| { | |
| "_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" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_id": "Task2_Vid5", | |
| "video_id": "Vid5", | |
| "task_type": "Fold the jeans on the bed.", | |
| "fps": 30, | |
| "frame_count": 461, | |
| "segments": [ | |
| { | |
| "start_frame": 90, | |
| "end_frame_exclusive": 158, | |
| "motion_type": "pull", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "waistband" | |
| }, | |
| "state": { | |
| "stage": "unfolded", | |
| "flatness": "wrinkled", | |
| "symmetry": "asymmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 200, | |
| "end_frame_exclusive": 400, | |
| "motion_type": "fold", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "center_fold" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 404, | |
| "end_frame_exclusive": 423, | |
| "motion_type": "release", | |
| "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_Vid6", | |
| "video_id": "Vid6", | |
| "task_type": "Fold the jeans on the bed.", | |
| "fps": 30, | |
| "frame_count": 461, | |
| "segments": [ | |
| { | |
| "start_frame": 72, | |
| "end_frame_exclusive": 127, | |
| "motion_type": "grasp", | |
| "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": 253, | |
| "end_frame_exclusive": 370, | |
| "motion_type": "fold", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "center_fold" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 373, | |
| "end_frame_exclusive": 392, | |
| "motion_type": "release", | |
| "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_Vid7", | |
| "video_id": "Vid7", | |
| "task_type": "Fold the jeans on the bed.", | |
| "fps": 30, | |
| "frame_count": 560, | |
| "segments": [ | |
| { | |
| "start_frame": 69, | |
| "end_frame_exclusive": 97, | |
| "motion_type": "grasp", | |
| "temporal_phase": "start", | |
| "actor": "left_hand", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "waistband" | |
| }, | |
| "state": { | |
| "stage": "unfolded", | |
| "flatness": "wrinkled", | |
| "symmetry": "asymmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 98, | |
| "end_frame_exclusive": 0, | |
| "motion_type": "fold", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "waistband" | |
| }, | |
| "state": { | |
| "stage": "half_folded", | |
| "flatness": "mostly_flat", | |
| "symmetry": "mostly_symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 484, | |
| "end_frame_exclusive": 502, | |
| "motion_type": "release", | |
| "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_Vid8", | |
| "video_id": "Vid8", | |
| "task_type": "Fold the jeans on the bed.", | |
| "fps": 30, | |
| "frame_count": 460, | |
| "segments": [ | |
| { | |
| "start_frame": 74, | |
| "end_frame_exclusive": 223, | |
| "motion_type": "grasp", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "center_fold" | |
| }, | |
| "state": { | |
| "stage": "unfolded", | |
| "flatness": "mostly_flat", | |
| "symmetry": "mostly_symmetric" | |
| }, | |
| "error": "occlusion" | |
| }, | |
| { | |
| "start_frame": 245, | |
| "end_frame_exclusive": 399, | |
| "motion_type": "fold", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "center_fold" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 400, | |
| "end_frame_exclusive": 414, | |
| "motion_type": "release", | |
| "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_Vid9", | |
| "video_id": "Vid9", | |
| "task_type": "Fold the jeans on the bed.", | |
| "fps": 30, | |
| "frame_count": 469, | |
| "segments": [ | |
| { | |
| "start_frame": 78, | |
| "end_frame_exclusive": 105, | |
| "motion_type": "grasp", | |
| "temporal_phase": "start", | |
| "actor": "right_hand", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "waistband" | |
| }, | |
| "state": { | |
| "stage": "unfolded", | |
| "flatness": "wrinkled", | |
| "symmetry": "asymmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 106, | |
| "end_frame_exclusive": 403, | |
| "motion_type": "fold", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "center_fold" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "occlusion" | |
| }, | |
| { | |
| "start_frame": 415, | |
| "end_frame_exclusive": 430, | |
| "motion_type": "release", | |
| "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_Vid10", | |
| "video_id": "Vid10", | |
| "task_type": "Fold the jeans on the bed.", | |
| "fps": 30, | |
| "frame_count": 550, | |
| "segments": [ | |
| { | |
| "start_frame": 83, | |
| "end_frame_exclusive": 270, | |
| "motion_type": "grasp", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "center_fold" | |
| }, | |
| "state": { | |
| "stage": "unfolded", | |
| "flatness": "wrinkled", | |
| "symmetry": "asymmetric" | |
| }, | |
| "error": "regrasp_required" | |
| }, | |
| { | |
| "start_frame": 313, | |
| "end_frame_exclusive": 479, | |
| "motion_type": "fold", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "center_fold" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 483, | |
| "end_frame_exclusive": 500, | |
| "motion_type": "release", | |
| "temporal_phase": "end", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "center_fold" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| "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.", | |
| "preset": { | |
| "motion_type": "grasp/pull/align/fold/smooth/release/stack/adjust", | |
