| { |
| "task_name": "putting away Halloween decorations", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 10494, |
| "valid_duration": [0, 10494] |
| }, |
| "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, 270], |
| "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": [270, 885], |
| "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": [885, 1131], |
| "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": [1131, 1950], |
| "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": [1950, 2526], |
| "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": [], |
| "spatial_prefix": [], |
| "frame_duration": [2526, 2745], |
| "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": [], |
| "spatial_prefix": [], |
| "frame_duration": [2745, 3186], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [3186, 3408], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 8, |
| "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": [3408, 3756], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pillar_candle_89"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [3756, 3942], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 10, |
| "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": [3942, 4476], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [4476, 4650], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 12, |
| "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": [4650, 5064], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [11], |
| "skill_description": ["close drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["left"]], |
| "frame_duration": [5064, 5295], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pumpkin_94"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5295, 5400], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["pumpkin_94", "floors_ulujpr_0"]], |
| "manipulating_object_id": ["pumpkin_94"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5400, 5820], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [5820, 6042], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [9], |
| "skill_description": ["open drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right"]], |
| "frame_duration": [6042, 6465], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 18, |
| "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": [6465, 6855], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["pumpkin_93"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [6855, 7170], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["pumpkin_93", "floors_ulujpr_0"]], |
| "manipulating_object_id": ["pumpkin_93"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [7170, 7755], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [7755, 8034], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 22, |
| "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": [8034, 8385], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [11], |
| "skill_description": ["close drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [["right"]], |
| "frame_duration": [8385, 8625], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["cauldron_92"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8625, 8850], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 25, |
| "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": [8850, 9819], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["coffee_table_koagbh_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9819, 10125], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 27, |
| "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": [10125, 10494], |
| "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, 2526], |
| "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": [885, 1950], |
| "skill_idxes": [2, 3] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [["pillar_candle_90", "floors_ulujpr_0"], ["pillar_candle_90", "bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": ["pillar_candle_90", "pillar_candle_90"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], ["left"]]], |
| "frame_duration": [2526, 3756], |
| "skill_idxes": [5, 6, 7, 8] |
| }, |
| { |
| "primitive_idx": 3, |
| "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"], |
| "memory_prefix": ["the other", ""], |
| "spatial_prefix": [[], [[], ["left"]]], |
| "frame_duration": [3756, 5064], |
| "skill_idxes": [9, 10, 11, 12] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [11], |
| "primitive_description": ["close drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["left"]]], |
| "frame_duration": [5064, 5295], |
| "skill_idxes": [13] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [["pumpkin_94", "floors_ulujpr_0"], ["pumpkin_94", "bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": ["pumpkin_94", "pumpkin_94"], |
| "memory_prefix": [], |
| "spatial_prefix": [[], [[], ["right"]]], |
| "frame_duration": [5295, 6855], |
| "skill_idxes": [14, 15, 18] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [9], |
| "primitive_description": ["open drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right"]]], |
| "frame_duration": [5820, 6465], |
| "skill_idxes": [16, 17] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [["pumpkin_93", "floors_ulujpr_0"], ["pumpkin_93", "bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": ["pumpkin_93", "pumpkin_93"], |
| "memory_prefix": ["the other", ""], |
| "spatial_prefix": [[], [[], ["right"]]], |
| "frame_duration": [6855, 8385], |
| "skill_idxes": [19, 20, 21, 22] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [11], |
| "primitive_description": ["close drawer"], |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [[["right"]]], |
| "frame_duration": [8385, 8625], |
| "skill_idxes": [23] |
| }, |
| { |
| "primitive_idx": 9, |
| "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": [8625, 10494], |
| "skill_idxes": [24, 25, 26, 27] |
| } |
| ] |
| } |