| { |
| "task_name": "sorting household items", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 17460, |
| "valid_duration": [ |
| 0, |
| 17460 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "sliding_door_tprpvb_10" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 736 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "sliding_door_tprpvb_10" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 736, |
| 1894 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hamper_225" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1894, |
| 2770 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "hamper_225", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hamper_225" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "away" |
| ] |
| ], |
| "frame_duration": [ |
| 2770, |
| 3369 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "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": [ |
| 3369, |
| 4554 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "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": [ |
| 4554, |
| 5049 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5049, |
| 6171 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "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": [ |
| 6171, |
| 6747 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "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": [ |
| 6747, |
| 7206 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "box_of_sanitary_napkins_224" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7206, |
| 8988 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "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": [ |
| 8988, |
| 9795 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "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": [ |
| 9795, |
| 10113 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10113, |
| 11760 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "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": [ |
| 11760, |
| 12189 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "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": [ |
| 12190, |
| 12690 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hamper_225" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12691, |
| 13939 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "hamper_225", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hamper_225" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "away" |
| ] |
| ], |
| "frame_duration": [ |
| 13939, |
| 14392 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "toothbrush_221", |
| "hamper_225" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "toothbrush_221" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14392, |
| 14887 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "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": [ |
| 14887, |
| 15454 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "coffee_cup_220" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15454, |
| 16666 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "toothbrush_221", |
| "coffee_cup_220" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "toothbrush_221" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16666, |
| 16986 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "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": [ |
| 16986, |
| 17460 |
| ], |
| "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, |
| 1894 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 98 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place under" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "bottle_of_detergent_227", |
| "bottle_of_detergent_228" |
| ], |
| "hamper_226" |
| ], |
| [ |
| [ |
| "bottle_of_detergent_228", |
| "bottle_of_detergent_227" |
| ], |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "bottle_of_detergent_227", |
| "bottle_of_detergent_228" |
| ], |
| [ |
| "bottle_of_detergent_228", |
| "bottle_of_detergent_227" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1894, |
| 7206 |
| ], |
| "skill_idxes": [ |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "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": [ |
| 7206, |
| 12690 |
| ], |
| "skill_idxes": [ |
| 9, |
| 10, |
| 12, |
| 14 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "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": [ |
| 9795, |
| 12189 |
| ], |
| "skill_idxes": [ |
| 11, |
| 12, |
| 13 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "toothbrush_221", |
| "tube_of_toothpaste_222" |
| ], |
| "hamper_225" |
| ], |
| [ |
| [ |
| "toothbrush_221", |
| "tube_of_toothpaste_222" |
| ], |
| "coffee_cup_220" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "toothbrush_221", |
| "tube_of_toothpaste_222" |
| ], |
| [ |
| "toothbrush_221", |
| "tube_of_toothpaste_222" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12691, |
| 17460 |
| ], |
| "skill_idxes": [ |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21 |
| ] |
| } |
| ] |
| } |