| "target_type": "cloth_region/surface/stack", | |
| "target_value": "both_underwear/left_underwear/right_underwear/waistband/center/stack_top/bed_surface", | |
| "state_stage": "unfolded/half_folded/final/stacked", | |
| "flatness": "wrinkled/mostly_flat/flat", | |
| "symmetry": "asymmetric/mostly_symmetric/symmetric" | |
| }, | |
| "episodes": [ | |
| { | |
| "episode_id": "Task3_Vid1", | |
| "video_id": "Vid1", | |
| "task_type": "Fold the two underwear and stack them on top of each other.", | |
| "fps": 30, | |
| "frame_count": 506, | |
| "segments": [ | |
| { | |
| "start_frame": 113, | |
| "end_frame_exclusive": 257, | |
| "motion_type": "grasp", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "both_underwear" | |
| }, | |
| "state": { | |
| "stage": "half_folded", | |
| "flatness": "mostly_flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 285, | |
| "end_frame_exclusive": 380, | |
| "motion_type": "fold", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "both_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 383, | |
| "end_frame_exclusive": 459, | |
| "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_Vid2", | |
| "video_id": "Vid2", | |
| "task_type": "Fold the two underwear and stack them on top of each other.", | |
| "fps": 30, | |
| "frame_count": 408, | |
| "segments": [ | |
| { | |
| "start_frame": 57, | |
| "end_frame_exclusive": 97, | |
| "motion_type": "grasp", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "left_underwear" | |
| }, | |
| "state": { | |
| "stage": "unfolded/", | |
| "flatness": "mostly_flat", | |
| "symmetry": "mostly_symmetric" | |
| }, | |
| "error": "occlusion" | |
| }, | |
| { | |
| "start_frame": 142, | |
| "end_frame_exclusive": 191, | |
| "motion_type": "fold", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "left_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 206, | |
| "end_frame_exclusive": 300, | |
| "motion_type": "grasp", | |
| "temporal_phase": "end", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "right_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_id": "Task3_Vid3", | |
| "video_id": "Vid3", | |
| "task_type": "Fold the two underwear and stack them on top of each other.", | |
| "fps": 30, | |
| "frame_count": 415, | |
| "segments": [ | |
| { | |
| "start_frame": 75, | |
| "end_frame_exclusive": 185, | |
| "motion_type": "fold", | |
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| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "right_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 209, | |
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| "motion_type": "grasp", | |
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| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "left_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 300, | |
| "end_frame_exclusive": 381, | |
| "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_Vid4", | |
| "video_id": "Vid4", | |
| "task_type": "Fold the two underwear and stack them on top of each other.", | |
| "fps": 30, | |
| "frame_count": 408, | |
| "segments": [ | |
| { | |
| "start_frame": 55, | |
| "end_frame_exclusive": 161, | |
| "motion_type": "fold", | |
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| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "left_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 194, | |
| "end_frame_exclusive": 273, | |
| "motion_type": "fold", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "right_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 286, | |
| "end_frame_exclusive": 363, | |
| "motion_type": "stack", | |
| "temporal_phase": "end", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "stack", | |
| "value": "both_underwear" | |
| }, | |
| "state": { | |
| "stage": "stacked", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_id": "Task3_Vid5", | |
| "video_id": "Vid5", | |
| "task_type": "Fold the two underwear and stack them on top of each other.", | |
| "fps": 30, | |
| "frame_count": 441, | |
| "segments": [ | |
| { | |
| "start_frame": 85, | |
| "end_frame_exclusive": 209, | |
| "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": 237, | |
| "end_frame_exclusive": 320, | |
| "motion_type": "grasp", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "left_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 322, | |
| "end_frame_exclusive": 382, | |
| "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_Vid6", | |
| "video_id": "Vid6", | |
| "task_type": "Fold the two underwear and stack them on top of each other.", | |
| "fps": 30, | |
| "frame_count": 416, | |
| "segments": [ | |
| { | |
| "start_frame": 62, | |
| "end_frame_exclusive": 150, | |
| "motion_type": "fold", | |
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| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "right_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 194, | |
| "end_frame_exclusive": 280, | |
| "motion_type": "grasp", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "left_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
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| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 298, | |
| "end_frame_exclusive": 370, | |
| "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_Vid7", | |
