{ "task_name": "clean a trumpet", "data_folder": "", "meta_data": { "task_duration": 4357, "valid_duration": [0, 4357] }, "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, 424], "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": [425, 1568], "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": [1569, 2188], "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": [2188, 2366], "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": [2367, 4081], "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": [4082, 4357], "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, 4357], "skill_idxes": [0, 1, 2, 3, 4, 5] } ] }