| { |
| "task_name": "putting away Halloween decorations", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 18654, |
| "valid_duration": [ |
| 0, |
| 18654 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cauldron_92" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 449 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "cauldron_92", |
| "floors_ulujpr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cauldron_92" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 449, |
| 1192 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "coffee_table_koagbh_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1192, |
| 1573 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 91 |
| ], |
| "skill_description": [ |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "cauldron_92", |
| "floors_ulujpr_0", |
| "coffee_table_koagbh_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cauldron_92" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "", |
| "in_front_of" |
| ] |
| ], |
| "frame_duration": [ |
| 1573, |
| 2068 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2068, |
| 3465 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 9 |
| ], |
| "skill_description": [ |
| "open drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 3465, |
| 4620 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pumpkin_94" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4620, |
| 4865 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "pumpkin_94", |
| "floors_ulujpr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pumpkin_94" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4865, |
| 5809 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pumpkin_93" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5809, |
| 6723 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "pumpkin_93", |
| "floors_ulujpr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pumpkin_93" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6723, |
| 7907 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7907, |
| 8988 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "pumpkin_94", |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pumpkin_94" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 8988, |
| 9660 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "pumpkin_93", |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pumpkin_93" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 9660, |
| 9779 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 11 |
| ], |
| "skill_description": [ |
| "close drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 9779, |
| 10378 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10378, |
| 11124 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 9 |
| ], |
| "skill_description": [ |
| "open drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 11124, |
| 12186 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_89" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12186, |
| 12390 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_89", |
| "floors_ulujpr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pillar_candle_89" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12390, |
| 13043 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_90" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13043, |
| 13072 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_90", |
| "floors_ulujpr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pillar_candle_90" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13072, |
| 13527 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13527, |
| 13735 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_89", |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pillar_candle_89" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 13735, |
| 14695 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_90", |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pillar_candle_90" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 14695, |
| 14829 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_91" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14829, |
| 15552 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_91", |
| "floors_ulujpr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pillar_candle_91" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15552, |
| 16359 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16359, |
| 17118 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_91", |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pillar_candle_91" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 17118, |
| 17848 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 11 |
| ], |
| "skill_description": [ |
| "close drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 17848, |
| 18654 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 2, |
| 91 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on next to" |
| ], |
| "object_id": [ |
| [ |
| "cauldron_92", |
| "floors_ulujpr_0" |
| ], |
| [ |
| "cauldron_92", |
| "floors_ulujpr_0", |
| "coffee_table_koagbh_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cauldron_92", |
| "cauldron_92" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [], |
| [ |
| "in_front_of" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 0, |
| 2068 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 9 |
| ], |
| "primitive_description": [ |
| "open drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 2068, |
| 4620 |
| ], |
| "skill_idxes": [ |
| 4, |
| 5 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "pumpkin_94", |
| "pumpkin_93" |
| ], |
| "floors_ulujpr_0" |
| ], |
| [ |
| [ |
| "pumpkin_94", |
| "pumpkin_93" |
| ], |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "pumpkin_94", |
| "pumpkin_93" |
| ], |
| [ |
| "pumpkin_94", |
| "pumpkin_93" |
| ] |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "right", |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 4620, |
| 9779 |
| ], |
| "skill_idxes": [ |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 11 |
| ], |
| "primitive_description": [ |
| "close drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 9779, |
| 10378 |
| ], |
| "skill_idxes": [ |
| 13 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 9 |
| ], |
| "primitive_description": [ |
| "open drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 10378, |
| 12186 |
| ], |
| "skill_idxes": [ |
| 14, |
| 15 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "pillar_candle_89", |
| "pillar_candle_90" |
| ], |
| "floors_ulujpr_0" |
| ], |
| [ |
| [ |
| "pillar_candle_89", |
| "pillar_candle_90" |
| ], |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "pillar_candle_89", |
| "pillar_candle_90" |
| ], |
| [ |
| "pillar_candle_89", |
| "pillar_candle_90" |
| ] |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "left", |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 12186, |
| 14829 |
| ], |
| "skill_idxes": [ |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_91", |
| "floors_ulujpr_0" |
| ], |
| [ |
| "pillar_candle_91", |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pillar_candle_91", |
| "pillar_candle_91" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 14829, |
| 17848 |
| ], |
| "skill_idxes": [ |
| 23, |
| 24, |
| 25, |
| 26 |
| ] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [ |
| 11 |
| ], |
| "primitive_description": [ |
| "close drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 17848, |
| 18654 |
| ], |
| "skill_idxes": [ |
| 27 |
| ] |
| } |
| ] |
| } |