| { |
| "task_name": "sorting household items", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 20820, |
| "valid_duration": [ |
| 0, |
| 20820 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hamper_226" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 147 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "hamper_226", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hamper_226" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "away" |
| ] |
| ], |
| "frame_duration": [ |
| 148, |
| 1761 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "sliding_door_tprpvb_10" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1761, |
| 2457 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "sliding_door_tprpvb_10" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2457, |
| 4341 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_detergent_228" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4342, |
| 5166 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_detergent_228", |
| "hamper_226" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_detergent_228" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5167, |
| 5691 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_detergent_227", |
| "hamper_226" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_detergent_227" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5692, |
| 6387 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6388, |
| 7320 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 98 |
| ], |
| "skill_description": [ |
| "place under" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_detergent_228", |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_detergent_228" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7320, |
| 8364 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 98 |
| ], |
| "skill_description": [ |
| "place under" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_detergent_227", |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_detergent_227" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8365, |
| 8847 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "soap_dispenser_223" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8848, |
| 10131 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "soap_dispenser_223", |
| "hamper_225" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "soap_dispenser_223" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10132, |
| 10926 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "box_of_sanitary_napkins_224" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10927, |
| 11295 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "box_of_sanitary_napkins_224", |
| "hamper_226" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_sanitary_napkins_224" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11296, |
| 12465 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12466, |
| 13380 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "soap_dispenser_223", |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "soap_dispenser_223" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13380, |
| 13971 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "box_of_sanitary_napkins_224", |
| "shelf_fjozhc_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_sanitary_napkins_224" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13972, |
| 14490 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tube_of_toothpaste_222" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14491, |
| 15642 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tube_of_toothpaste_222", |
| "hamper_225" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tube_of_toothpaste_222" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15643, |
| 16614 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "hamper_225", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hamper_225" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "away" |
| ] |
| ], |
| "frame_duration": [ |
| 16615, |
| 16743 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "toothbrush_221", |
| "hamper_225" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "toothbrush_221" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16744, |
| 17808 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "coffee_cup_220" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17809, |
| 18696 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "toothbrush_221", |
| "coffee_cup_220" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "toothbrush_221" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 18697, |
| 19752 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "tube_of_toothpaste_222", |
| "coffee_cup_220" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tube_of_toothpaste_222" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19753, |
| 20820 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "sliding_door_tprpvb_10" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 4341 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 98 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place under" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "bottle_of_detergent_228", |
| "bottle_of_detergent_227" |
| ], |
| "hamper_226" |
| ], |
| [ |
| [ |
| "bottle_of_detergent_228", |
| "bottle_of_detergent_227" |
| ], |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "bottle_of_detergent_228", |
| "bottle_of_detergent_227" |
| ], |
| [ |
| "bottle_of_detergent_228", |
| "bottle_of_detergent_227" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4342, |
| 8847 |
| ], |
| "skill_idxes": [ |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "soap_dispenser_223", |
| "hamper_225" |
| ], |
| [ |
| "soap_dispenser_223", |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "soap_dispenser_223", |
| "soap_dispenser_223" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8848, |
| 13971 |
| ], |
| "skill_idxes": [ |
| 10, |
| 11, |
| 14, |
| 15 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "box_of_sanitary_napkins_224", |
| "hamper_226" |
| ], |
| [ |
| "box_of_sanitary_napkins_224", |
| "shelf_fjozhc_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_sanitary_napkins_224", |
| "box_of_sanitary_napkins_224" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10927, |
| 14490 |
| ], |
| "skill_idxes": [ |
| 12, |
| 13, |
| 14, |
| 16 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "tube_of_toothpaste_222", |
| "toothbrush_221" |
| ], |
| "hamper_225" |
| ], |
| [ |
| [ |
| "toothbrush_221", |
| "tube_of_toothpaste_222" |
| ], |
| "coffee_cup_220" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "tube_of_toothpaste_222", |
| "toothbrush_221" |
| ], |
| [ |
| "toothbrush_221", |
| "tube_of_toothpaste_222" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14491, |
| 20820 |
| ], |
| "skill_idxes": [ |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23 |
| ] |
| } |
| ] |
| } |
