{ "task_name": "putting away Halloween decorations", "data_folder": "", "meta_data": { "task_duration": 17880, "valid_duration": [ 0, 17880 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 252 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 9 ], "skill_description": [ "open drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right" ] ], "frame_duration": [ 252, 1524 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pillar_candle_90" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1524, 1956 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 3, "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": [ 1956, 2674 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pillar_candle_89" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2674, 3307 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 5, "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": [ 3307, 4434 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4434, 4605 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "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": [ 4605, 5624 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "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": [ 5624, 6003 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pillar_candle_91" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6003, 6468 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 10, "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": [ 6468, 7047 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7047, 7525 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 12, "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": [ 7525, 8460 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 11 ], "skill_description": [ "close drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "right" ] ], "frame_duration": [ 8460, 9444 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 14, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9444, 9857 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 15, "skill_id": [ 9 ], "skill_description": [ "open drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left" ] ], "frame_duration": [ 9857, 11018 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pumpkin_93" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11018, 11475 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 17, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pumpkin_93", "floors_ulujpr_0" ] ], "manipulating_object_id": [ "pumpkin_93" ], "spatial_prefix": [], "frame_duration": [ 11475, 12345 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pumpkin_94" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12345, 12816 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 19, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pumpkin_94", "floors_ulujpr_0" ] ], "manipulating_object_id": [ "pumpkin_94" ], "spatial_prefix": [], "frame_duration": [ 12816, 13579 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13579, 14455 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 21, "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": [ 14455, 15136 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "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": [ 15137, 15362 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 11 ], "skill_description": [ "close drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ "left" ] ], "frame_duration": [ 15362, 16073 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 24, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "cauldron_92" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 16073, 16599 ], "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" ], "spatial_prefix": [], "frame_duration": [ 16599, 17142 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 26, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "coffee_table_koagbh_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 17142, 17412 ], "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" ], "spatial_prefix": [ [ "", "", "in_front_of" ] ], "frame_duration": [ 17412, 17880 ], "mp_ef": [], "skill_type": [ "coordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 9 ], "primitive_description": [ "open drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right" ] ] ], "frame_duration": [ 0, 1524 ], "skill_idxes": [ 0, 1 ] }, { "primitive_idx": 1, "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" ] ], "spatial_prefix": [ [], [ [], [ "right", "right" ] ] ], "frame_duration": [ 1524, 6003 ], "skill_idxes": [ 2, 3, 4, 5, 6, 7, 8 ] }, { "primitive_idx": 2, "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" ], "spatial_prefix": [ [], [ [], [ "right" ] ] ], "frame_duration": [ 6003, 8460 ], "skill_idxes": [ 9, 10, 11, 12 ] }, { "primitive_idx": 3, "primitive_id": [ 11 ], "primitive_description": [ "close drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "right" ] ] ], "frame_duration": [ 8460, 9444 ], "skill_idxes": [ 13 ] }, { "primitive_idx": 4, "primitive_id": [ 9 ], "primitive_description": [ "open drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left" ] ] ], "frame_duration": [ 9444, 11018 ], "skill_idxes": [ 14, 15 ] }, { "primitive_idx": 5, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "pumpkin_93", "pumpkin_94" ], "floors_ulujpr_0" ], [ [ "pumpkin_94", "pumpkin_93" ], "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [ [ "pumpkin_93", "pumpkin_94" ], [ "pumpkin_94", "pumpkin_93" ] ], "spatial_prefix": [ [], [ [], [ "left", "left" ] ] ], "frame_duration": [ 11018, 15362 ], "skill_idxes": [ 16, 17, 18, 19, 20, 21, 22 ] }, { "primitive_idx": 6, "primitive_id": [ 11 ], "primitive_description": [ "close drawer" ], "object_id": [ [ "bottom_cabinet_rhdbzv_0" ] ], "manipulating_object_id": [], "spatial_prefix": [ [ [ "left" ] ] ], "frame_duration": [ 15362, 16073 ], "skill_idxes": [ 23 ] }, { "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" ], "spatial_prefix": [ [], [ [], [], [ "in_front_of" ] ] ], "frame_duration": [ 16073, 17880 ], "skill_idxes": [ 24, 25, 26, 27 ] } ] }