| { |
| "task_name": "boxing books up for storage", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 25710, |
| "valid_duration": [ |
| 0, |
| 25710 |
| ] |
| }, |
| "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, |
| 339 |
| ], |
| "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": [ |
| 339, |
| 1286 |
| ], |
| "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": [ |
| 1287, |
| 3567 |
| ], |
| "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": [ |
| 3567, |
| 4350 |
| ], |
| "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": [ |
| 4350, |
| 5652 |
| ], |
| "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": [ |
| 5652, |
| 6840 |
| ], |
| "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": [ |
| 6840, |
| 7290 |
| ], |
| "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": [ |
| 7290, |
| 7411 |
| ], |
| "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": [ |
| 7411, |
| 8580 |
| ], |
| "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": [ |
| 8580, |
| 8934 |
| ], |
| "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": [ |
| 8934, |
| 10572 |
| ], |
| "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": [ |
| 10572, |
| 10950 |
| ], |
| "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": [ |
| 10951, |
| 11639 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_54" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11639, |
| 12660 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "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": [ |
| 12660, |
| 13568 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "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": [ |
| 13569, |
| 13976 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_52" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13976, |
| 14169 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "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": [ |
| 14169, |
| 15000 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "hardback_52", |
| "bookcase_otwukr_1" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_52" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "2X1" |
| ] |
| ], |
| "frame_duration": [ |
| 15000, |
| 15375 |
| ], |
| "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": [ |
| 15375, |
| 17142 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hardback_54", |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_54" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17142, |
| 17608 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hardback_52", |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_52" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17608, |
| 18390 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_53" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 18390, |
| 19677 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "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": [ |
| 19677, |
| 20752 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "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": [ |
| 20752, |
| 21151 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hardback_50" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 21151, |
| 21274 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "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": [ |
| 21274, |
| 22230 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "hardback_50", |
| "bookcase_otwukr_2" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_50" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "3X1" |
| ] |
| ], |
| "frame_duration": [ |
| 22230, |
| 22672 |
| ], |
| "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": [ |
| 22672, |
| 24822 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hardback_53", |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_53" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 24822, |
| 25110 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "hardback_50", |
| "storage_box_49" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hardback_50" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 25110, |
| 25710 |
| ], |
| "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, |
| 4350 |
| ], |
| "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", |
| "2X2" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 4350, |
| 11639 |
| ], |
| "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_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", |
| "2X1" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 11639, |
| 18390 |
| ], |
| "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_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": [ |
| [ |
| [], |
| [ |
| "3X1", |
| "3X1" |
| ] |
| ], |
| [] |
| ], |
| "frame_duration": [ |
| 18390, |
| 25710 |
| ], |
| "skill_idxes": [ |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29, |
| 30 |
| ] |
| } |
| ] |
| } |