| { |
| "task_name": "rearranging kitchen furniture", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 17280, |
| "valid_duration": [ |
| 0, |
| 17280 |
| ] |
| }, |
| "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, |
| 1664 |
| ], |
| "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": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 1695, |
| 3313 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_tynnnw_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 3313, |
| 5507 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "french_press_89" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5507, |
| 6675 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "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": [ |
| 6675, |
| 7574 |
| ], |
| "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": [ |
| 7574, |
| 8034 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "french_press_89", |
| "top_cabinet_tynnnw_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "french_press_89" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "low_level" |
| ] |
| ], |
| "frame_duration": [ |
| 8034, |
| 9109 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "toaster_91" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9109, |
| 9735 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "toaster_91", |
| "bar_byvbuc_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "toaster_91" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9735, |
| 10603 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_tynnnw_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10603, |
| 11333 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 92 |
| ], |
| "skill_description": [ |
| "place in next to" |
| ], |
| "object_id": [ |
| [ |
| "toaster_91", |
| "top_cabinet_tynnnw_1", |
| "french_press_89" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "toaster_91" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "low_level", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 11333, |
| 12271 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "food_processor_90" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12271, |
| 12861 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "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": [ |
| 12861, |
| 13462 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_tynnnw_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13462, |
| 14072 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "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", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 14072, |
| 15170 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_tynnnw_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 15170, |
| 16130 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "top_cabinet_tynnnw_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 16130, |
| 17280 |
| ], |
| "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": [ |
| [ |
| [ |
| "right_door", |
| "left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 0, |
| 5507 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "french_press_89", |
| "bar_byvbuc_0" |
| ], |
| [ |
| "french_press_89", |
| "top_cabinet_tynnnw_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "french_press_89", |
| "french_press_89" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "low_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 5507, |
| 9109 |
| ], |
| "skill_idxes": [ |
| 3, |
| 4, |
| 5, |
| 6 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 92 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in next to" |
| ], |
| "object_id": [ |
| [ |
| "toaster_91", |
| "bar_byvbuc_0" |
| ], |
| [ |
| "toaster_91", |
| "top_cabinet_tynnnw_1", |
| "french_press_89" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "toaster_91", |
| "toaster_91" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "low_level" |
| ], |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 9109, |
| 12271 |
| ], |
| "skill_idxes": [ |
| 7, |
| 8, |
| 9, |
| 10 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "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" |
| ], |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 12271, |
| 15170 |
| ], |
| "skill_idxes": [ |
| 11, |
| 12, |
| 13, |
| 14 |
| ] |
| }, |
| { |
| "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": [ |
| 15170, |
| 17280 |
| ], |
| "skill_idxes": [ |
| 15, |
| 16 |
| ] |
| } |
| ] |
| } |