| { |
| "task_name": "putting away Halloween decorations", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 11765, |
| "valid_duration": [0, 11765] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pillar_candle_91"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 420], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["pillar_candle_91", "floors_ulujpr_0"]], |
| "manipulating_object_id": ["pillar_candle_91"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [420, 1230], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1230, 1329], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [9], |
| "skill_description": ["open drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left"]], |
| "frame_duration": [1329, 2280], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["pillar_candle_91", "bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": ["pillar_candle_91"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "left"]], |
| "frame_duration": [2280, 2835], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pillar_candle_90"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [2835, 3000], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["pillar_candle_90", "floors_ulujpr_0"]], |
| "manipulating_object_id": ["pillar_candle_90"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [3000, 3420], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pillar_candle_89"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [3420, 3663], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["pillar_candle_89", "floors_ulujpr_0"]], |
| "manipulating_object_id": ["pillar_candle_89"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [3663, 4155], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [4155, 4533], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["pillar_candle_90", "bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": ["pillar_candle_90"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "left"]], |
| "frame_duration": [4533, 5148], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["pillar_candle_89", "bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": ["pillar_candle_89"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "left"]], |
| "frame_duration": [5148, 5358], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [11], |
| "skill_description": ["close drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left"]], |
| "frame_duration": [5358, 5790], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [9], |
| "skill_description": ["open drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right"]], |
| "frame_duration": [5790, 6660], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pumpkin_93"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6660, 6891], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["pumpkin_93", "floors_ulujpr_0"]], |
| "manipulating_object_id": ["pumpkin_93"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6891, 7254], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pumpkin_94"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [7254, 7449], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["pumpkin_94", "floors_ulujpr_0"]], |
| "manipulating_object_id": ["pumpkin_94"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [7449, 7944], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [7944, 8574], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["pumpkin_93", "bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": ["pumpkin_93"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "right"]], |
| "frame_duration": [8574, 9117], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["pumpkin_94", "bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": ["pumpkin_94"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "right"]], |
| "frame_duration": [9117, 9369], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [11], |
| "skill_description": ["close drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right"]], |
| "frame_duration": [9369, 9756], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["cauldron_92"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9756, 10440], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["cauldron_92", "floors_ulujpr_0"]], |
| "manipulating_object_id": ["cauldron_92"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10440, 10974], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 24, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "", "in_front_of"]], |
| "frame_duration": [10974, 11765], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], ["left"]]], |
| "frame_duration": [0, 2835], |
| "skill_idxes": [0, 1, 4] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [9], |
| "primitive_description": ["open drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left"]]], |
| "frame_duration": [1230, 2280], |
| "skill_idxes": [2, 3] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["pillar_candle_90", "pillar_candle_89"], "floors_ulujpr_0"], [["pillar_candle_90", "pillar_candle_89"], "bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [["pillar_candle_90", "pillar_candle_89"], ["pillar_candle_90", "pillar_candle_89"]], |
| "memory_prefix": ["the other", ""], |
| "spatial_prefix": [[], [[], ["left", "left"]]], |
| "frame_duration": [2835, 5358], |
| "skill_idxes": [5, 6, 7, 8, 9, 10, 11] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [11], |
| "primitive_description": ["close drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left"]]], |
| "frame_duration": [5358, 5790], |
| "skill_idxes": [12] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [9], |
| "primitive_description": ["open drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right"]]], |
| "frame_duration": [5790, 6660], |
| "skill_idxes": [13] |
| }, |
| { |
| "primitive_idx": 5, |
| "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"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], ["right", "right"]]], |
| "frame_duration": [6660, 9369], |
| "skill_idxes": [14, 15, 16, 17, 18, 19, 20] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [11], |
| "primitive_description": ["close drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right"]]], |
| "frame_duration": [9369, 9756], |
| "skill_idxes": [21] |
| }, |
| { |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], [], ["in_front_of"]]], |
| "frame_duration": [9756, 11765], |
| "skill_idxes": [22, 23, 24] |
| } |
| ] |
| } |