underwear" |
| }, |
| "state": { |
| "stage": "stacked", |
| "flatness": "flat", |
| "symmetry": "symmetric" |
| }, |
| "error": "occlusion" |
| } |
| ] |
| } |
| ] |
| }, |
| "Task4": { |
| "task_id": "Task4", |
| "title": "Put the pillow on the right place", |
| "description": "Put the pillow on the right place", |
| "preset": { |
| "motion_type": "grasp/lift/carry/align/place/release/adjust/grasp_and_place", |
| "target_type": "object/surface/target_zone", |
| "target_value": "pillow/pillow_corner/pillow_edge/bed_surface/target_spot", |
| "state_stage": "picked/moving/placed/aligned" |
| }, |
| "episodes": [ |
| { |
| "episode_id": "Task4_Vid1", |
| "video_id": "Vid1", |
| "task_type": "Put the pillow on the right place.", |
| "fps": 30, |
| "frame_count": 237, |
| "segments": [ |
| { |
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| "end_frame_exclusive": 110, |
| "motion_type": "grasp", |
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| "target": { |
| "type": "object", |
| "value": "pillow" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 144, |
| "end_frame_exclusive": 193, |
| "motion_type": "adjust", |
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| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "pillow" |
| }, |
| "state": { |
| "stage": "aligned" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task4_Vid2", |
| "video_id": "Vid2", |
| "task_type": "Put the pillow on the right place", |
| "fps": 30, |
| "frame_count": 262, |
| "segments": [ |
| { |
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| }, |
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| { |
| "start_frame": 142, |
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| "value": "pillow" |
| }, |
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| "stage": "aligned" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task4_Vid3", |
| "video_id": "Vid3", |
| "task_type": "Put the pillow on the right place", |
| "fps": 30, |
| "frame_count": 226, |
| "segments": [ |
| { |
| "start_frame": 72, |
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| }, |
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| { |
| "start_frame": 155, |
| "end_frame_exclusive": 190, |
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| "target": { |
| "type": "object", |
| "value": "pillow" |
| }, |
| "state": { |
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| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task4_Vid4", |
| "video_id": "Vid4", |
| "task_type": "Put the pillow on the right place", |
| "fps": 30, |
| "frame_count": 265, |
| "segments": [ |
| { |
| "start_frame": 84, |
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| "motion_type": "grasp_and_place", |
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| "target": { |
| "type": "object", |
| "value": "pillow" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "wrong_order" |
| }, |
| { |
| "start_frame": 204, |
| "end_frame_exclusive": 226, |
| "motion_type": "adjust", |
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| "value": "pillow" |
| }, |
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| "stage": "aligned" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task4_Vid5", |
| "video_id": "Vid5", |
| "task_type": "Put the pillow on the right place", |
| "fps": 30, |
| "frame_count": 252, |
| "segments": [ |
| { |
| "start_frame": 45, |
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| "value": "pillow" |
| }, |
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| }, |
| "error": "none" |
| }, |
| { |
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| "target": { |
| "type": "object", |
| "value": "pillow" |
| }, |
| "state": { |
| "stage": "aligned" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task4_Vid6", |
| "video_id": "Vid6", |
| "task_type": "Put the pillow on the right place", |
| "fps": 30, |
| "frame_count": 228, |
| "segments": [ |
| { |
| "start_frame": 50, |
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| "value": "pillow" |
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| }, |
| { |
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| "value": "pillow" |
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| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task4_Vid7", |
| "video_id": "Vid7", |
| "task_type": "Put the pillow on the right place", |
| "fps": 30, |
| "frame_count": 274, |
| "segments": [ |
| { |
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| "target": { |
| "type": "object", |
| "value": "pillow" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 161, |
| "end_frame_exclusive": 206, |
| "motion_type": "adjust", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "pillow" |
| }, |
| "state": { |
| "stage": "aligned" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task4_Vid8", |
| "video_id": "Vid8", |
| "task_type": "Put the pillow on the right place", |
| "fps": 30, |
| "frame_count": 264, |
| "segments": [ |
| { |
| "start_frame": 76, |
| "end_frame_exclusive": 119, |
| "motion_type": "grasp_and_place", |
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| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "pillow" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 161, |
| "end_frame_exclusive": 221, |
| "motion_type": "adjust", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "pillow" |
| }, |
| "state": { |
| "stage": "aligned" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task4_Vid9", |
| "video_id": "Vid9", |
| "task_type": "Put the pillow on the right place", |
| "fps": 30, |
| "frame_count": 281, |
| "segments": [ |
| { |
| "start_frame": 74, |
| "end_frame_exclusive": 178, |
| "motion_type": "grasp_and_place", |
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| "target": { |
| "type": "object", |
| "value": "pillow" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "drop" |
| }, |
| { |
| "start_frame": 213, |
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| "motion_type": "adjust", |
| "temporal_phase": "manipulate", |
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| "target": { |
| "type": "object", |
| "value": "pillow" |
| }, |
| "state": { |
| "stage": "aligned" |
| }, |
| "error": "regrasp_required" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task4_Vid10", |
