| { |
| "task_name": "wash dog toys", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 12240, |
| "valid_duration": [0, 12240] |
| }, |
| "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, 831], |
| "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": [831, 2032], |
| "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": [2032, 2558], |
| "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": [2559, 3231], |
| "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": [3232, 4309], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 5, |
| "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": [4310, 5291], |
| "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": [5292, 5792], |
| "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": [5793, 6195], |
| "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": [6195, 6528], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 9, |
| "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": [6528, 7386], |
| "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": [7386, 8061], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["tennis_ball_189"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [8062, 8508], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "middle_level"]], |
| "frame_duration": [8508, 9158], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "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": [9158, 9194], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "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": [9194, 9578], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["washer_ynwamu_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [9579, 9909], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9909, 10509], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 17, |
| "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": [10509, 11145], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [12], |
| "skill_description": ["close door"], |
| "object_id": [["washer_ynwamu_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11145, 11789], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11789, 12240], |
| "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, 2032], |
| "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": [2032, 4309], |
| "skill_idxes": [2, 3, 4] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["teddy_bear_190", "teddy_bear_191"], "bottom_cabinet_no_top_gjrero_0"], [["teddy_bear_190", "teddy_bear_191"], "washer_ynwamu_0"]], |
| "manipulating_object_id": [["teddy_bear_190", "teddy_bear_191"], ["teddy_bear_190", "teddy_bear_191"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["high_level", "middle_level"]], []], |
| "frame_duration": [4310, 8061], |
| "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", "softball_188"], "bottom_cabinet_no_top_gjrero_0"], [["tennis_ball_189", "softball_188"], "washer_ynwamu_0"]], |
| "manipulating_object_id": [["tennis_ball_189", "softball_188"], ["tennis_ball_189", "softball_188"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["middle_level", "middle_level"]], []], |
| "frame_duration": [8062, 11145], |
| "skill_idxes": [11, 12, 13, 14, 15, 16, 17] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [12], |
| "primitive_description": ["close door"], |
| "object_id": [["washer_ynwamu_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11145, 11789], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [11789, 12240], |
| "skill_idxes": [19] |
| } |
| ] |
| } |