{ "task_name": "wash dog toys", "data_folder": "", "meta_data": { "task_duration": 11997, "valid_duration": [ 0, 11997 ] }, "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, 297 ], "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": [ 297, 1839 ], "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": [ 1839, 2405 ], "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": [ 2405, 3225 ], "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": [ 3225, 4305 ], "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" ], "spatial_prefix": [ [ "", "middle_level" ] ], "frame_duration": [ 4305, 4680 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "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": [ 4680, 4856 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "washer_ynwamu_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4856, 5217 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 8, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "softball_188", "washer_ynwamu_0" ] ], "manipulating_object_id": [ "softball_188" ], "spatial_prefix": [], "frame_duration": [ 5217, 5868 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "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": [ 5868, 6726 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "teddy_bear_191" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6726, 7208 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 11, "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": [ 7208, 7800 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "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": [ [ "", "middle_level" ] ], "frame_duration": [ 7800, 8276 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "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": [ 8276, 8980 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "washer_ynwamu_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8980, 9297 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 15, "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": [ 9297, 9959 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "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": [ 9959, 10801 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 12 ], "skill_description": [ "close door" ], "object_id": [ [ "washer_ynwamu_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10801, 11476 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 69 ], "skill_description": [ "turn on switch" ], "object_id": [ [ "washer_ynwamu_0" ] ], "manipulating_object_id": [ "washer_ynwamu_0" ], "spatial_prefix": [], "frame_duration": [ 11476, 11997 ], "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, 1839 ], "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": [ 1839, 4305 ], "skill_idxes": [ 2, 3, 4 ] }, { "primitive_idx": 2, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "tennis_ball_189", "softball_188" ], "bottom_cabinet_no_top_gjrero_0" ], [ [ "softball_188", "tennis_ball_189" ], "washer_ynwamu_0" ] ], "manipulating_object_id": [ [ "tennis_ball_189", "softball_188" ], [ "softball_188", "tennis_ball_189" ] ], "spatial_prefix": [ [ [], [ "middle_level", "middle_level" ] ], [] ], "frame_duration": [ 4305, 6726 ], "skill_idxes": [ 5, 6, 7, 8, 9 ] }, { "primitive_idx": 3, "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_190", "teddy_bear_191" ], "washer_ynwamu_0" ] ], "manipulating_object_id": [ [ "teddy_bear_191", "teddy_bear_190" ], [ "teddy_bear_190", "teddy_bear_191" ] ], "spatial_prefix": [ [ [], [ "middle_level", "high_level" ] ], [] ], "frame_duration": [ 6726, 10801 ], "skill_idxes": [ 10, 11, 12, 13, 14, 15, 16 ] }, { "primitive_idx": 4, "primitive_id": [ 12 ], "primitive_description": [ "close door" ], "object_id": [ [ "washer_ynwamu_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10801, 11476 ], "skill_idxes": [ 17 ] }, { "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": [ 11476, 11997 ], "skill_idxes": [ 18 ] } ] }