| { | |
| "task_name": "wash dog toys", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 12330, | |
| "valid_duration": [ | |
| 0, | |
| 12330 | |
| ] | |
| }, | |
| "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, | |
| 720 | |
| ], | |
| "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": [ | |
| 720, | |
| 2370 | |
| ], | |
| "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": [ | |
| 2370, | |
| 2587 | |
| ], | |
| "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": [ | |
| 2587, | |
| 3397 | |
| ], | |
| "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": [ | |
| 3397, | |
| 4473 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "teddy_bear_191", | |
| "bottom_cabinet_no_top_gjrero_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "teddy_bear_191" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "reorient" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4473, | |
| 4773 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "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": [ | |
| 4773, | |
| 4955 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "teddy_bear_190", | |
| "bottom_cabinet_no_top_gjrero_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "teddy_bear_190" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "reorient" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 4955, | |
| 5379 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "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": [ | |
| 5379, | |
| 5737 | |
| ], | |
| "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": [ | |
| 5737, | |
| 6211 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 6211, | |
| 7263 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "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": [ | |
| 7263, | |
| 8010 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "softball_188" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8010, | |
| 8555 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "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" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "middle_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 8555, | |
| 9045 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tennis_ball_189", | |
| "bottom_cabinet_no_top_gjrero_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tennis_ball_189" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9045, | |
| 9245 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "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": [ | |
| [ | |
| "", | |
| "middle_level" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 9245, | |
| 9675 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "washer_ynwamu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9675, | |
| 10053 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "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": [ | |
| 10053, | |
| 10595 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10595, | |
| 11250 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 12 | |
| ], | |
| "skill_description": [ | |
| "close door" | |
| ], | |
| "object_id": [ | |
| [ | |
| "washer_ynwamu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11250, | |
| 11779 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11779, | |
| 12330 | |
| ], | |
| "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, | |
| 2370 | |
| ], | |
| "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": [ | |
| 2370, | |
| 4473 | |
| ], | |
| "skill_idxes": [ | |
| 2, | |
| 3, | |
| 4 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "teddy_bear_191", | |
| "teddy_bear_190" | |
| ], | |
| "bottom_cabinet_no_top_gjrero_0" | |
| ], | |
| [ | |
| [ | |
| "teddy_bear_191", | |
| "teddy_bear_190" | |
| ], | |
| "washer_ynwamu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "teddy_bear_191", | |
| "teddy_bear_190" | |
| ], | |
| [ | |
| "teddy_bear_191", | |
| "teddy_bear_190" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "high_level", | |
| "high_level" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 4473, | |
| 8010 | |
| ], | |
| "skill_idxes": [ | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "softball_188", | |
| "tennis_ball_189" | |
| ], | |
| "bottom_cabinet_no_top_gjrero_0" | |
| ], | |
| [ | |
| [ | |
| "tennis_ball_189", | |
| "softball_188" | |
| ], | |
| "washer_ynwamu_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "softball_188", | |
| "tennis_ball_189" | |
| ], | |
| [ | |
| "tennis_ball_189", | |
| "softball_188" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "middle_level", | |
| "middle_level" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 8010, | |
| 11250 | |
| ], | |
| "skill_idxes": [ | |
| 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": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11250, | |
| 11779 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11779, | |
| 12330 | |
| ], | |
| "skill_idxes": [ | |
| 20 | |
| ] | |
| } | |
| ] | |
| } |