| "video_id": "Vid10", |
| "task_type": "Put the pillow on the right place", |
| "fps": 30, |
| "frame_count": 326, |
| "segments": [ |
| { |
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| "type": "object", |
| "value": "pillow" |
| }, |
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| }, |
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| }, |
| { |
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| "motion_type": "adjust", |
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| }, |
| "state": { |
| "stage": "aligned" |
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| "error": "none" |
| } |
| ] |
| } |
| ] |
| }, |
| "Task5": { |
| "task_id": "Task5", |
| "title": "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "description": "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "preset": { |
| "motion_type": "grasp/lift/carry/place/release/adjust/regrasp", |
| "target_type": "object/surface/container", |
| "target_value": "plate/glass/plate_and_glass/plate_rim/glass_rim/stove_surface/counter", |
| "state_stage": "on_table/picked/moving/placed_on_stove" |
| }, |
| "episodes": [ |
| { |
| "episode_id": "Task5_Vid1", |
| "video_id": "Vid1", |
| "task_type": "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "fps": 30, |
| "frame_count": 272, |
| "segments": [ |
| { |
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| "end_frame_exclusive": 230, |
| "motion_type": "grasp_and_place", |
| "temporal_phase": "start", |
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| "target": { |
| "type": "object", |
| "value": "plate_and_glass" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task5_Vid2", |
| "video_id": "Vid2", |
| "task_type": "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "fps": 30, |
| "frame_count": 254, |
| "segments": [ |
| { |
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| "target": { |
| "type": "object", |
| "value": "plate_and_glass" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task5_Vid3", |
| "video_id": "Vid3", |
| "task_type": "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "fps": 30, |
| "frame_count": 202, |
| "segments": [ |
| { |
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| "target": { |
| "type": "object", |
| "value": "plate_and_glass" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task5_Vid4", |
| "video_id": "Vid4", |
| "task_type": "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "fps": 30, |
| "frame_count": 245, |
| "segments": [ |
| { |
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| "target": { |
| "type": "object", |
| "value": "plate_and_glass" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task5_Vid5", |
| "video_id": "Vid5", |
| "task_type": "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "fps": 30, |
| "frame_count": 253, |
| "segments": [ |
| { |
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| "target": { |
| "type": "object", |
| "value": "plate_and_glass" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task5_Vid6", |
| "video_id": "Vid6", |
| "task_type": "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "fps": 30, |
| "frame_count": 254, |
| "segments": [ |
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| "value": "plate_and_glass" |
| }, |
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| }, |
| "error": "occlusion" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task5_Vid7", |
| "video_id": "Vid7", |
| "task_type": "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "fps": 30, |
| "frame_count": 245, |
| "segments": [ |
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| "type": "object", |
| "value": "plate_and_glass" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task5_Vid8", |
| "video_id": "Vid8", |
| "task_type": "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "fps": 30, |
| "frame_count": 273, |
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| { |
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| "type": "object", |
| "value": "plate_and_glass" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task5_Vid9", |
| "video_id": "Vid9", |
| "task_type": "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "fps": 30, |
| "frame_count": 278, |
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| "value": "plate_and_glass" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "occlusion" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task5_Vid10", |
| "video_id": "Vid10", |
| "task_type": "Pick up the plate and glass and put them somewhere on the kitchen stove.", |
| "fps": 30, |
| "frame_count": 301, |
| "segments": [ |
| { |
| "start_frame": 65, |
| "end_frame_exclusive": 269, |
| "motion_type": "grasp_and_place", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "plate_and_glass" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| } |
| ] |
| }, |
| "Task6": { |
| "task_id": "Task6", |
| "title": "Go out the door and close it behind yourself.", |
| "description": "Go out the door and close it behind yourself.", |
| "preset": { |
| "motion_type": "grasp/push/pull/rotate/release/step/Grasp and pull and let go/grasp and pull and walk and let go", |
| "target_type": "door/handle/frame", |
| "target_value": "door_handle/door_edge/door_frame/doorknob/door_panel", |
| "state_stage": "open/opening/closing/closed/latched" |
| }, |
| "episodes": [ |
| { |
| "episode_id": "Task6_Vid1", |
| "video_id": "Vid1", |
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| "fps": 30, |
| "frame_count": 260, |
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| { |
| "start_frame": 24, |
| "end_frame_exclusive": 61, |
| "motion_type": "Grasp and pull and let go", |
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| "actor": "right_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
| "state": { |
| "stage": "opening" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 86, |
| "end_frame_exclusive": 228, |
| "motion_type": "grasp and pull and walk and let go", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
| "state": { |
| "stage": "closing" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task6_Vid2", |
| "video_id": "Vid2", |
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| "fps": 30, |
| "frame_count": 244, |
