| { | |
| "task_name": "putting away Halloween decorations", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 17304, | |
| "valid_duration": [ | |
| 0, | |
| 17304 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cauldron_92" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 116 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "cauldron_92", | |
| "floors_ulujpr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "cauldron_92" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 117, | |
| 889 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "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" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "", | |
| "in_front_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 889, | |
| 1494 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1494, | |
| 2134 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 9 | |
| ], | |
| "skill_description": [ | |
| "open drawer" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 2134, | |
| 3297 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pillar_candle_89" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3297, | |
| 3600 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pillar_candle_89", | |
| "floors_ulujpr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "pillar_candle_89" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3600, | |
| 4953 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pillar_candle_91" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4953, | |
| 5010 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pillar_candle_91", | |
| "floors_ulujpr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "pillar_candle_91" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5010, | |
| 5778 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5778, | |
| 6162 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pillar_candle_91", | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "pillar_candle_91" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6162, | |
| 6842 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6842, | |
| 7041 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pillar_candle_90" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7041, | |
| 7830 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pillar_candle_90", | |
| "floors_ulujpr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "pillar_candle_90" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7830, | |
| 8597 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8597, | |
| 9081 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pillar_candle_90", | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "pillar_candle_90" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 9081, | |
| 10075 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 11 | |
| ], | |
| "skill_description": [ | |
| "close drawer" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "right" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 10075, | |
| 10577 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10578, | |
| 11354 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 9 | |
| ], | |
| "skill_description": [ | |
| "open drawer" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 11354, | |
| 12492 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pumpkin_94" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12492, | |
| 12711 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pumpkin_94", | |
| "floors_ulujpr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "pumpkin_94" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12711, | |
| 13214 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pumpkin_93" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13214, | |
| 13800 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pumpkin_93", | |
| "floors_ulujpr_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "pumpkin_93" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13800, | |
| 14820 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14820, | |
| 15510 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pumpkin_94", | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "pumpkin_94" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "left" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 15510, | |
| 16255 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "pumpkin_93", | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "pumpkin_93" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "left" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 16259, | |
| 16321 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 11 | |
| ], | |
| "skill_description": [ | |
| "close drawer" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| "left" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 16321, | |
| 17304 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "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" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [], | |
| [ | |
| "in_front_of" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 0, | |
| 1494 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 9 | |
| ], | |
| "primitive_description": [ | |
| "open drawer" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1494, | |
| 3297 | |
| ], | |
| "skill_idxes": [ | |
| 3, | |
| 4 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "pillar_candle_89", | |
| "pillar_candle_91" | |
| ], | |
| "floors_ulujpr_0" | |
| ], | |
| [ | |
| [ | |
| "pillar_candle_91", | |
| "pillar_candle_89" | |
| ], | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "pillar_candle_89", | |
| "pillar_candle_91" | |
| ], | |
| [ | |
| "pillar_candle_91", | |
| "pillar_candle_89" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "right", | |
| "right" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 3297, | |
| 7041 | |
| ], | |
| "skill_idxes": [ | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "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" | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "right" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7041, | |
| 10075 | |
| ], | |
| "skill_idxes": [ | |
| 12, | |
| 13, | |
| 14, | |
| 15 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 11 | |
| ], | |
| "primitive_description": [ | |
| "close drawer" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "right" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 10075, | |
| 10577 | |
| ], | |
| "skill_idxes": [ | |
| 16 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 9 | |
| ], | |
| "primitive_description": [ | |
| "open drawer" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 10578, | |
| 12492 | |
| ], | |
| "skill_idxes": [ | |
| 17, | |
| 18 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 6, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "pumpkin_94", | |
| "pumpkin_93" | |
| ], | |
| "floors_ulujpr_0" | |
| ], | |
| [ | |
| [ | |
| "pumpkin_94", | |
| "pumpkin_93" | |
| ], | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "pumpkin_94", | |
| "pumpkin_93" | |
| ], | |
| [ | |
| "pumpkin_94", | |
| "pumpkin_93" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [], | |
| [ | |
| [], | |
| [ | |
| "left", | |
| "left" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12492, | |
| 16321 | |
| ], | |
| "skill_idxes": [ | |
| 19, | |
| 20, | |
| 21, | |
| 22, | |
| 23, | |
| 24, | |
| 25 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 7, | |
| "primitive_id": [ | |
| 11 | |
| ], | |
| "primitive_description": [ | |
| "close drawer" | |
| ], | |
| "object_id": [ | |
| [ | |
| "bottom_cabinet_rhdbzv_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [ | |
| [ | |
| [ | |
| "left" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 16321, | |
| 17304 | |
| ], | |
| "skill_idxes": [ | |
| 26 | |
| ] | |
| } | |
| ] | |
| } |