| { | |
| "task_name": "rearranging kitchen furniture", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 7629, | |
| "valid_duration": [ | |
| 0, | |
| 7629 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_tynnnw_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 601 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_tynnnw_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 601, | |
| 1359 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 10 | |
| ], | |
| "skill_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_tynnnw_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1359, | |
| 2197 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toaster_91" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2197, | |
| 2320 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toaster_91", | |
| "bar_byvbuc_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "toaster_91" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2320, | |
| 2760 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_tynnnw_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2760, | |
| 2942 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toaster_91", | |
| "top_cabinet_tynnnw_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "toaster_91" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "low_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 2943, | |
| 3339 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "food_processor_90" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3339, | |
| 3611 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 93 | |
| ], | |
| "skill_description": [ | |
| "turn to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "food_processor_90", | |
| "robot" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "food_processor_90" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "face_away" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 3611, | |
| 3861 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "food_processor_90", | |
| "bar_byvbuc_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "food_processor_90" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3861, | |
| 4003 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_tynnnw_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4003, | |
| 4249 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 92 | |
| ], | |
| "skill_description": [ | |
| "place in next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "food_processor_90", | |
| "top_cabinet_tynnnw_1", | |
| "toaster_91" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "food_processor_90" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "low_level", | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4249, | |
| 4688 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "french_press_89" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4688, | |
| 4986 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 93 | |
| ], | |
| "skill_description": [ | |
| "turn to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "french_press_89", | |
| "robot" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "french_press_89" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "face_away" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4986, | |
| 6246 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "french_press_89", | |
| "bar_byvbuc_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "french_press_89" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6246, | |
| 6318 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_tynnnw_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6318, | |
| 6549 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 92 | |
| ], | |
| "skill_description": [ | |
| "place in next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "french_press_89", | |
| "top_cabinet_tynnnw_1", | |
| "food_processor_90" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "french_press_89" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "low_level", | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6549, | |
| 6818 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_tynnnw_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6818, | |
| 7115 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_tynnnw_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right_door" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7115, | |
| 7629 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 10 | |
| ], | |
| "primitive_description": [ | |
| "open door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_tynnnw_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door", | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 0, | |
| 2197 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toaster_91", | |
| "bar_byvbuc_0" | |
| ], | |
| [ | |
| "toaster_91", | |
| "top_cabinet_tynnnw_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "toaster_91", | |
| "toaster_91" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "low_level" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 2197, | |
| 3339 | |
| ], | |
| "skill_idxes": [ | |
| 3, | |
| 4, | |
| 5, | |
| 6 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 92 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "food_processor_90", | |
| "bar_byvbuc_0" | |
| ], | |
| [ | |
| "food_processor_90", | |
| "top_cabinet_tynnnw_1", | |
| "toaster_91" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "food_processor_90", | |
| "food_processor_90" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "low_level" | |
| ], | |
| [ | |
| "right" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 3339, | |
| 4688 | |
| ], | |
| "skill_idxes": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 2, | |
| 92 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in next to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "french_press_89", | |
| "bar_byvbuc_0" | |
| ], | |
| [ | |
| "french_press_89", | |
| "top_cabinet_tynnnw_1", | |
| "food_processor_90" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "french_press_89", | |
| "french_press_89" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "low_level" | |
| ], | |
| [ | |
| "right" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4688, | |
| 6818 | |
| ], | |
| "skill_idxes": [ | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "top_cabinet_tynnnw_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left_door", | |
| "right_door" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6818, | |
| 7629 | |
| ], | |
| "skill_idxes": [ | |
| 17, | |
| 18 | |
| ] | |
| } | |
| ] | |
| } |