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| { |
| "start_frame": 15, |
| "end_frame_exclusive": 52, |
| "motion_type": "Grasp and pull and let go", |
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| "actor": "right_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
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| "stage": "opening" |
| }, |
| "error": "none" |
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| { |
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| "end_frame_exclusive": 190, |
| "motion_type": "grasp and pull and walk and let go", |
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| "actor": "right_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
| "state": { |
| "stage": "closing" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task6_Vid3", |
| "video_id": "Vid3", |
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| "frame_count": 239, |
| "segments": [ |
| { |
| "start_frame": 20, |
| "end_frame_exclusive": 62, |
| "motion_type": "Grasp and pull and let go", |
| "temporal_phase": "start", |
| "actor": "right_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
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| "stage": "opening" |
| }, |
| "error": "none" |
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| { |
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| "end_frame_exclusive": 200, |
| "motion_type": "grasp and pull and walk and let go", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
| "state": { |
| "stage": "closing" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task6_Vid5", |
| "video_id": "Vid5", |
| "task_type": "Go out the door and close it behind yourself.", |
| "fps": 30, |
| "frame_count": 272, |
| "segments": [ |
| { |
| "start_frame": 22, |
| "end_frame_exclusive": 69, |
| "motion_type": "Grasp and pull and let go", |
| "temporal_phase": "start", |
| "actor": "right_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
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| "stage": "opening" |
| }, |
| "error": "none" |
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| "end_frame_exclusive": 211, |
| "motion_type": "grasp and pull and walk and let go", |
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| "actor": "right_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
| "state": { |
| "stage": "closing" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task6_Vid6", |
| "video_id": "Vid6", |
| "task_type": "Go out the door and close it behind yourself.", |
| "fps": 30, |
| "frame_count": 254, |
| "segments": [ |
| { |
| "start_frame": 28, |
| "end_frame_exclusive": 73, |
| "motion_type": "Grasp and pull and let go", |
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| "actor": "right_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
| "state": { |
| "stage": "opening" |
| }, |
| "error": "none" |
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| { |
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| "end_frame_exclusive": 205, |
| "motion_type": "grasp and pull and walk and let go", |
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| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
| "state": { |
| "stage": "closing" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task6_Vid7", |
| "video_id": "Vid7", |
| "task_type": "Go out the door and close it behind yourself.", |
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| "frame_count": 200, |
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| { |
| "start_frame": 14, |
| "end_frame_exclusive": 46, |
| "motion_type": "Grasp and pull and let go", |
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| "actor": "right_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
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| "stage": "opening" |
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| "motion_type": "grasp and pull and walk and let go", |
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| "actor": "right_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
| "state": { |
| "stage": "closing" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task6_Vid8", |
| "video_id": "Vid8", |
| "task_type": "Go out the door and close it behind yourself.", |
| "fps": 30, |
| "frame_count": 227, |
| "segments": [ |
| { |
| "start_frame": 22, |
| "end_frame_exclusive": 64, |
| "motion_type": "Grasp and pull and let go", |
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| "actor": "left_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
| "state": { |
| "stage": "opening" |
| }, |
| "error": "wrong_order" |
| }, |
| { |
| "start_frame": 92, |
| "end_frame_exclusive": 184, |
| "motion_type": "grasp and pull and walk and let go", |
| "temporal_phase": "manipulate", |
| "actor": "left_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
| "state": { |
| "stage": "closing" |
| }, |
| "error": "occlusion" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task6_Vid9", |
| "video_id": "Vid9", |
| "task_type": "Go out the door and close it behind yourself.", |
| "fps": 30, |
| "frame_count": 244, |
| "segments": [ |
| { |
| "start_frame": 15, |
| "end_frame_exclusive": 62, |
| "motion_type": "Grasp and pull and let go", |
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| "actor": "right_hand", |
| "target": { |
| "type": "handle", |
| "value": "door_handle" |
| }, |
| "state": { |
| "stage": "opening" |
| }, |
| "error": "none" |
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| "motion_type": "grasp and pull and walk and let go", |
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| "type": "handle", |
| "value": "door_handle" |
| }, |
| "state": { |
| "stage": "closing" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task6_Vid10", |
| "video_id": "Vid10", |
| "task_type": "Go out the door and close it behind yourself.", |
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| "frame_count": 236, |
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| "start_frame": 12, |
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| "value": "door_handle" |
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| "stage": "opening" |
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| "state": { |
| "stage": "closing" |
| }, |
| "error": "none" |
| } |
| ] |
| } |
| ] |
