{ "task_name": "wash a baseball cap", "data_folder": "", "meta_data": { "task_duration": 8780, "valid_duration": [ 0, 8780 ] }, "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, 190 ], "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": [ 190, 1783 ], "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": [ 1783, 2190 ], "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": [ 2190, 3087 ], "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": [ 3087, 3679 ], "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": [ 3679, 3703 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 6, "skill_id": [ 93 ], "skill_description": [ "turn to" ], "object_id": [ [ "baseball_cap_189", "robot" ] ], "manipulating_object_id": [ "baseball_cap_189" ], "spatial_prefix": [ [ "", "face" ] ], "frame_duration": [ 3703, 4542 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "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": [ 4542, 4900 ], "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": [ 4900, 5385 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 9, "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": [ 5385, 6377 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "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": [ 6377, 7298 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "washer_ynwamu_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7298, 8256 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "skill_id": [ 69 ], "skill_description": [ "turn on switch" ], "object_id": [ [ "washer_ynwamu_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8256, 8780 ], "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, 1783 ], "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": [ 1783, 7298 ], "skill_idxes": [ 2, 3, 4, 5, 6, 7, 8, 9, 10 ] }, { "primitive_idx": 2, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "washer_ynwamu_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7298, 8256 ], "skill_idxes": [ 11 ] }, { "primitive_idx": 3, "primitive_id": [ 69 ], "primitive_description": [ "turn on switch" ], "object_id": [ [ "washer_ynwamu_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8256, 8780 ], "skill_idxes": [ 12 ] } ] }