| "video_id": "Vid7", | |
| "task_type": "Fold the two underwear and stack them on top of each other.", | |
| "fps": 30, | |
| "frame_count": 403, | |
| "segments": [ | |
| { | |
| "start_frame": 76, | |
| "end_frame_exclusive": 196, | |
| "motion_type": "fold", | |
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| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "right_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 230, | |
| "end_frame_exclusive": 276, | |
| "motion_type": "grasp", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "left_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 295, | |
| "end_frame_exclusive": 369, | |
| "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_Vid8", | |
| "video_id": "Vid8", | |
| "task_type": "Fold the two underwear and stack them on top of each other.", | |
| "fps": 30, | |
| "frame_count": 424, | |
| "segments": [ | |
| { | |
| "start_frame": 76, | |
| "end_frame_exclusive": 190, | |
| "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", | |
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| }, | |
| "error": "none" | |
| }, | |
| { | |
| "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, | |
| "motion_type": "fold", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "left_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 218, | |
| "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" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 272, | |
| "end_frame_exclusive": 338, | |
| "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_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", | |
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| "actor": "both_hands", | |
| "target": { | |
| "type": "cloth_region", | |
| "value": "left_underwear" | |
| }, | |
| "state": { | |
| "stage": "final", | |
| "flatness": "flat", | |
| "symmetry": "symmetric" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "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" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "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": [ | |
| { | |
| "start_frame": 77, | |
| "end_frame_exclusive": 110, | |
| "motion_type": "grasp", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 144, | |
| "end_frame_exclusive": 193, | |
| "motion_type": "adjust", | |
| "temporal_phase": "manipulate", | |
| "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": [ | |
| { | |
| "start_frame": 78, | |
| "end_frame_exclusive": 113, | |
| "motion_type": "grasp_and_place", | |
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| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 142, | |
| "end_frame_exclusive": 211, | |
| "motion_type": "adjust", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "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, | |
| "end_frame_exclusive": 138, | |
| "motion_type": "grasp_and_place", | |
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| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 155, | |
| "end_frame_exclusive": 190, | |
| "motion_type": "adjust", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "stage": "aligned" | |
| }, | |
| "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, | |
| "end_frame_exclusive": 187, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "error": "wrong_order" | |
| }, | |
| { | |
| "start_frame": 204, | |
| "end_frame_exclusive": 226, | |
| "motion_type": "adjust", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "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, | |
| "end_frame_exclusive": 90, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 130, | |
| "end_frame_exclusive": 200, | |
| "motion_type": "adjust", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "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, | |
| "end_frame_exclusive": 101, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 150, | |
| "end_frame_exclusive": 176, | |
| "motion_type": "adjust", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "stage": "aligned" | |
| }, | |
| "error": "none" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_id": "Task4_Vid7", | |
| "video_id": "Vid7", | |
| "task_type": "Put the pillow on the right place", | |
| "fps": 30, | |
| "frame_count": 274, | |
| "segments": [ | |
| { | |
| "start_frame": 89, | |
| "end_frame_exclusive": 127, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "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", | |
| "temporal_phase": "start", | |
| "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", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "error": "drop" | |
| }, | |
| { | |
| "start_frame": 213, | |
| "end_frame_exclusive": 228, | |
| "motion_type": "adjust", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "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": [ | |
| { | |
| "start_frame": 94, | |
| "end_frame_exclusive": 164, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 190, | |
| "end_frame_exclusive": 283, | |
| "motion_type": "adjust", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "pillow" | |
| }, | |
| "state": { | |
| "stage": "aligned" | |
| }, | |
| "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": [ | |
| { | |
| "start_frame": 80, | |
