| { |
| "task_name": "freeze pies", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 10734, |
| "valid_duration": [ |
| 0, |
| 10734 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 313 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "second_right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 333, |
| 1356 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_230", |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_230" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 1356, |
| 2049 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "second_right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 2049, |
| 2445 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2445, |
| 2766 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_230", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_230" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2766, |
| 3063 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "apple_pie_235", |
| "plate_233" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "apple_pie_235" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3063, |
| 3588 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "apple_pie_235", |
| "tupperware_230" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "apple_pie_235" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3591, |
| 3690 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3705, |
| 3942 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "second_left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 3951, |
| 4803 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_231", |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_231" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 4803, |
| 5686 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "second_left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 5686, |
| 6183 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6183, |
| 6396 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_231", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_231" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6396, |
| 6625 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "apple_pie_234" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6625, |
| 6757 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "apple_pie_234", |
| "plate_232" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "apple_pie_234" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6757, |
| 7158 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "apple_pie_234", |
| "tupperware_231" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "apple_pie_234" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7158, |
| 7384 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7384, |
| 7824 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7830, |
| 8587 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_230" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8587, |
| 8754 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_230", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_230" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8754, |
| 9144 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_231", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_231" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9144, |
| 9456 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9456, |
| 9903 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_230", |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_230" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "middle_level" |
| ] |
| ], |
| "frame_duration": [ |
| 9903, |
| 10068 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_231", |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_231" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 10068, |
| 10467 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10467, |
| 10734 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "second_right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 0, |
| 1356 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_230", |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_230" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "high_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 1356, |
| 2049 |
| ], |
| "skill_idxes": [ |
| 2 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "second_right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 2049, |
| 2445 |
| ], |
| "skill_idxes": [ |
| 3 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_230", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_230" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2445, |
| 3063 |
| ], |
| "skill_idxes": [ |
| 4, |
| 5 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "apple_pie_235", |
| "plate_233" |
| ], |
| [ |
| "apple_pie_235", |
| "tupperware_230" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "apple_pie_235", |
| "apple_pie_235" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3063, |
| 3690 |
| ], |
| "skill_idxes": [ |
| 6, |
| 7 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "second_left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 3705, |
| 4803 |
| ], |
| "skill_idxes": [ |
| 8, |
| 9 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_231", |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_231" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "high_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 4803, |
| 5686 |
| ], |
| "skill_idxes": [ |
| 10 |
| ] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjeoer_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "second_left_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 5686, |
| 6183 |
| ], |
| "skill_idxes": [ |
| 11 |
| ] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "tupperware_231", |
| "countertop_kelzer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tupperware_231" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6183, |
| 6625 |
| ], |
| "skill_idxes": [ |
| 12, |
| 13 |
| ] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "apple_pie_234", |
| "plate_232" |
| ], |
| [ |
| "apple_pie_234", |
| "tupperware_231" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "apple_pie_234", |
| "apple_pie_234" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6625, |
| 7384 |
| ], |
| "skill_idxes": [ |
| 14, |
| 15, |
| 16 |
| ] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7384, |
| 8587 |
| ], |
| "skill_idxes": [ |
| 17, |
| 18 |
| ] |
| }, |
| { |
| "primitive_idx": 11, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "tupperware_230", |
| "tupperware_231" |
| ], |
| "countertop_kelzer_0" |
| ], |
| [ |
| [ |
| "tupperware_230", |
| "tupperware_231" |
| ], |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "tupperware_230", |
| "tupperware_231" |
| ], |
| [ |
| "tupperware_230", |
| "tupperware_231" |
| ] |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "middle_level", |
| "high_level" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 8587, |
| 10467 |
| ], |
| "skill_idxes": [ |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24 |
| ] |
| }, |
| { |
| "primitive_idx": 12, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "fridge_dszchb_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10467, |
| 10734 |
| ], |
| "skill_idxes": [ |
| 25 |
| ] |
| } |
| ] |
| } |