| }, |
| "Task7": { |
| "task_id": "Task7", |
| "title": "Pick up the sandals and put them neatly next to the scale.", |
| "description": "Pick up the sandals and put them neatly next to the scale.", |
| "preset": { |
| "motion_type": "grasp/lift/carry/place/release/align/adjust/Grasp and correct the placement/grasp them and place them to the right spot", |
| "target_type": "object/footwear/surface", |
| "target_value": "sandal_left/sandal_right/sandal_strap/scale/floor_surface/target_spot/both_sandals", |
| "state_stage": "on_floor/picked/moving/placed/neat" |
| }, |
| "episodes": [ |
| { |
| "episode_id": "Task7_Vid1", |
| "video_id": "Vid1", |
| "task_type": "Pick up the sandals and put them neatly next to the scale.", |
| "fps": 30, |
| "frame_count": 228, |
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| { |
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| "target": { |
| "type": "footwear", |
| "value": "both_sandals" |
| }, |
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| "stage": "moving" |
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| "target": { |
| "type": "surface", |
| "value": "target_spot" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task7_Vid2", |
| "video_id": "Vid2", |
| "task_type": "Pick up the sandals and put them neatly next to the scale.", |
| "fps": 30, |
| "frame_count": 244, |
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| { |
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| "end_frame_exclusive": 120, |
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| "value": "both_sandals" |
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| "type": "surface", |
| "value": "target_spot" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task7_Vid3", |
| "video_id": "Vid3", |
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| "frame_count": 209, |
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| "end_frame_exclusive": 109, |
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| "target": { |
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| "value": "both_sandals" |
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| "stage": "moving" |
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| "error": "occlusion" |
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| "value": "target_spot" |
| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task7_Vid4", |
| "video_id": "Vid4", |
| "task_type": "Pick up the sandals and put them neatly next to the scale.", |
| "fps": 30, |
| "frame_count": 209, |
| "segments": [ |
| { |
| "start_frame": 60, |
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| "target": { |
| "type": "footwear", |
| "value": "both_sandals" |
| }, |
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| "stage": "moving" |
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| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task7_Vid5", |
| "video_id": "Vid5", |
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| "frame_count": 202, |
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| "value": "both_sandals" |
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| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task7_Vid6", |
| "video_id": "Vid6", |
| "task_type": "Pick up the sandals and put them neatly next to the scale.", |
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| "frame_count": 191, |
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| { |
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| "type": "footwear", |
| "value": "both_sandals" |
| }, |
| "state": { |
| "stage": "moving" |
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| "error": "wrong_order" |
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| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task7_Vid7", |
| "video_id": "Vid7", |
| "task_type": "Pick up the sandals and put them neatly next to the scale.", |
| "fps": 30, |
| "frame_count": 191, |
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| "type": "footwear", |
| "value": "both_sandals" |
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| "stage": "moving" |
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| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task7_Vid8", |
| "video_id": "Vid8", |
| "task_type": "Pick up the sandals and put them neatly next to the scale.", |
| "fps": 30, |
| "frame_count": 200, |
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| { |
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| "type": "footwear", |
| "value": "both_sandals" |
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| }, |
| "state": { |
| "stage": "moving" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task7_Vid9", |
| "video_id": "Vid9", |
| "task_type": "Pick up the sandals and put them neatly next to the scale.", |
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| "frame_count": 245, |
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| "value": "both_sandals" |
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| "error": "none" |
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| ] |
| }, |
| { |
| "episode_id": "Task7_Vid10", |
| "video_id": "Vid10", |
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| "type": "footwear", |
| "value": "both_sandals" |
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| "stage": "moving" |
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| ] |
| } |
| ] |
| }, |
| "Task8": { |
| "task_id": "Task8", |
| "title": "Put the orange cloth in the washing machine basket and close the drawer.", |
| "description": "Put the orange cloth in the washing machine basket and close the drawer.", |
| "preset": { |
| "motion_type": "grasp/lift/carry/insert/release/push/pull/close/Grasp the cloth/Close the drawer/throw the cloth into the basket", |
| "target_type": "cloth/container/drawer/handle", |
| "target_value": "orange_cloth/cloth_corner/basket_interior/basket_rim/drawer_handle/drawer_front", |
| "state_stage": "cloth_picked/cloth_in_basket/drawer_open/drawer_closing/drawer_closed" |
| }, |
| "episodes": [ |
| { |
| "episode_id": "Task8_Vid1", |
| "video_id": "Vid1", |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", |
| "fps": 30, |
| "frame_count": 192, |
| "segments": [ |
| { |
| "start_frame": 51, |
