| { | |
| "task_name": "boxing books up for storage", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 27519, | |
| "valid_duration": [ | |
| 0, | |
| 27519 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 150 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 150, | |
| 1194 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "sofa_ukfaaz_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1194, | |
| 3363 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3363, | |
| 4067 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_51" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4067, | |
| 5097 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 5097, | |
| 6530 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "2X1" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6530, | |
| 7128 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_55" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7128, | |
| 7181 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_55", | |
| "bookcase_otwukr_3" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_55" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7181, | |
| 7963 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_55", | |
| "bookcase_otwukr_3" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_55" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "2X1" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7963, | |
| 8682 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8682, | |
| 10320 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10320, | |
| 10953 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_55", | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_55" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 10953, | |
| 11836 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_54" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11836, | |
| 12855 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_54", | |
| "bookcase_otwukr_3" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_54" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 12855, | |
| 14116 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_54", | |
| "bookcase_otwukr_3" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_54" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "3X1" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 14116, | |
| 14789 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_53" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14789, | |
| 14897 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_53", | |
| "bookcase_otwukr_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_53" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 14897, | |
| 15949 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_53", | |
| "bookcase_otwukr_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_53" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "2X1" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 15949, | |
| 16622 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16622, | |
| 18334 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_54", | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_54" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18334, | |
| 18930 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_53", | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_53" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 18930, | |
| 19648 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_52" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 19648, | |
| 21117 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_52", | |
| "bookcase_otwukr_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_52" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 21117, | |
| 22426 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_52", | |
| "bookcase_otwukr_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_52" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "2X2" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 22426, | |
| 22933 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_50" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 22933, | |
| 23014 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 23014, | |
| 23796 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "2X2" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 23796, | |
| 24155 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 24155, | |
| 26239 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_52", | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_52" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 26239, | |
| 26999 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 26999, | |
| 27519 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 4067 | |
| ], | |
| "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_55" | |
| ], | |
| [ | |
| "bookcase_otwukr_0", | |
| "bookcase_otwukr_3" | |
| ] | |
| ], | |
| [ | |
| [ | |
| "hardback_51", | |
| "hardback_55" | |
| ], | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "hardback_51", | |
| "hardback_55" | |
| ], | |
| [ | |
| "hardback_51", | |
| "hardback_55" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "2X1", | |
| "2X1" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 4067, | |
| 11836 | |
| ], | |
| "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_54", | |
| "hardback_53" | |
| ], | |
| [ | |
| "bookcase_otwukr_3", | |
| "bookcase_otwukr_1" | |
| ] | |
| ], | |
| [ | |
| [ | |
| "hardback_54", | |
| "hardback_53" | |
| ], | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "hardback_54", | |
| "hardback_53" | |
| ], | |
| [ | |
| "hardback_54", | |
| "hardback_53" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "3X1", | |
| "2X1" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 11836, | |
| 19648 | |
| ], | |
| "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_52", | |
| "hardback_50" | |
| ], | |
| [ | |
| "bookcase_otwukr_1", | |
| "bookcase_otwukr_2" | |
| ] | |
| ], | |
| [ | |
| [ | |
| "hardback_52", | |
| "hardback_50" | |
| ], | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "hardback_52", | |
| "hardback_50" | |
| ], | |
| [ | |
| "hardback_52", | |
| "hardback_50" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "2X2", | |
| "2X2" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 19648, | |
| 27519 | |
| ], | |
| "skill_idxes": [ | |
| 22, | |
| 23, | |
| 24, | |
| 25, | |
| 26, | |
| 27, | |
| 28, | |
| 29, | |
| 30 | |
| ] | |
| } | |
| ] | |
| } |