| { |
| "task_name": "putting away Halloween decorations", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 13260, |
| "valid_duration": [ |
| 0, |
| 13260 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 312 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 9 |
| ], |
| "skill_description": [ |
| "open drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 312, |
| 1221 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pumpkin_93" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1221, |
| 2001 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "pumpkin_93", |
| "floors_ulujpr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pumpkin_93" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2001, |
| 2499 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pumpkin_94" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2499, |
| 3153 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "pumpkin_94", |
| "floors_ulujpr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pumpkin_94" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3153, |
| 3609 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3609, |
| 4161 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "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": [ |
| 4161, |
| 4719 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "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": [ |
| 4719, |
| 5262 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 11 |
| ], |
| "skill_description": [ |
| "close drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "right" |
| ] |
| ], |
| "frame_duration": [ |
| 5262, |
| 5532 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5532, |
| 6228 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 9 |
| ], |
| "skill_description": [ |
| "open drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 6228, |
| 6870 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "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": [ |
| 6870, |
| 7548 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_90" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7548, |
| 7623 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "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": [ |
| 7623, |
| 8232 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8232, |
| 8493 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "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": [ |
| 8493, |
| 8952 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "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": [ |
| 8952, |
| 9150 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_89" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9150, |
| 9723 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "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": [ |
| 9723, |
| 10431 |
| ], |
| "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": [ |
| 10431, |
| 10983 |
| ], |
| "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": [ |
| 10983, |
| 11466 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 11 |
| ], |
| "skill_description": [ |
| "close drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| "left" |
| ] |
| ], |
| "frame_duration": [ |
| 11466, |
| 11877 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "cauldron_92" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11877, |
| 12177 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "cauldron_92", |
| "floors_ulujpr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "cauldron_92" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12177, |
| 12870 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "coffee_table_koagbh_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12870, |
| 13200 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "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": [ |
| 13200, |
| 13260 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 9 |
| ], |
| "primitive_description": [ |
| "open drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 0, |
| 1221 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "pumpkin_93", |
| "pumpkin_94" |
| ], |
| "floors_ulujpr_0" |
| ], |
| [ |
| [ |
| "pumpkin_93", |
| "pumpkin_94" |
| ], |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "pumpkin_93", |
| "pumpkin_94" |
| ], |
| [ |
| "pumpkin_93", |
| "pumpkin_94" |
| ] |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "right", |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 1221, |
| 5262 |
| ], |
| "skill_idxes": [ |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 11 |
| ], |
| "primitive_description": [ |
| "close drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "right" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 5262, |
| 5532 |
| ], |
| "skill_idxes": [ |
| 9 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 9 |
| ], |
| "primitive_description": [ |
| "open drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 5532, |
| 6870 |
| ], |
| "skill_idxes": [ |
| 10, |
| 11 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "pillar_candle_91", |
| "pillar_candle_90" |
| ], |
| "floors_ulujpr_0" |
| ], |
| [ |
| [ |
| "pillar_candle_91", |
| "pillar_candle_90" |
| ], |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "pillar_candle_91", |
| "pillar_candle_90" |
| ], |
| [ |
| "pillar_candle_91", |
| "pillar_candle_90" |
| ] |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "left", |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 6870, |
| 9150 |
| ], |
| "skill_idxes": [ |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "pillar_candle_89", |
| "floors_ulujpr_0" |
| ], |
| [ |
| "pillar_candle_89", |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "pillar_candle_89", |
| "pillar_candle_89" |
| ], |
| "spatial_prefix": [ |
| [], |
| [ |
| [], |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 9150, |
| 11466 |
| ], |
| "skill_idxes": [ |
| 18, |
| 19, |
| 20, |
| 21 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [ |
| 11 |
| ], |
| "primitive_description": [ |
| "close drawer" |
| ], |
| "object_id": [ |
| [ |
| "bottom_cabinet_rhdbzv_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [ |
| [ |
| [ |
| "left" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 11466, |
| 11877 |
| ], |
| "skill_idxes": [ |
| 22 |
| ] |
| }, |
| { |
| "primitive_idx": 7, |
| "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": [ |
| 11877, |
| 13260 |
| ], |
| "skill_idxes": [ |
| 23, |
| 24, |
| 25, |
| 26 |
| ] |
| } |
| ] |
| } |