| "end_frame_exclusive": 77, |
| "motion_type": "Grasp the cloth", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth", |
| "value": "orange_cloth" |
| }, |
| "state": { |
| "stage": "cloth_picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 79, |
| "end_frame_exclusive": 100, |
| "motion_type": "Close the drawer", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "drawer", |
| "value": "drawer_front" |
| }, |
| "state": { |
| "stage": "drawer_closing" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 113, |
| "end_frame_exclusive": 158, |
| "motion_type": "throw the cloth into the basket", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "container", |
| "value": "basket_interior" |
| }, |
| "state": { |
| "stage": "cloth_in_basket" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task8_Vid2", |
| "video_id": "Vid2", |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", |
| "fps": 30, |
| "frame_count": 200, |
| "segments": [ |
| { |
| "start_frame": 49, |
| "end_frame_exclusive": 76, |
| "motion_type": "Grasp the cloth", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth", |
| "value": "orange_cloth" |
| }, |
| "state": { |
| "stage": "cloth_picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 72, |
| "end_frame_exclusive": 91, |
| "motion_type": "Close the drawer", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "drawer", |
| "value": "drawer_front" |
| }, |
| "state": { |
| "stage": "drawer_closing" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 103, |
| "end_frame_exclusive": 146, |
| "motion_type": "throw the cloth into the basket", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "container", |
| "value": "basket_interior" |
| }, |
| "state": { |
| "stage": "cloth_in_basket" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task8_Vid3", |
| "video_id": "Vid3", |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", |
| "fps": 30, |
| "frame_count": 170, |
| "segments": [ |
| { |
| "start_frame": 33, |
| "end_frame_exclusive": 62, |
| "motion_type": "Grasp the cloth", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth", |
| "value": "orange_cloth" |
| }, |
| "state": { |
| "stage": "cloth_picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 55, |
| "end_frame_exclusive": 72, |
| "motion_type": "Close the drawer", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "drawer", |
| "value": "drawer_front" |
| }, |
| "state": { |
| "stage": "drawer_closing" |
| }, |
| "error": "misalignment/slip/drop/occlusion/regrasp_required/wrong_order/none" |
| }, |
| { |
| "start_frame": 87, |
| "end_frame_exclusive": 123, |
| "motion_type": "throw the cloth into the basket", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "container", |
| "value": "basket_interior" |
| }, |
| "state": { |
| "stage": "cloth_in_basket" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task8_Vid4", |
| "video_id": "Vid4", |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", |
| "fps": 30, |
| "frame_count": 185, |
| "segments": [ |
| { |
| "start_frame": 53, |
| "end_frame_exclusive": 79, |
| "motion_type": "Grasp the cloth", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth", |
| "value": "orange_cloth" |
| }, |
| "state": { |
| "stage": "cloth_picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 68, |
| "end_frame_exclusive": 91, |
| "motion_type": "Close the drawer", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "drawer", |
| "value": "drawer_front" |
| }, |
| "state": { |
| "stage": "drawer_closing" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 111, |
| "end_frame_exclusive": 147, |
| "motion_type": "throw the cloth into the basket", |
| "temporal_phase": "end", |
| "actor": "left_hand", |
| "target": { |
| "type": "container", |
| "value": "basket_interior" |
| }, |
| "state": { |
| "stage": "cloth_in_basket" |
| }, |
| "error": "occlusion" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task8_Vid5", |
| "video_id": "Vid5", |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", |
| "fps": 30, |
| "frame_count": 208, |
| "segments": [ |
| { |
| "start_frame": 70, |
| "end_frame_exclusive": 104, |
| "motion_type": "Grasp the cloth", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth", |
| "value": "orange_cloth" |
| }, |
| "state": { |
| "stage": "cloth_picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 95, |
| "end_frame_exclusive": 122, |
| "motion_type": "Close the drawer", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "drawer", |
| "value": "drawer_front" |
| }, |
| "state": { |
| "stage": "drawer_closing" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 136, |
| "end_frame_exclusive": 175, |
| "motion_type": "throw the cloth into the basket", |
| "temporal_phase": "end", |
| "actor": "left_hand", |
| "target": { |
| "type": "container", |
| "value": "basket_interior" |
| }, |
| "state": { |
| "stage": "cloth_in_basket" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task8_Vid6", |
| "video_id": "Vid6", |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", |
| "fps": 30, |
| "frame_count": 181, |
| "segments": [ |
| { |
| "start_frame": 59, |
| "end_frame_exclusive": 82, |
| "motion_type": "Grasp the cloth", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth", |
| "value": "orange_cloth" |
| }, |
| "state": { |
| "stage": "cloth_picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 79, |
| "end_frame_exclusive": 102, |
| "motion_type": "Close the drawer", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "drawer", |
| "value": "drawer_front" |
| }, |
| "state": { |
| "stage": "drawer_closing" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 109, |
| "end_frame_exclusive": 151, |
| "motion_type": "throw the cloth into the basket", |
| "temporal_phase": "end", |
| "actor": "left_hand", |
| "target": { |
| "type": "container", |
| "value": "basket_interior" |
| }, |
| "state": { |
| "stage": "cloth_in_basket" |
| }, |
| "error": "occlusion" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task8_Vid7", |
| "video_id": "Vid7", |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", |
| "fps": 30, |
| "frame_count": 163, |
| "segments": [ |
| { |
| "start_frame": 37, |
| "end_frame_exclusive": 56, |
| "motion_type": "Grasp the cloth", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth", |