| "end_frame_exclusive": 230, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "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": [ | |
| { | |
| "start_frame": 70, | |
| "end_frame_exclusive": 202, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "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": [ | |
| { | |
| "start_frame": 50, | |
| "end_frame_exclusive": 181, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "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": [ | |
| { | |
| "start_frame": 70, | |
| "end_frame_exclusive": 197, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "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": [ | |
| { | |
| "start_frame": 46, | |
| "end_frame_exclusive": 192, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "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": [ | |
| { | |
| "start_frame": 53, | |
| "end_frame_exclusive": 205, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "value": "plate_and_glass" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "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": [ | |
| { | |
| "start_frame": 49, | |
| "end_frame_exclusive": 204, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "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, | |
| "segments": [ | |
| { | |
| "start_frame": 58, | |
| "end_frame_exclusive": 235, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "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, | |
| "segments": [ | |
| { | |
| "start_frame": 57, | |
| "end_frame_exclusive": 219, | |
| "motion_type": "grasp_and_place", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "object", | |
| "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", | |
| "task_type": "Go out the door and close it behind yourself.", | |
| "fps": 30, | |
| "frame_count": 260, | |
| "segments": [ | |
| { | |
| "start_frame": 24, | |
| "end_frame_exclusive": 61, | |
| "motion_type": "Grasp and pull and let go", | |
| "temporal_phase": "start", | |
| "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", | |
| "task_type": "Go out the door and close it behind yourself.", | |
| "fps": 30, | |
| "frame_count": 244, | |
| "segments": [ | |
| { | |
| "start_frame": 15, | |
| "end_frame_exclusive": 52, | |
| "motion_type": "Grasp and pull and let go", | |
| "temporal_phase": "start", | |
| "actor": "right_hand", | |
| "target": { | |
| "type": "handle", | |
| "value": "door_handle" | |
| }, | |
| "state": { | |
| "stage": "opening" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 79, | |
| "end_frame_exclusive": 190, | |
| "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_Vid3", | |
| "video_id": "Vid3", | |
| "task_type": "Go out the door and close it behind yourself.", | |
| "fps": 30, | |
| "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" | |
| }, | |
| "state": { | |
| "stage": "opening" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 85, | |
| "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" | |
| }, | |
| "state": { | |
| "stage": "opening" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 88, | |
| "end_frame_exclusive": 211, | |
| "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_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", | |
| "temporal_phase": "start", | |
| "actor": "right_hand", | |
| "target": { | |
| "type": "handle", | |
| "value": "door_handle" | |
| }, | |
| "state": { | |
| "stage": "opening" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 93, | |
| "end_frame_exclusive": 205, | |
| "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_Vid7", | |
| "video_id": "Vid7", | |
| "task_type": "Go out the door and close it behind yourself.", | |
| "fps": 30, | |
| "frame_count": 200, | |
| "segments": [ | |
| { | |
| "start_frame": 14, | |
| "end_frame_exclusive": 46, | |
| "motion_type": "Grasp and pull and let go", | |
| "temporal_phase": "start", | |
| "actor": "right_hand", | |
| "target": { | |
| "type": "handle", | |
| "value": "door_handle" | |
| }, | |
| "state": { | |
| "stage": "opening" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 75, | |
| "end_frame_exclusive": 161, | |
| "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_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", | |
| "temporal_phase": "start", | |
| "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", | |
| "temporal_phase": "start", | |
| "actor": "right_hand", | |
| "target": { | |
| "type": "handle", | |
| "value": "door_handle" | |
| }, | |
| "state": { | |
| "stage": "opening" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 87, | |
| "end_frame_exclusive": 203, | |
| "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_Vid10", | |
| "video_id": "Vid10", | |
| "task_type": "Go out the door and close it behind yourself.", | |
| "fps": 30, | |
| "frame_count": 236, | |
| "segments": [ | |
| { | |
| "start_frame": 12, | |
| "end_frame_exclusive": 59, | |
| "motion_type": "Grasp and pull and let go", | |
| "temporal_phase": "start", | |
| "actor": "right_hand", | |
| "target": { | |
| "type": "handle", | |
| "value": "door_handle" | |
| }, | |
| "state": { | |
| "stage": "opening" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 88, | |
| "end_frame_exclusive": 189, | |
