| { |
| "task_name": "boxing books up for storage", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 24788, |
| "valid_duration": [0, 24788] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["storage_box_49"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 428], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [428, 1428], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["sofa_ukfaaz_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1428, 3023], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3023, 3595], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["hardback_51"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3596, 4736], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "to_the_edge_of"]], |
| "frame_duration": [4736, 5526], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "3X1"]], |
| "frame_duration": [5526, 5954], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["hardback_54"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [5954, 6261], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [90], |
| "skill_description": ["push to"], |
| "object_id": [["hardback_54", "bookcase_otwukr_3"]], |
| "manipulating_object_id": ["hardback_54"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "to_the_edge_of"]], |
| "frame_duration": [6261, 7335], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["hardback_54", "bookcase_otwukr_3"]], |
| "manipulating_object_id": ["hardback_54"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "3X2"]], |
| "frame_duration": [7335, 7704], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["storage_box_49"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [7704, 9617], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9617, 10095], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["hardback_54", "storage_box_49"]], |
| "manipulating_object_id": ["hardback_54"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10095, 10774], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["hardback_52"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back", "the other"], |
| "spatial_prefix": [], |
| "frame_duration": [10775, 12192], |
| "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"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "to_the_edge_of"]], |
| "frame_duration": [12192, 12960], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "3X1"]], |
| "frame_duration": [12960, 13373], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["hardback_55"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [13373, 13635], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [90], |
| "skill_description": ["push to"], |
| "object_id": [["hardback_55", "bookcase_otwukr_3"]], |
| "manipulating_object_id": ["hardback_55"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "to_the_edge_of"]], |
| "frame_duration": [13635, 14640], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["hardback_55", "bookcase_otwukr_3"]], |
| "manipulating_object_id": ["hardback_55"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "2X1"]], |
| "frame_duration": [14640, 14983], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["storage_box_49"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [14983, 16971], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [16971, 17397], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["hardback_55", "storage_box_49"]], |
| "manipulating_object_id": ["hardback_55"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [17397, 18012], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["hardback_53"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back", "the other"], |
| "spatial_prefix": [], |
| "frame_duration": [18012, 19290], |
| "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"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "to_the_edge_of"]], |
| "frame_duration": [19290, 20160], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "2X2"]], |
| "frame_duration": [20160, 20602], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["hardback_50"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [20602, 20691], |
| "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"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [["", "to_the_edge_of"]], |
| "frame_duration": [20691, 21476], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "2X2"]], |
| "frame_duration": [21476, 21914], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["storage_box_49"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["back"], |
| "spatial_prefix": [], |
| "frame_duration": [21914, 23964], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [23964, 24253], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [24253, 24788], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 3595], |
| "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_54"], ["bookcase_otwukr_0", "bookcase_otwukr_3"]], [["hardback_51", "hardback_54"], "storage_box_49"]], |
| "manipulating_object_id": [["hardback_51", "hardback_54"], ["hardback_51", "hardback_54"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["3X1", "3X2"]], []], |
| "frame_duration": [3596, 10774], |
| "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_55"], ["bookcase_otwukr_1", "bookcase_otwukr_3"]], [["hardback_52", "hardback_55"], "storage_box_49"]], |
| "manipulating_object_id": [["hardback_52", "hardback_55"], ["hardback_52", "hardback_55"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["3X1", "2X1"]], []], |
| "frame_duration": [10775, 18012], |
| "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"]], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["2X2", "2X2"]], []], |
| "frame_duration": [18012, 24788], |
| "skill_idxes": [22, 23, 24, 25, 26, 27, 28, 29, 30] |
| } |
| ] |
| } |