| "value": "orange_cloth" |
| }, |
| "state": { |
| "stage": "cloth_picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 53, |
| "end_frame_exclusive": 72, |
| "motion_type": "Close the drawer", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "drawer", |
| "value": "drawer_front" |
| }, |
| "state": { |
| "stage": "drawer_closing" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 86, |
| "end_frame_exclusive": 129, |
| "motion_type": "throw the cloth into the basket", |
| "temporal_phase": "end", |
| "actor": "left_hand", |
| "target": { |
| "type": "container", |
| "value": "basket_interior" |
| }, |
| "state": { |
| "stage": "cloth_in_basket" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task8_Vid8", |
| "video_id": "Vid8", |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", |
| "fps": 30, |
| "frame_count": 156, |
| "segments": [ |
| { |
| "start_frame": 51, |
| "end_frame_exclusive": 77, |
| "motion_type": "Grasp the cloth", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth", |
| "value": "orange_cloth" |
| }, |
| "state": { |
| "stage": "cloth_picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 70, |
| "end_frame_exclusive": 92, |
| "motion_type": "Close the drawer", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "drawer", |
| "value": "drawer_front" |
| }, |
| "state": { |
| "stage": "drawer_closing" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 105, |
| "end_frame_exclusive": 148, |
| "motion_type": "throw the cloth into the basket", |
| "temporal_phase": "end", |
| "actor": "left_hand", |
| "target": { |
| "type": "container", |
| "value": "basket_interior" |
| }, |
| "state": { |
| "stage": "cloth_in_basket" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task8_Vid9", |
| "video_id": "Vid9", |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", |
| "fps": 30, |
| "frame_count": 138, |
| "segments": [ |
| { |
| "start_frame": 20, |
| "end_frame_exclusive": 47, |
| "motion_type": "Grasp the cloth", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth", |
| "value": "orange_cloth" |
| }, |
| "state": { |
| "stage": "cloth_picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 36, |
| "end_frame_exclusive": 66, |
| "motion_type": "Close the drawer", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "drawer", |
| "value": "drawer_front" |
| }, |
| "state": { |
| "stage": "drawer_closing" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 77, |
| "end_frame_exclusive": 119, |
| "motion_type": "throw the cloth into the basket", |
| "temporal_phase": "end", |
| "actor": "left_hand", |
| "target": { |
| "type": "container", |
| "value": "basket_interior" |
| }, |
| "state": { |
| "stage": "cloth_in_basket" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task8_Vid10", |
| "video_id": "Vid10", |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", |
| "fps": 30, |
| "frame_count": 137, |
| "segments": [ |
| { |
| "start_frame": 21, |
| "end_frame_exclusive": 50, |
| "motion_type": "Grasp the cloth", |
| "temporal_phase": "start", |
| "actor": "left_hand", |
| "target": { |
| "type": "cloth", |
| "value": "orange_cloth" |
| }, |
| "state": { |
| "stage": "cloth_picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 42, |
| "end_frame_exclusive": 65, |
| "motion_type": "Close the drawer", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "drawer", |
| "value": "drawer_front" |
| }, |
| "state": { |
| "stage": "drawer_closing" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 70, |
| "end_frame_exclusive": 115, |
| "motion_type": "throw the cloth into the basket", |
| "temporal_phase": "end", |
| "actor": "left_hand", |
| "target": { |
| "type": "container", |
| "value": "basket_interior" |
| }, |
| "state": { |
| "stage": "cloth_in_basket" |
| }, |
| "error": "none" |
| } |
| ] |
| } |
| ] |
| }, |
| "Task9": { |
| "task_id": "Task9", |
| "title": "Screw the cap on your bottle.", |
| "description": "Screw the cap on your bottle.", |
| "preset": { |
| "motion_type": "grasp/align/rotate/press/release/adjust", |
| "target_type": "object/cap/bottle/cap and bottle", |
| "target_value": "bottle_cap/bottle_neck/bottle_body/cap_threads/bodies_of_bottle_and_cap", |
| "state_stage": "cap_off/cap_placed/threading/tight" |
| }, |
| "episodes": [ |
| { |
| "episode_id": "Task9_Vid1", |
| "video_id": "Vid1", |
| "task_type": "Screw the cap on your bottle.", |
| "fps": 30, |
| "frame_count": 246, |
| "segments": [ |
| { |
| "start_frame": 42, |
| "end_frame_exclusive": 77, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "cap_off" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 77, |
| "end_frame_exclusive": 182, |
| "motion_type": "rotate", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "threading" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 183, |
| "end_frame_exclusive": 206, |
| "motion_type": "release", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "bottle", |
| "value": "bottle_body" |
| }, |
| "state": { |
| "stage": "tight" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task9_Vid2", |
| "video_id": "Vid2", |
| "task_type": "Screw the cap on your bottle.", |
| "fps": 30, |
| "frame_count": 240, |
| "segments": [ |
| { |
| "start_frame": 52, |
| "end_frame_exclusive": 87, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "cap_off" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 87, |
| "end_frame_exclusive": 166, |
| "motion_type": "rotate", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "threading" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 166, |
| "end_frame_exclusive": 190, |
| "motion_type": "release", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "bottle", |
| "value": "bottle_body" |
| }, |
| "state": { |
| "stage": "tight" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task9_Vid3", |
| "video_id": "Vid3", |
| "task_type": "Screw the cap on your bottle.", |
| "fps": 30, |
| "frame_count": 207, |
| "segments": [ |
| { |
| "start_frame": 47, |
| "end_frame_exclusive": 78, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "cap_off" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 78, |
| "end_frame_exclusive": 169, |
| "motion_type": "rotate", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "threading" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 169, |
