diff --git "a/annotations_motion_v1_frames.json" "b/annotations_motion_v1_frames.json" new file mode 100644--- /dev/null +++ "b/annotations_motion_v1_frames.json" @@ -0,0 +1,4644 @@ +{ + "_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": 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"placed_on_bed" + }, + "error": "none" + } + ] + } + ] + } + } +} \ No newline at end of file