| { | |
| "task_name": "boxing books up for storage", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 27559, | |
| "valid_duration": [ | |
| 0, | |
| 27559 | |
| ] | |
| }, | |
| "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, | |
| 507 | |
| ], | |
| "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": [ | |
| 507, | |
| 1420 | |
| ], | |
| "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": [ | |
| 1421, | |
| 3876 | |
| ], | |
| "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": [ | |
| 3876, | |
| 4647 | |
| ], | |
| "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": [ | |
| 4647, | |
| 6129 | |
| ], | |
| "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": [ | |
| 6129, | |
| 7194 | |
| ], | |
| "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": [ | |
| [ | |
| "", | |
| "3X1" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 7194, | |
| 7955 | |
| ], | |
| "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": [ | |
| 7955, | |
| 8057 | |
| ], | |
| "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": [ | |
| 8057, | |
| 9437 | |
| ], | |
| "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": [ | |
| [ | |
| "", | |
| "3X1" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 9437, | |
| 10045 | |
| ], | |
| "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": [ | |
| 10046, | |
| 11852 | |
| ], | |
| "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": [ | |
| 11852, | |
| 12439 | |
| ], | |
| "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": [ | |
| 12439, | |
| 13173 | |
| ], | |
| "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": [ | |
| 13173, | |
| 14490 | |
| ], | |
| "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": [ | |
| 14490, | |
| 15400 | |
| ], | |
| "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": [ | |
| [ | |
| "", | |
| "3X2" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 15400, | |
| 15728 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_52" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15728, | |
| 15890 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "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": [ | |
| 15891, | |
| 16771 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "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": [ | |
| 16771, | |
| 17392 | |
| ], | |
| "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": [ | |
| 17392, | |
| 19117 | |
| ], | |
| "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": [ | |
| 19117, | |
| 19592 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_52", | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "hardback_52" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 19592, | |
| 20416 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "hardback_53" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 20416, | |
| 21918 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 21918, | |
| 22870 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "3X2" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 22870, | |
| 23196 | |
| ], | |
| "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": [ | |
| 23196, | |
| 23318 | |
| ], | |
| "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": [ | |
| 23318, | |
| 23823 | |
| ], | |
| "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": [ | |
| [ | |
| "", | |
| "3X2" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 23823, | |
| 24312 | |
| ], | |
| "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": [ | |
| 24312, | |
| 26240 | |
| ], | |
| "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" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 26241, | |
| 26730 | |
| ], | |
| "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": [ | |
| 26730, | |
| 27559 | |
| ], | |
| "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, | |
| 4647 | |
| ], | |
| "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": [ | |
| [ | |
| [], | |
| [ | |
| "3X1", | |
| "3X1" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 4647, | |
| 13173 | |
| ], | |
| "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_52" | |
| ], | |
| [ | |
| "bookcase_otwukr_3", | |
| "bookcase_otwukr_1" | |
| ] | |
| ], | |
| [ | |
| [ | |
| "hardback_54", | |
| "hardback_52" | |
| ], | |
| "storage_box_49" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "hardback_54", | |
| "hardback_52" | |
| ], | |
| [ | |
| "hardback_54", | |
| "hardback_52" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "3X2", | |
| "2X2" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 13173, | |
| 20416 | |
| ], | |
| "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" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "3X2", | |
| "3X2" | |
| ] | |
| ], | |
| [] | |
| ], | |
| "frame_duration": [ | |
| 20416, | |
| 27559 | |
| ], | |
| "skill_idxes": [ | |
| 22, | |
| 23, | |
| 24, | |
| 25, | |
| 26, | |
| 27, | |
| 28, | |
| 29, | |
| 30 | |
| ] | |
| } | |
| ] | |
| } |