| { |
| "task_name": "clean a trumpet", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 5731, |
| "valid_duration": [0, 5731] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["scrub_brush_86"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 242], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["scrub_brush_86", "desk_aduafr_0"]], |
| "manipulating_object_id": ["scrub_brush_86"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [243, 1056], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [5], |
| "skill_description": ["hand over"], |
| "object_id": [["scrub_brush_86", "left", "right"]], |
| "manipulating_object_id": ["scrub_brush_86"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1202, 2441], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["trumpet_87"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2441, 2636], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [46], |
| "skill_description": ["wipe hard"], |
| "object_id": [["scrub_brush_86", "trumpet_87"]], |
| "manipulating_object_id": ["scrub_brush_86"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2636, 5511], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["scrub_brush_86", "desk_aduafr_0"]], |
| "manipulating_object_id": ["scrub_brush_86"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5511, 5731], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [2, 46, 3], |
| "primitive_description": ["pick up from", "wipe hard", "place on"], |
| "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], |
| "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 5731], |
| "skill_idxes": [0, 1, 2, 3, 4, 5] |
| } |
| ] |
| } |
