| { |
| "task_name": "wash a baseball cap", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 10062, |
| "valid_duration": [ |
| 0, |
| 10062 |
| ] |
| }, |
| "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, |
| 517 |
| ], |
| "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": [ |
| 518, |
| 2222 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "baseball_cap_188" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2222, |
| 2935 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 93 |
| ], |
| "skill_description": [ |
| "turn to" |
| ], |
| "object_id": [ |
| [ |
| "baseball_cap_188", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baseball_cap_188" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "face" |
| ] |
| ], |
| "frame_duration": [ |
| 2935, |
| 3765 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "baseball_cap_188", |
| "countertop_ikwqer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baseball_cap_188" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3765, |
| 4323 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "baseball_cap_189" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4323, |
| 4749 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "baseball_cap_189", |
| "countertop_ikwqer_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baseball_cap_189" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4749, |
| 5207 |
| ], |
| "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": [ |
| 5207, |
| 5721 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "baseball_cap_189", |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baseball_cap_189" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5721, |
| 6650 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "baseball_cap_188", |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "baseball_cap_188" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6650, |
| 7659 |
| ], |
| "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": [ |
| 7659, |
| 9118 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 69 |
| ], |
| "skill_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9119, |
| 10062 |
| ], |
| "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, |
| 2222 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "baseball_cap_188", |
| "baseball_cap_189" |
| ], |
| "countertop_ikwqer_0" |
| ], |
| [ |
| [ |
| "baseball_cap_189", |
| "baseball_cap_188" |
| ], |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "baseball_cap_188", |
| "baseball_cap_189" |
| ], |
| [ |
| "baseball_cap_189", |
| "baseball_cap_188" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2222, |
| 7659 |
| ], |
| "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": [ |
| 7659, |
| 9118 |
| ], |
| "skill_idxes": [ |
| 10 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 69 |
| ], |
| "primitive_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9119, |
| 10062 |
| ], |
| "skill_idxes": [ |
| 11 |
| ] |
| } |
| ] |
| } |