| { | |
| "task_name": "clean boxing gloves", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 10650, | |
| "valid_duration": [ | |
| 60, | |
| 10710 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "washer_ynwamu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 60, | |
| 393 | |
| ], | |
| "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": [ | |
| 393, | |
| 2139 | |
| ], | |
| "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": [ | |
| 2139, | |
| 3073 | |
| ], | |
| "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": [ | |
| 3073, | |
| 3455 | |
| ], | |
| "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": [ | |
| 3455, | |
| 3746 | |
| ], | |
| "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": [ | |
| 3746, | |
| 4069 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "boxing_gloves_189" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4070, | |
| 4157 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "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": [ | |
| 4157, | |
| 4514 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "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": [ | |
| 4514, | |
| 5442 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "washer_ynwamu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5442, | |
| 6390 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "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": [ | |
| 6390, | |
| 7566 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "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": [ | |
| 7567, | |
| 8957 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "washer_ynwamu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8957, | |
| 10329 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 69 | |
| ], | |
| "skill_description": [ | |
| "turn on switch" | |
| ], | |
| "object_id": [ | |
| [ | |
| "washer_ynwamu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "washer_ynwamu_0" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10330, | |
| 10710 | |
| ], | |
| "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": [ | |
| 60, | |
| 2139 | |
| ], | |
| "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": [ | |
| 2139, | |
| 8957 | |
| ], | |
| "skill_idxes": [ | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 12 | |
| ], | |
| "primitive_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "washer_ynwamu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8957, | |
| 10329 | |
| ], | |
| "skill_idxes": [ | |
| 12 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 10330, | |
| 10710 | |
| ], | |
| "skill_idxes": [ | |
| 13 | |
| ] | |
| } | |
| ] | |
| } |