{ "task_name": "putting away Halloween decorations", "data_folder": "", "meta_data": { "task_duration": 14095, "valid_duration": [ 0, 14095 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "cauldron_92" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 70 ], "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": [ 71, 690 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 2, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "coffee_table_koagbh_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 690, 924 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 3, "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": [ 924, 1261 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 4, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1261, 1667 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 5, "skill_id": [ 9 ], "skill_description": [ "open drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left" ] ], "frame_duration": [ 1667, 2608 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pillar_candle_89" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2611, 2854 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "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": [ 2854, 3591 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pillar_candle_91" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3619, 3678 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 9, "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": [ 3678, 4013 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4013, 4251 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 11, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "pillar_candle_91", "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [ "pillar_candle_91" ], "spatial_prefix": [ [ "", "left" ] ], "frame_duration": [ 4251, 4920 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "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" ], "spatial_prefix": [ [ "", "left" ] ], "frame_duration": [ 4920, 5011 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pillar_candle_90" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5011, 5573 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 14, "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": [ 5574, 6230 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6230, 6516 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 16, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "pillar_candle_90", "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [ "pillar_candle_90" ], "spatial_prefix": [ [ "", "left" ] ], "frame_duration": [ 6516, 7258 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 11 ], "skill_description": [ "close drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left" ] ], "frame_duration": [ 7258, 7800 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 18, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7800, 8401 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 19, "skill_id": [ 9 ], "skill_description": [ "open drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right" ] ], "frame_duration": [ 8401, 9351 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pumpkin_94" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9351, 9995 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 21, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pumpkin_94", "floors_ulujpr_0" ] ], "manipulating_object_id": [ "pumpkin_94" ], "spatial_prefix": [], "frame_duration": [ 10002, 11037 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pumpkin_93" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11037, 11426 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 23, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pumpkin_93", "floors_ulujpr_0" ] ], "manipulating_object_id": [ "pumpkin_93" ], "spatial_prefix": [], "frame_duration": [ 11426, 12212 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12213, 12330 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 25, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "pumpkin_94", "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [ "pumpkin_94" ], "spatial_prefix": [ [ "", "right" ] ], "frame_duration": [ 12330, 12946 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "pumpkin_93", "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [ "pumpkin_93" ], "spatial_prefix": [ [ "", "right" ] ], "frame_duration": [ 12947, 13017 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 11 ], "skill_description": [ "close drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right" ] ], "frame_duration": [ 13018, 14095 ], "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, 1261 ], "skill_idxes": [ 0, 1, 2, 3 ] }, { "primitive_idx": 1, "primitive_id": [ 9 ], "primitive_description": [ "open drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left" ] ] ], "frame_duration": [ 1261, 2608 ], "skill_idxes": [ 4, 5 ] }, { "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": [ [], [ [], [ "left", "left" ] ] ], "frame_duration": [ 2611, 5011 ], "skill_idxes": [ 6, 7, 8, 9, 10, 11, 12 ] }, { "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": [ [], [ [], [ "left" ] ] ], "frame_duration": [ 5011, 7258 ], "skill_idxes": [ 13, 14, 15, 16 ] }, { "primitive_idx": 4, "primitive_id": [ 11 ], "primitive_description": [ "close drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left" ] ] ], "frame_duration": [ 7258, 7800 ], "skill_idxes": [ 17 ] }, { "primitive_idx": 5, "primitive_id": [ 9 ], "primitive_description": [ "open drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right" ] ] ], "frame_duration": [ 7800, 9351 ], "skill_idxes": [ 18, 19 ] }, { "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": [ [], [ [], [ "right", "right" ] ] ], "frame_duration": [ 9351, 13017 ], "skill_idxes": [ 20, 21, 22, 23, 24, 25, 26 ] }, { "primitive_idx": 7, "primitive_id": [ 11 ], "primitive_description": [ "close drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right" ] ] ], "frame_duration": [ 13018, 14095 ], "skill_idxes": [ 27 ] } ] }