| "end_frame_exclusive": 189, |
| "motion_type": "release", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "bottle", |
| "value": "bottle_body" |
| }, |
| "state": { |
| "stage": "tight" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task9_Vid4", |
| "video_id": "Vid4", |
| "task_type": "Screw the cap on your bottle.", |
| "fps": 30, |
| "frame_count": 182, |
| "segments": [ |
| { |
| "start_frame": 30, |
| "end_frame_exclusive": 49, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "cap_placed" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 60, |
| "end_frame_exclusive": 125, |
| "motion_type": "rotate", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "threading" |
| }, |
| "error": "wrong_order" |
| }, |
| { |
| "start_frame": 125, |
| "end_frame_exclusive": 167, |
| "motion_type": "adjust", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "cap_off" |
| }, |
| "error": "wrong_order" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task9_Vid5", |
| "video_id": "Vid5", |
| "task_type": "Screw the cap on your bottle.", |
| "fps": 30, |
| "frame_count": 236, |
| "segments": [ |
| { |
| "start_frame": 43, |
| "end_frame_exclusive": 87, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "cap_off" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 87, |
| "end_frame_exclusive": 192, |
| "motion_type": "rotate", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "threading" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 192, |
| "end_frame_exclusive": 215, |
| "motion_type": "release", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "bottle", |
| "value": "bottle_body" |
| }, |
| "state": { |
| "stage": "tight" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task9_Vid6", |
| "video_id": "Vid6", |
| "task_type": "Screw the cap on your bottle.", |
| "fps": 30, |
| "frame_count": 209, |
| "segments": [ |
| { |
| "start_frame": 28, |
| "end_frame_exclusive": 65, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "cap_off" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 65, |
| "end_frame_exclusive": 157, |
| "motion_type": "rotate", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "threading" |
| }, |
| "error": "drop" |
| }, |
| { |
| "start_frame": 158, |
| "end_frame_exclusive": 174, |
| "motion_type": "release", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "bottle", |
| "value": "bottle_body" |
| }, |
| "state": { |
| "stage": "tight" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task9_Vid7", |
| "video_id": "Vid7", |
| "task_type": "Screw the cap on your bottle.", |
| "fps": 30, |
| "frame_count": 262, |
| "segments": [ |
| { |
| "start_frame": 52, |
| "end_frame_exclusive": 93, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "cap_off" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 93, |
| "end_frame_exclusive": 214, |
| "motion_type": "rotate", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "threading" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 216, |
| "end_frame_exclusive": 231, |
| "motion_type": "release", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "bottle", |
| "value": "bottle_body" |
| }, |
| "state": { |
| "stage": "tight" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task9_Vid8", |
| "video_id": "Vid8", |
| "task_type": "Screw the cap on your bottle.", |
| "fps": 30, |
| "frame_count": 209, |
| "segments": [ |
| { |
| "start_frame": 30, |
| "end_frame_exclusive": 71, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "cap_off" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 71, |
| "end_frame_exclusive": 159, |
| "motion_type": "rotate", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "threading" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 159, |
| "end_frame_exclusive": 180, |
| "motion_type": "release", |
| "temporal_phase": "end", |
| "actor": "both_hands", |
| "target": { |
| "type": "bottle", |
| "value": "bottle_body" |
| }, |
| "state": { |
| "stage": "tight" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task9_Vid9", |
| "video_id": "Vid9", |
| "task_type": "Screw the cap on your bottle.", |
| "fps": 30, |
| "frame_count": 246, |
| "segments": [ |
| { |
| "start_frame": 34, |
| "end_frame_exclusive": 83, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
| "state": { |
| "stage": "cap_off" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 84, |
| "end_frame_exclusive": 182, |
| "motion_type": "rotate", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "cap and bottle", |
| "value": "bodies_of_bottle_and_cap" |
| }, |
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| "stage": "threading" |
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| }, |
| { |
| "start_frame": 182, |
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| "motion_type": "release", |
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| "actor": "both_hands", |
| "target": { |
| "type": "bottle", |
| "value": "bottle_body" |
| }, |
| "state": { |
| "stage": "tight" |
| }, |
| "error": "none" |
| } |
| ] |
| } |
| ] |
| }, |
| "Task10": { |
| "task_id": "Task10", |
| "title": "Pick up the two object on the floor and put them on the bed.", |
| "description": "Pick up the two object on the floor and put them on the bed.", |
| "preset": { |
| "motion_type": "grasp/lift/carry/place/release/adjust/regrasp", |
| "target_type": "object/surface", |
| "target_value": "object_1/object_2/floor_surface/bed_surface/target_spot/Object_1_and_2", |
| "state_stage": "on_floor/picked/moving/placed_on_bed" |
| }, |
| "episodes": [ |
| { |
| "episode_id": "Task10_Vid1", |
| "video_id": "Vid1", |
| "task_type": "Pick up the two object on the floor and put them on the bed.", |
| "fps": 30, |
| "frame_count": 147, |
| "segments": [ |
| { |
| "start_frame": 17, |
| "end_frame_exclusive": 51, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "Object_1_and_2" |
| }, |
| "state": { |
| "stage": "picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 52, |
| "end_frame_exclusive": 90, |
| "motion_type": "release", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "surface", |
| "value": "bed_surface" |
| }, |
| "state": { |
| "stage": "placed_on_bed" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task10_Vid2", |
