| { |
| "task_name": "clean boxing gloves", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 12504, |
| "valid_duration": [ |
| 0, |
| 12504 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 287 |
| ], |
| "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": [ |
| 287, |
| 1947 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "boxing_gloves_189" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1947, |
| 2856 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 93 |
| ], |
| "skill_description": [ |
| "turn to" |
| ], |
| "object_id": [ |
| [ |
| "boxing_gloves_189", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "boxing_gloves_189" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "face_away" |
| ] |
| ], |
| "frame_duration": [ |
| 2856, |
| 3612 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 93 |
| ], |
| "skill_description": [ |
| "turn to" |
| ], |
| "object_id": [ |
| [ |
| "boxing_gloves_188", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "boxing_gloves_188" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "face_away" |
| ] |
| ], |
| "frame_duration": [ |
| 3612, |
| 5704 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "boxing_gloves_188", |
| "countertop_sjxber_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "boxing_gloves_188" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5704, |
| 6207 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "boxing_gloves_189", |
| "countertop_sjxber_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "boxing_gloves_189" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6207, |
| 6932 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6932, |
| 7933 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "boxing_gloves_189", |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "boxing_gloves_189" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7933, |
| 9124 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "boxing_gloves_188", |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "boxing_gloves_188" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9124, |
| 10635 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10635, |
| 11373 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 69 |
| ], |
| "skill_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "washer_ynwamu_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11373, |
| 12504 |
| ], |
| "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": [ |
| 0, |
| 1947 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "boxing_gloves_188", |
| "boxing_gloves_189" |
| ], |
| "countertop_sjxber_0" |
| ], |
| [ |
| [ |
| "boxing_gloves_189", |
| "boxing_gloves_188" |
| ], |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "boxing_gloves_188", |
| "boxing_gloves_189" |
| ], |
| [ |
| "boxing_gloves_189", |
| "boxing_gloves_188" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1947, |
| 10635 |
| ], |
| "skill_idxes": [ |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10635, |
| 11373 |
| ], |
| "skill_idxes": [ |
| 10 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 69 |
| ], |
| "primitive_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "washer_ynwamu_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11373, |
| 12504 |
| ], |
| "skill_idxes": [ |
| 11 |
| ] |
| } |
| ] |
| } |