| { |
| "task_name": "boxing books up for storage", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 26192, |
| "valid_duration": [ |
| 0, |
| 26192 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 570 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "storage_box_49", |
| "floors_rfqizg_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "storage_box_49" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 571, |
| 1435 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "sofa_ukfaaz_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1435, |
| 3147 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "storage_box_49", |
| "sofa_ukfaaz_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "storage_box_49" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3148, |
| 3832 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_51" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3832, |
| 5124 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_51", |
| "bookcase_otwukr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_51" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 5125, |
| 6387 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "hardback_51", |
| "bookcase_otwukr_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_51" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "2X1" |
| ] |
| ], |
| "frame_duration": [ |
| 6387, |
| 6927 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_55" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6927, |
| 7094 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_55", |
| "bookcase_otwukr_3" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_55" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 7094, |
| 8085 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "hardback_55", |
| "bookcase_otwukr_3" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_55" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "2X2" |
| ] |
| ], |
| "frame_duration": [ |
| 8085, |
| 8673 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8673, |
| 10382 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hardback_51", |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_51" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10383, |
| 10977 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hardback_55", |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_55" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10977, |
| 11701 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_53" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11701, |
| 13110 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_53", |
| "bookcase_otwukr_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_53" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 13110, |
| 14302 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "hardback_53", |
| "bookcase_otwukr_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_53" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "2X1" |
| ] |
| ], |
| "frame_duration": [ |
| 14302, |
| 14826 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_50" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 14826, |
| 14916 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_50", |
| "bookcase_otwukr_2" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_50" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 14931, |
| 15554 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "hardback_50", |
| "bookcase_otwukr_2" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_50" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "2X1" |
| ] |
| ], |
| "frame_duration": [ |
| 15554, |
| 16258 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16258, |
| 18059 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hardback_53", |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_53" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 18063, |
| 18417 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hardback_50", |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_50" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 18417, |
| 19080 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_54" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19080, |
| 20277 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_54", |
| "bookcase_otwukr_3" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_54" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 20277, |
| 21632 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "hardback_54", |
| "bookcase_otwukr_3" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_54" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "3X1" |
| ] |
| ], |
| "frame_duration": [ |
| 21632, |
| 22171 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_52" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 22171, |
| 22397 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_52", |
| "bookcase_otwukr_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_52" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "to_the_edge_of" |
| ] |
| ], |
| "frame_duration": [ |
| 22397, |
| 23409 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "hardback_52", |
| "bookcase_otwukr_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_52" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "3X1" |
| ] |
| ], |
| "frame_duration": [ |
| 23409, |
| 23962 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 23962, |
| 25365 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hardback_54", |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_54" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 25365, |
| 25802 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hardback_52", |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_52" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 25802, |
| 26192 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "storage_box_49", |
| "floors_rfqizg_0" |
| ], |
| [ |
| "storage_box_49", |
| "sofa_ukfaaz_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "storage_box_49", |
| "storage_box_49" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 3832 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "hardback_51", |
| "hardback_55" |
| ], |
| [ |
| "bookcase_otwukr_0", |
| "bookcase_otwukr_3" |
| ] |
| ], |
| [ |
| [ |
| "hardback_51", |
| "hardback_55" |
| ], |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "hardback_51", |
| "hardback_55" |
| ], |
| [ |
| "hardback_51", |
| "hardback_55" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "2X1", |
| "2X2" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 3832, |
| 11701 |
| ], |
| "skill_idxes": [ |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "hardback_53", |
| "hardback_50" |
| ], |
| [ |
| "bookcase_otwukr_1", |
| "bookcase_otwukr_2" |
| ] |
| ], |
| [ |
| [ |
| "hardback_53", |
| "hardback_50" |
| ], |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "hardback_53", |
| "hardback_50" |
| ], |
| [ |
| "hardback_53", |
| "hardback_50" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "2X1", |
| "2X1" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 11701, |
| 19080 |
| ], |
| "skill_idxes": [ |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "hardback_54", |
| "hardback_52" |
| ], |
| [ |
| "bookcase_otwukr_3", |
| "bookcase_otwukr_1" |
| ] |
| ], |
| [ |
| [ |
| "hardback_54", |
| "hardback_52" |
| ], |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "hardback_54", |
| "hardback_52" |
| ], |
| [ |
| "hardback_54", |
| "hardback_52" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "3X1", |
| "3X1" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 19080, |
| 26192 |
| ], |
| "skill_idxes": [ |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29, |
| 30 |
| ] |
| } |
| ] |
| } |