| { |
| "task_name": "boxing books up for storage", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 25053, |
| "valid_duration": [ |
| 0, |
| 25053 |
| ] |
| }, |
| "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, |
| 666 |
| ], |
| "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": [ |
| 666, |
| 1454 |
| ], |
| "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": [ |
| 1454, |
| 3426 |
| ], |
| "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": [ |
| 3426, |
| 3873 |
| ], |
| "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": [ |
| 3873, |
| 5316 |
| ], |
| "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": [ |
| 5316, |
| 6729 |
| ], |
| "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": [ |
| [ |
| "", |
| "2X2" |
| ] |
| ], |
| "frame_duration": [ |
| 6729, |
| 7446 |
| ], |
| "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": [ |
| 7446, |
| 7563 |
| ], |
| "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": [ |
| 7563, |
| 8559 |
| ], |
| "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": [ |
| [ |
| "", |
| "2X1" |
| ] |
| ], |
| "frame_duration": [ |
| 8559, |
| 9096 |
| ], |
| "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": [ |
| 9096, |
| 10806 |
| ], |
| "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": [ |
| 10806, |
| 11406 |
| ], |
| "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": [ |
| 11406, |
| 12036 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_52" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12036, |
| 13236 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "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": [ |
| 13236, |
| 14166 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "hardback_52", |
| "bookcase_otwukr_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_52" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "2X2" |
| ] |
| ], |
| "frame_duration": [ |
| 14166, |
| 14673 |
| ], |
| "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": [ |
| 14673, |
| 14763 |
| ], |
| "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": [ |
| 14763, |
| 15608 |
| ], |
| "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": [ |
| 15608, |
| 16315 |
| ], |
| "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": [ |
| 16315, |
| 17916 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hardback_52", |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_52" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17916, |
| 18252 |
| ], |
| "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": [ |
| 18252, |
| 18816 |
| ], |
| "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": [ |
| 18816, |
| 20137 |
| ], |
| "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": [ |
| 20137, |
| 20921 |
| ], |
| "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": [ |
| [ |
| "", |
| "3X2" |
| ] |
| ], |
| "frame_duration": [ |
| 20921, |
| 21334 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_53" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 21334, |
| 21393 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "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": [ |
| 21393, |
| 22203 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "hardback_53", |
| "bookcase_otwukr_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_53" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "3X1" |
| ] |
| ], |
| "frame_duration": [ |
| 22203, |
| 22551 |
| ], |
| "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": [ |
| 22551, |
| 24248 |
| ], |
| "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": [ |
| 24248, |
| 24483 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hardback_53", |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_53" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 24483, |
| 25053 |
| ], |
| "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, |
| 3873 |
| ], |
| "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": [ |
| [ |
| [], |
| [ |
| "2X2", |
| "2X1" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 3873, |
| 12036 |
| ], |
| "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_52", |
| "hardback_50" |
| ], |
| [ |
| "bookcase_otwukr_1", |
| "bookcase_otwukr_2" |
| ] |
| ], |
| [ |
| [ |
| "hardback_52", |
| "hardback_50" |
| ], |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "hardback_52", |
| "hardback_50" |
| ], |
| [ |
| "hardback_52", |
| "hardback_50" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "2X2", |
| "2X1" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 12036, |
| 18816 |
| ], |
| "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_53" |
| ], |
| [ |
| "bookcase_otwukr_3", |
| "bookcase_otwukr_1" |
| ] |
| ], |
| [ |
| [ |
| "hardback_54", |
| "hardback_53" |
| ], |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "hardback_54", |
| "hardback_53" |
| ], |
| [ |
| "hardback_54", |
| "hardback_53" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "3X2", |
| "3X1" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 18816, |
| 25053 |
| ], |
| "skill_idxes": [ |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29, |
| 30 |
| ] |
| } |
| ] |
| } |