| "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" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| "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, | |
| "segments": [ | |
| { | |
| "start_frame": 75, | |
| "end_frame_exclusive": 124, | |
| "motion_type": "Grasp and correct the placement", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "footwear", | |
| "value": "both_sandals" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 130, | |
| "end_frame_exclusive": 189, | |
| "motion_type": "grasp them and place them to the right spot", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "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, | |
| "segments": [ | |
| { | |
| "start_frame": 70, | |
| "end_frame_exclusive": 120, | |
| "motion_type": "Grasp and correct the placement", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "footwear", | |
| "value": "both_sandals" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 132, | |
| "end_frame_exclusive": 209, | |
| "motion_type": "grasp them and place them to the right spot", | |
| "temporal_phase": "manipulate", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "surface", | |
| "value": "target_spot" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "error": "none" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_id": "Task7_Vid3", | |
| "video_id": "Vid3", | |
| "task_type": "Pick up the sandals and put them neatly next to the scale.", | |
| "fps": 30, | |
| "frame_count": 209, | |
| "segments": [ | |
| { | |
| "start_frame": 60, | |
| "end_frame_exclusive": 109, | |
| "motion_type": "Grasp and correct the placement", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "target": { | |
| "type": "footwear", | |
| "value": "both_sandals" | |
| }, | |
| "state": { | |
| "stage": "moving" | |
| }, | |
| "error": "occlusion" | |
| }, | |
| { | |
| "start_frame": 114, | |
| "end_frame_exclusive": 169, | |
| "motion_type": "grasp them and place them to the right spot", | |
| "temporal_phase": "manipulate", | |
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| "target": { | |
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| "error": "none" | |
| } | |
| ] | |
| }, | |
| { | |
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| { | |
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| { | |
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| "task_type": "Pick up the sandals and put them neatly next to the scale.", | |
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| "value": "both_sandals" | |
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| { | |
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| ] | |
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| { | |
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| "video_id": "Vid7", | |
| "task_type": "Pick up the sandals and put them neatly next to the scale.", | |
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| } | |
| ] | |
| }, | |
| { | |
| "episode_id": "Task7_Vid8", | |
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| "task_type": "Pick up the sandals and put them neatly next to the scale.", | |
| "fps": 30, | |
| "frame_count": 200, | |
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| "type": "footwear", | |
| "value": "both_sandals" | |
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| } | |
| ] | |
| }, | |
| { | |
| "episode_id": "Task7_Vid9", | |
| "video_id": "Vid9", | |
| "task_type": "Pick up the sandals and put them neatly next to the scale.", | |
| "fps": 30, | |
| "frame_count": 245, | |
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| { | |
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| } | |
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| { | |
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| "video_id": "Vid10", | |
| "task_type": "Pick up the sandals and put them neatly next to the scale.", | |
| "fps": 30, | |
| "frame_count": 225, | |
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| { | |
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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, | |
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| { | |
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| "target": { | |
| "type": "cloth", | |
| "value": "orange_cloth" | |
| }, | |
| "state": { | |
| "stage": "cloth_picked" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
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| "value": "drawer_front" | |
| }, | |
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| "stage": "drawer_closing" | |
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| }, | |
| { | |
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| "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, | |
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| { | |
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| "type": "cloth", | |
| "value": "orange_cloth" | |
| }, | |
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| "stage": "cloth_picked" | |
| }, | |
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| { | |
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| "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, | |
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| "temporal_phase": "start", | |
