| { |
| "task_name": "wash dog toys", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 10797, |
| "valid_duration": [ |
| 0, |
| 10797 |
| ] |
| }, |
| "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, |
| 275 |
| ], |
| "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": [ |
| 275, |
| 1652 |
| ], |
| "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": [ |
| 1652, |
| 2326 |
| ], |
| "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": [ |
| 2326, |
| 3184 |
| ], |
| "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": [ |
| 3185, |
| 4367 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "softball_188", |
| "bottom_cabinet_no_top_gjrero_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "softball_188" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "reorient" |
| ] |
| ], |
| "frame_duration": [ |
| 4367, |
| 4457 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "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": [ |
| 4457, |
| 4680 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "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": [ |
| [ |
| "", |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 4680, |
| 5041 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5042, |
| 5333 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "softball_188", |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "softball_188" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5334, |
| 5991 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "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": [ |
| 5991, |
| 6691 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "tennis_ball_189" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6691, |
| 7081 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "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": [ |
| [ |
| "", |
| "high_level" |
| ] |
| ], |
| "frame_duration": [ |
| 7082, |
| 7609 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "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": [ |
| 7609, |
| 7928 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7928, |
| 8267 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "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": [ |
| 8268, |
| 9092 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "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": [ |
| 9092, |
| 9693 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 12 |
| ], |
| "skill_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9693, |
| 10379 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 69 |
| ], |
| "skill_description": [ |
| "turn on switch" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "washer_ynwamu_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10379, |
| 10797 |
| ], |
| "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, |
| 1652 |
| ], |
| "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": [ |
| 1652, |
| 4367 |
| ], |
| "skill_idxes": [ |
| 2, |
| 3, |
| 4 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "softball_188", |
| "teddy_bear_191" |
| ], |
| "bottom_cabinet_no_top_gjrero_0" |
| ], |
| [ |
| [ |
| "softball_188", |
| "teddy_bear_191" |
| ], |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "softball_188", |
| "teddy_bear_191" |
| ], |
| [ |
| "softball_188", |
| "teddy_bear_191" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "middle_level", |
| "high_level" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 4367, |
| 6691 |
| ], |
| "skill_idxes": [ |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "tennis_ball_189", |
| "teddy_bear_190" |
| ], |
| "bottom_cabinet_no_top_gjrero_0" |
| ], |
| [ |
| [ |
| "teddy_bear_190", |
| "tennis_ball_189" |
| ], |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "tennis_ball_189", |
| "teddy_bear_190" |
| ], |
| [ |
| "teddy_bear_190", |
| "tennis_ball_189" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "high_level", |
| "high_level" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 6691, |
| 9693 |
| ], |
| "skill_idxes": [ |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 12 |
| ], |
| "primitive_description": [ |
| "close door" |
| ], |
| "object_id": [ |
| [ |
| "washer_ynwamu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9693, |
| 10379 |
| ], |
| "skill_idxes": [ |
| 17 |
| ] |
| }, |
| { |
| "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": [ |
| 10379, |
| 10797 |
| ], |
| "skill_idxes": [ |
| 18 |
| ] |
| } |
| ] |
| } |