| "video_id": "Vid2", |
| "task_type": "Pick up the two object on the floor and put them on the bed.", |
| "fps": 30, |
| "frame_count": 182, |
| "segments": [ |
| { |
| "start_frame": 21, |
| "end_frame_exclusive": 95, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "Object_1_and_2" |
| }, |
| "state": { |
| "stage": "picked" |
| }, |
| "error": "occlusion" |
| }, |
| { |
| "start_frame": 95, |
| "end_frame_exclusive": 130, |
| "motion_type": "release", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "surface", |
| "value": "bed_surface" |
| }, |
| "state": { |
| "stage": "placed_on_bed" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task10_Vid3", |
| "video_id": "Vid3", |
| "task_type": "Pick up the two object on the floor and put them on the bed.", |
| "fps": 30, |
| "frame_count": 147, |
| "segments": [ |
| { |
| "start_frame": 23, |
| "end_frame_exclusive": 69, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "Object_1_and_2" |
| }, |
| "state": { |
| "stage": "picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 70, |
| "end_frame_exclusive": 111, |
| "motion_type": "release", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "surface", |
| "value": "bed_surface" |
| }, |
| "state": { |
| "stage": "placed_on_bed" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task10_Vid4", |
| "video_id": "Vid4", |
| "task_type": "Pick up the two object on the floor and put them on the bed.", |
| "fps": 30, |
| "frame_count": 173, |
| "segments": [ |
| { |
| "start_frame": 21, |
| "end_frame_exclusive": 88, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "Object_1_and_2" |
| }, |
| "state": { |
| "stage": "picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 88, |
| "end_frame_exclusive": 140, |
| "motion_type": "release", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "surface", |
| "value": "bed_surface" |
| }, |
| "state": { |
| "stage": "placed_on_bed" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task10_Vid5", |
| "video_id": "Vid5", |
| "task_type": "Pick up the two object on the floor and put them on the bed.", |
| "fps": 30, |
| "frame_count": 146, |
| "segments": [ |
| { |
| "start_frame": 18, |
| "end_frame_exclusive": 68, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "Object_1_and_2" |
| }, |
| "state": { |
| "stage": "picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 77, |
| "end_frame_exclusive": 107, |
| "motion_type": "release", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "surface", |
| "value": "bed_surface" |
| }, |
| "state": { |
| "stage": "placed_on_bed" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task10_Vid6", |
| "video_id": "Vid6", |
| "task_type": "Pick up the two object on the floor and put them on the bed.", |
| "fps": 30, |
| "frame_count": 147, |
| "segments": [ |
| { |
| "start_frame": 20, |
| "end_frame_exclusive": 62, |
| "motion_type": "grasp", |
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| "target": { |
| "type": "object", |
| "value": "Object_1_and_2" |
| }, |
| "state": { |
| "stage": "picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 63, |
| "end_frame_exclusive": 106, |
| "motion_type": "release", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "surface", |
| "value": "bed_surface" |
| }, |
| "state": { |
| "stage": "placed_on_bed" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task10_Vid7", |
| "video_id": "Vid7", |
| "task_type": "Pick up the two object on the floor and put them on the bed.", |
| "fps": 30, |
| "frame_count": 129, |
| "segments": [ |
| { |
| "start_frame": 34, |
| "end_frame_exclusive": 76, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "Object_1_and_2" |
| }, |
| "state": { |
| "stage": "picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 77, |
| "end_frame_exclusive": 107, |
| "motion_type": "release", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "surface", |
| "value": "bed_surface" |
| }, |
| "state": { |
| "stage": "placed_on_bed" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task10_Vid8", |
| "video_id": "Vid8", |
| "task_type": "Pick up the two object on the floor and put them on the bed.", |
| "fps": 30, |
| "frame_count": 128, |
| "segments": [ |
| { |
| "start_frame": 19, |
| "end_frame_exclusive": 57, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "Object_1_and_2" |
| }, |
| "state": { |
| "stage": "picked" |
| }, |
| "error": "occlusion" |
| }, |
| { |
| "start_frame": 20, |
| "end_frame_exclusive": 100, |
| "motion_type": "release", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "surface", |
| "value": "bed_surface" |
| }, |
| "state": { |
| "stage": "placed_on_bed" |
| }, |
| "error": "occlusion" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task10_Vid9", |
| "video_id": "Vid9", |
| "task_type": "Pick up the two object on the floor and put them on the bed.", |
| "fps": 30, |
| "frame_count": 171, |
| "segments": [ |
| { |
| "start_frame": 13, |
| "end_frame_exclusive": 61, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "both_hands", |
| "target": { |
| "type": "object", |
| "value": "Object_1_and_2" |
| }, |
| "state": { |
| "stage": "picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 61, |
| "end_frame_exclusive": 106, |
| "motion_type": "release", |
| "temporal_phase": "manipulate", |
| "actor": "both_hands", |
| "target": { |
| "type": "surface", |
| "value": "bed_surface" |
| }, |
| "state": { |
| "stage": "placed_on_bed" |
| }, |
| "error": "none" |
| } |
| ] |
| }, |
| { |
| "episode_id": "Task10_Vid10", |
| "video_id": "Vid10", |
| "task_type": "Pick up the two object on the floor and put them on the bed.", |
| "fps": 30, |
| "frame_count": 225, |
| "segments": [ |
| { |
| "start_frame": 18, |
| "end_frame_exclusive": 50, |
| "motion_type": "grasp", |
| "temporal_phase": "start", |
| "actor": "right_hand", |
| "target": { |
| "type": "object", |
| "value": "object_1" |
| }, |
| "state": { |
| "stage": "picked" |
| }, |
| "error": "none" |
| }, |
| { |
| "start_frame": 50, |
| "end_frame_exclusive": 87, |
| "motion_type": "grasp", |
| "temporal_phase": "manipulate", |
| "actor": "right_hand", |
| "target": { |
| "type": "object", |
| "value": "object_1" |
| }, |
| "state": { |
| "stage": "placed_on_bed" |
| }, |
| "error": "none" |
| } |
| ] |
| } |
| ] |
| } |
| } |
| } |
