|
{ |
|
"task_name": "picking up trash", |
|
"data_folder": "", |
|
"meta_data": { |
|
"task_duration": 5310, |
|
"valid_duration": [0, 5310] |
|
}, |
|
"skill_annotation": [ |
|
{ |
|
"skill_idx": 0, |
|
"skill_id": [1], |
|
"skill_description": ["move to"], |
|
"object_id": [["trash_can_116"]], |
|
"manipulating_object_id": [], |
|
"memory_prefix": [], |
|
"spatial_prefix": [], |
|
"frame_duration": [0, 271], |
|
"mp_ef": [], |
|
"skill_type": ["navigation"] |
|
}, |
|
{ |
|
"skill_idx": 1, |
|
"skill_id": [2], |
|
"skill_description": ["pick up from"], |
|
"object_id": [["trash_can_116", "floors_zqjkvm_0"]], |
|
"manipulating_object_id": ["trash_can_116"], |
|
"memory_prefix": [], |
|
"spatial_prefix": [], |
|
"frame_duration": [271, 878], |
|
"mp_ef": [], |
|
"skill_type": ["uncoordinated"] |
|
}, |
|
{ |
|
"skill_idx": 2, |
|
"skill_id": [1], |
|
"skill_description": ["move to"], |
|
"object_id": [["can_of_soda_115"]], |
|
"manipulating_object_id": [], |
|
"memory_prefix": [], |
|
"spatial_prefix": [], |
|
"frame_duration": [878, 1302], |
|
"mp_ef": [], |
|
"skill_type": ["navigation"] |
|
}, |
|
{ |
|
"skill_idx": 3, |
|
"skill_id": [2], |
|
"skill_description": ["pick up from"], |
|
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]], |
|
"manipulating_object_id": ["can_of_soda_115"], |
|
"memory_prefix": [], |
|
"spatial_prefix": [], |
|
"frame_duration": [1303, 1930], |
|
"mp_ef": [], |
|
"skill_type": ["uncoordinated"] |
|
}, |
|
{ |
|
"skill_idx": 4, |
|
"skill_id": [4], |
|
"skill_description": ["place in"], |
|
"object_id": [["can_of_soda_115", "trash_can_116"]], |
|
"manipulating_object_id": ["can_of_soda_115"], |
|
"memory_prefix": [], |
|
"spatial_prefix": [], |
|
"frame_duration": [1935, 2284], |
|
"mp_ef": [], |
|
"skill_type": ["coordinated"] |
|
}, |
|
{ |
|
"skill_idx": 5, |
|
"skill_id": [1], |
|
"skill_description": ["move to"], |
|
"object_id": [["can_of_soda_113"]], |
|
"manipulating_object_id": [], |
|
"memory_prefix": ["the other"], |
|
"spatial_prefix": [], |
|
"frame_duration": [2284, 2565], |
|
"mp_ef": [], |
|
"skill_type": ["navigation"] |
|
}, |
|
{ |
|
"skill_idx": 6, |
|
"skill_id": [2], |
|
"skill_description": ["pick up from"], |
|
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]], |
|
"manipulating_object_id": ["can_of_soda_113"], |
|
"memory_prefix": ["the other"], |
|
"spatial_prefix": [], |
|
"frame_duration": [2565, 3108], |
|
"mp_ef": [], |
|
"skill_type": ["uncoordinated"] |
|
}, |
|
{ |
|
"skill_idx": 7, |
|
"skill_id": [4], |
|
"skill_description": ["place in"], |
|
"object_id": [["can_of_soda_113", "trash_can_116"]], |
|
"manipulating_object_id": ["can_of_soda_113"], |
|
"memory_prefix": [], |
|
"spatial_prefix": [], |
|
"frame_duration": [3108, 3557], |
|
"mp_ef": [], |
|
"skill_type": ["coordinated"] |
|
}, |
|
{ |
|
"skill_idx": 8, |
|
"skill_id": [1], |
|
"skill_description": ["move to"], |
|
"object_id": [["can_of_soda_114"]], |
|
"manipulating_object_id": [], |
|
