| { |
| "task_name": "wash dog toys", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 13705, |
| "valid_duration": [ |
| 34, |
| 13739 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 34, |
| 906 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 906, |
| 2318 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjrero_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2319, |
| 3015 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjrero_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left_door" |
| ] |
| ], |
| "frame_duration": [ |
| 3016, |
| 3905 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjrero_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right_door" |
| ] |
| ], |
| "frame_duration": [ |
| 3905, |
| 4881 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "teddy_bear_190", |
| "bottom_cabinet_no_top_gjrero_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "teddy_bear_190" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "reorient" |
| ] |
| ], |
| "frame_duration": [ |
| 4881, |
| 5589 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "teddy_bear_190", |
| "bottom_cabinet_no_top_gjrero_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "teddy_bear_190" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 5589, |
| 5790 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "softball_188", |
| "bottom_cabinet_no_top_gjrero_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "softball_188" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 5790, |
| 6088 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "softball_188", |
| "bottom_cabinet_no_top_gjrero_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "softball_188" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "middle_level" |
| ] |
| ], |
| "frame_duration": [ |
| 6089, |
| 6511 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6511, |
| 6982 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "teddy_bear_190", |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "teddy_bear_190" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6982, |
| 7954 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "softball_188", |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "softball_188" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7955, |
| 8838 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tennis_ball_189" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8838, |
| 9270 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tennis_ball_189", |
| "bottom_cabinet_no_top_gjrero_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tennis_ball_189" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "middle_level" |
| ] |
| ], |
| "frame_duration": [ |
| 9271, |
| 9722 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "teddy_bear_191", |
| "bottom_cabinet_no_top_gjrero_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "teddy_bear_191" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "middle_level" |
| ] |
| ], |
| "frame_duration": [ |
| 9723, |
| 10243 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10243, |
| 10675 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "tennis_ball_189", |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tennis_ball_189" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10675, |
| 11284 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "teddy_bear_191", |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "teddy_bear_191" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11284, |
| 12240 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12240, |
| 12864 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 69 |
| ], |
| "skill_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "washer_ynwamu_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12864, |
| 13739 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 34, |
| 2318 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_no_top_gjrero_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left_door", |
| "right_door" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 2319, |
| 4881 |
| ], |
| "skill_idxes": [ |
| 2, |
| 3, |
| 4 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "teddy_bear_190", |
| "softball_188" |
| ], |
| "bottom_cabinet_no_top_gjrero_0" |
| ], |
| [ |
| [ |
| "teddy_bear_190", |
| "softball_188" |
| ], |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "teddy_bear_190", |
| "softball_188" |
| ], |
| [ |
| "teddy_bear_190", |
| "softball_188" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "high_level", |
| "middle_level" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 4881, |
| 8838 |
| ], |
| "skill_idxes": [ |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "tennis_ball_189", |
| "teddy_bear_191" |
| ], |
| "bottom_cabinet_no_top_gjrero_0" |
| ], |
| [ |
| [ |
| "tennis_ball_189", |
| "teddy_bear_191" |
| ], |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "tennis_ball_189", |
| "teddy_bear_191" |
| ], |
| [ |
| "tennis_ball_189", |
| "teddy_bear_191" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "middle_level", |
| "middle_level" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 8838, |
| 12240 |
| ], |
| "skill_idxes": [ |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12240, |
| 12864 |
| ], |
| "skill_idxes": [ |
| 18 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 69 |
| ], |
| "primitive_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "washer_ynwamu_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12864, |
| 13739 |
| ], |
| "skill_idxes": [ |
| 19 |
| ] |
| } |
| ] |
| } |