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| "type": "cloth", | |
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| }, | |
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| }, | |
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| }, | |
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| }, | |
| { | |
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| "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, | |
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| { | |
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| "stage": "cloth_picked" | |
| }, | |
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| }, | |
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| }, | |
| "error": "occlusion" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_id": "Task8_Vid5", | |
| "video_id": "Vid5", | |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", | |
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| }, | |
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| { | |
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| } | |
| ] | |
| }, | |
| { | |
| "episode_id": "Task8_Vid6", | |
| "video_id": "Vid6", | |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", | |
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| }, | |
| "error": "occlusion" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_id": "Task8_Vid7", | |
| "video_id": "Vid7", | |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", | |
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| }, | |
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| }, | |
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| } | |
| ] | |
| }, | |
| { | |
| "episode_id": "Task8_Vid8", | |
| "video_id": "Vid8", | |
| "task_type": "Put the orange cloth in the washing machine basket and close the drawer.", | |
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| { | |
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| }, | |
| "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" | |
| }, | |
| "state": { | |
| "stage": "threading" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 182, | |
| "end_frame_exclusive": 204, | |
| "motion_type": "release", | |
| "temporal_phase": "end", | |
| "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" | |
| }, | |
| { | |
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| "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, | |
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| { | |
| "start_frame": 21, | |
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| "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, | |
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| { | |
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| "type": "object", | |
| "value": "Object_1_and_2" | |
| }, | |
| "state": { | |
| "stage": "picked" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 77, | |
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| "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, | |
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| { | |
| "start_frame": 20, | |
| "end_frame_exclusive": 62, | |
| "motion_type": "grasp", | |
| "temporal_phase": "start", | |
| "actor": "both_hands", | |
| "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", | |
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| "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, | |
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| { | |
| "start_frame": 19, | |
| "end_frame_exclusive": 57, | |
| "motion_type": "grasp", | |
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| "actor": "both_hands", | |
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| "value": "Object_1_and_2" | |
| }, | |
| "state": { | |
| "stage": "picked" | |
| }, | |
| "error": "occlusion" | |
| }, | |
| { | |
| "start_frame": 20, | |
| "end_frame_exclusive": 100, | |
| "motion_type": "release", | |
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| "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": [ | |
| { | |
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| "motion_type": "grasp", | |
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| "value": "Object_1_and_2" | |
| }, | |
| "state": { | |
| "stage": "picked" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 61, | |
| "end_frame_exclusive": 106, | |
| "motion_type": "release", | |
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| "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": [ | |
| { | |
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| "end_frame_exclusive": 50, | |
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| "actor": "right_hand", | |
| "target": { | |
| "type": "object", | |
| "value": "object_1" | |
| }, | |
| "state": { | |
| "stage": "picked" | |
| }, | |
| "error": "none" | |
| }, | |
| { | |
| "start_frame": 50, | |
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| "motion_type": "grasp", | |
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| "actor": "right_hand", | |
| "target": { | |
| "type": "object", | |
| "value": "object_1" | |
| }, | |
| "state": { | |
| "stage": "placed_on_bed" | |
| }, | |
| "error": "none" | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| } | |
| } |