"memory_prefix": ["the other"], |
|
"spatial_prefix": [], |
|
"frame_duration": [3557, 3768], |
|
"mp_ef": [], |
|
"skill_type": ["navigation"] |
|
}, |
|
{ |
|
"skill_idx": 9, |
|
"skill_id": [2], |
|
"skill_description": ["pick up from"], |
|
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]], |
|
"manipulating_object_id": ["can_of_soda_114"], |
|
"memory_prefix": ["the other"], |
|
"spatial_prefix": [], |
|
"frame_duration": [3768, 4437], |
|
"mp_ef": [], |
|
"skill_type": ["uncoordinated"] |
|
}, |
|
{ |
|
"skill_idx": 10, |
|
"skill_id": [4], |
|
"skill_description": ["place in"], |
|
"object_id": [["can_of_soda_114", "trash_can_116"]], |
|
"manipulating_object_id": ["can_of_soda_114"], |
|
"memory_prefix": [], |
|
"spatial_prefix": [], |
|
"frame_duration": [4438, 4766], |
|
"mp_ef": [], |
|
"skill_type": ["coordinated"] |
|
}, |
|
{ |
|
"skill_idx": 11, |
|
"skill_id": [3], |
|
"skill_description": ["place on"], |
|
"object_id": [["trash_can_116", "floors_ulujpr_0"]], |
|
"manipulating_object_id": ["trash_can_116"], |
|
"memory_prefix": [], |
|
"spatial_prefix": [], |
|
"frame_duration": [4766, 5310], |
|
"mp_ef": [], |
|
"skill_type": ["uncoordinated"] |
|
} |
|
], |
|
"primitive_annotation": [ |
|
{ |
|
"primitive_idx": 0, |
|
"primitive_id": [2], |
|
"primitive_description": ["pick up from"], |
|
"object_id": [["trash_can_116", "floors_zqjkvm_0"]], |
|
"manipulating_object_id": ["trash_can_116"], |
|
"memory_prefix": [], |
|
"spatial_prefix": [], |
|
"frame_duration": [0, 878], |
|
"skill_idxes": [0, 1] |
|
}, |
|
{ |
|
"primitive_idx": 1, |
|
"primitive_id": [2, 4], |
|
"primitive_description": ["pick up from", "place in"], |
|
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]], |
|
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"], |
|
"memory_prefix": [], |
|
"spatial_prefix": [], |
|
"frame_duration": [878, 2284], |
|
"skill_idxes": [2, 3, 4] |
|
}, |
|
{ |
|
"primitive_idx": 2, |
|
"primitive_id": [2, 4], |
|
"primitive_description": ["pick up from", "place in"], |
|
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]], |
|
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"], |
|
"memory_prefix": ["the other", ""], |
|
"spatial_prefix": [], |
|
"frame_duration": [2284, 3557], |
|
"skill_idxes": [5, 6, 7] |
|
}, |
|
{ |
|
"primitive_idx": 3, |
|
"primitive_id": [2, 4], |
|
"primitive_description": ["pick up from", "place in"], |
|
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]], |
|
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"], |
|
"memory_prefix": ["the other", ""], |
|
"spatial_prefix": [], |
|
"frame_duration": [3557, 4766], |
|
"skill_idxes": [8, 9, 10] |
|
}, |
|
{ |
|
"primitive_idx": 4, |
|
"primitive_id": [3], |
|
"primitive_description": ["place on"], |
|
"object_id": [["trash_can_116", "floors_ulujpr_0"]], |
|
"manipulating_object_id": ["trash_can_116"], |
|
"memory_prefix": [], |
|
"spatial_prefix": [], |
|
"frame_duration": [4766, 5310], |
|
"skill_idxes": [11] |
|
} |
|
] |
|
} |