| { |
| "task_name": "wash dog toys", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 10050, |
| "valid_duration": [0, 10050] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["washer_ynwamu_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 395], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [10], |
| "skill_description": ["open door"], |
| "object_id": [["washer_ynwamu_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [395, 1531], |
| "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": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1531, 1999], |
| "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": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left_door"]], |
| "frame_duration": [1999, 2716], |
| "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": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right_door"]], |
| "frame_duration": [2716, 3585], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 5, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "high_level"]], |
| "frame_duration": [3585, 3934], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [90], |
| "skill_description": ["push to"], |
| "object_id": [["teddy_bear_191", "bottom_cabinet_no_top_gjrero_0"]], |
| "manipulating_object_id": ["teddy_bear_191"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "reorient"]], |
| "frame_duration": [3934, 4163], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "middle_level"]], |
| "frame_duration": [4163, 4445], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["washer_ynwamu_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [4445, 4728], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["tennis_ball_189", "washer_ynwamu_0"]], |
| "manipulating_object_id": ["tennis_ball_189"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4752, 4970], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4970, 5569], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["softball_188"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [5569, 5979], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [90], |
| "skill_description": ["push to"], |
| "object_id": [["softball_188", "bottom_cabinet_no_top_gjrero_0"]], |
| "manipulating_object_id": ["softball_188"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "reorient"]], |
| "frame_duration": [5979, 6265], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["softball_188", "bottom_cabinet_no_top_gjrero_0"]], |
| "manipulating_object_id": ["softball_188"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "middle_level"]], |
| "frame_duration": [6265, 6477], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [90], |
| "skill_description": ["push to"], |
| "object_id": [["teddy_bear_190", "bottom_cabinet_no_top_gjrero_0"]], |
| "manipulating_object_id": ["teddy_bear_190"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "reorient"]], |
| "frame_duration": [6477, 6806], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 15, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "high_level"]], |
| "frame_duration": [6806, 7146], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["washer_ynwamu_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [7146, 7410], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["teddy_bear_190", "washer_ynwamu_0"]], |
| "manipulating_object_id": ["teddy_bear_190"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7410, 7869], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["softball_188", "washer_ynwamu_0"]], |
| "manipulating_object_id": ["softball_188"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7869, 8412], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["washer_ynwamu_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8412, 9206], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [69], |
| "skill_description": ["turn on switch"], |
| "object_id": [["washer_ynwamu_0"]], |
| "manipulating_object_id": ["washer_ynwamu_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9206, 10050], |
| "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": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 1531], |
| "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": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left_door", "right_door"]]], |
| "frame_duration": [1531, 3585], |
| "skill_idxes": [2, 3, 4] |
| }, |
| { |
| "primitive_idx": 2, |
| "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"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["high_level", "middle_level"]], []], |
| "frame_duration": [3585, 5569], |
| "skill_idxes": [5, 6, 7, 8, 9, 10] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["softball_188", "teddy_bear_190"], "bottom_cabinet_no_top_gjrero_0"], [["teddy_bear_190", "softball_188"], "washer_ynwamu_0"]], |
| "manipulating_object_id": [["softball_188", "teddy_bear_190"], ["teddy_bear_190", "softball_188"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["middle_level", "high_level"]], []], |
| "frame_duration": [5569, 8412], |
| "skill_idxes": [11, 12, 13, 14, 15, 16, 17, 18] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["washer_ynwamu_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8412, 9206], |
| "skill_idxes": [19] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [69], |
| "primitive_description": ["turn on switch"], |
| "object_id": [["washer_ynwamu_0"]], |
| "manipulating_object_id": ["washer_ynwamu_0"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9206, 10050], |
| "skill_idxes": [20] |
| } |
| ] |
| } |