{ "task_name": "clean up your desk", "data_folder": "", "meta_data": { "task_duration": 30960, "valid_duration": [ 60, 31020 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "folder_231" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 60, 463 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "folder_231", "eames_chair_hndxiw_0" ] ], "manipulating_object_id": [ "folder_231" ], "spatial_prefix": [ [ "", "to_the_edge_of" ] ], "frame_duration": [ 463, 2398 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "folder_231", "eames_chair_hndxiw_0" ] ], "manipulating_object_id": [ "folder_231" ], "spatial_prefix": [], "frame_duration": [ 2398, 3279 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 3, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "folder_231", "left", "right" ] ], "manipulating_object_id": [ "folder_231" ], "spatial_prefix": [], "frame_duration": [ 3279, 3745 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 4, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bookcase_jaysra_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3745, 4060 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 5, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "folder_231", "bookcase_jaysra_0" ] ], "manipulating_object_id": [ "folder_231" ], "spatial_prefix": [ [ "", "3X3" ] ], "frame_duration": [ 4060, 4771 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "eames_chair_hndxiw_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4771, 5089 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "eames_chair_hndxiw_0", "floors_qnvzkr_0" ] ], "manipulating_object_id": [ "eames_chair_hndxiw_0" ], "spatial_prefix": [], "frame_duration": [ 5089, 5725 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 91 ], "skill_description": [ "place on next to" ], "object_id": [ [ "eames_chair_hndxiw_0", "floors_qnvzkr_0", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "eames_chair_hndxiw_0" ], "spatial_prefix": [ [ "", "", "under" ] ], "frame_duration": [ 5725, 6406 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "folder_232", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "folder_232" ], "spatial_prefix": [ [ "", "to_the_edge_of" ] ], "frame_duration": [ 6406, 7294 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "folder_232", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "folder_232" ], "spatial_prefix": [], "frame_duration": [ 7294, 7840 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "folder_232", "left", "right" ] ], "manipulating_object_id": [ "folder_232" ], "spatial_prefix": [], "frame_duration": [ 7840, 8332 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 12, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "folder_231" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8332, 8694 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 13, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "folder_232", "folder_231" ] ], "manipulating_object_id": [ "folder_232" ], "spatial_prefix": [], "frame_duration": [ 8694, 9264 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "paperback_book_226" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9264, 9478 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 15, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "paperback_book_226", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "paperback_book_226" ], "spatial_prefix": [ [ "", "to_the_edge_of" ] ], "frame_duration": [ 9478, 11815 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "paperback_book_226", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "paperback_book_226" ], "spatial_prefix": [], "frame_duration": [ 11815, 12231 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "paperback_book_226", "left", "right" ] ], "manipulating_object_id": [ "paperback_book_226" ], "spatial_prefix": [], "frame_duration": [ 12231, 12814 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 18, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bookcase_jaysra_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12814, 12957 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 19, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "paperback_book_226", "bookcase_jaysra_0" ] ], "manipulating_object_id": [ "paperback_book_226" ], "spatial_prefix": [ [ "", "2X3" ] ], "frame_duration": [ 12957, 13842 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "paperback_book_225" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13842, 14218 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 21, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "paperback_book_225", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "paperback_book_225" ], "spatial_prefix": [], "frame_duration": [ 14218, 15150 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "paperback_book_225", "right", "left" ] ], "manipulating_object_id": [ "paperback_book_225" ], "spatial_prefix": [], "frame_duration": [ 15150, 15566 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 23, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "paperback_book_225", "left", "right" ] ], "manipulating_object_id": [ "paperback_book_225" ], "spatial_prefix": [], "frame_duration": [ 15566, 15948 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 24, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "paperback_book_226" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 15948, 16104 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 25, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "paperback_book_225", "paperback_book_226" ] ], "manipulating_object_id": [ "paperback_book_225" ], "spatial_prefix": [], "frame_duration": [ 16104, 16659 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pencil_case_224" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 16659, 16861 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 27, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pencil_case_224", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "pencil_case_224" ], "spatial_prefix": [], "frame_duration": [ 16861, 17481 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 28, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "pen_229", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "pen_229" ], "spatial_prefix": [ [ "", "center" ] ], "frame_duration": [ 17481, 19318 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pen_229", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "pen_229" ], "spatial_prefix": [], "frame_duration": [ 19318, 20269 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "skill_id": [ 6 ], "skill_description": [ "insert" ], "object_id": [ [ "pen_229", "pencil_case_224" ] ], "manipulating_object_id": [ "pen_229" ], "spatial_prefix": [], "frame_duration": [ 20269, 21027 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 31, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pen_228", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "pen_228" ], "spatial_prefix": [], "frame_duration": [ 21027, 21925 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "skill_id": [ 6 ], "skill_description": [ "insert" ], "object_id": [ [ "pen_228", "pencil_case_224" ] ], "manipulating_object_id": [ "pen_228" ], "spatial_prefix": [], "frame_duration": [ 21925, 22553 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 33, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "pencil_230" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 22553, 22656 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 34, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "pencil_230", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "pencil_230" ], "spatial_prefix": [], "frame_duration": [ 22656, 23155 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 35, "skill_id": [ 6 ], "skill_description": [ "insert" ], "object_id": [ [ "pencil_230", "pencil_case_224" ] ], "manipulating_object_id": [ "pencil_230" ], "spatial_prefix": [], "frame_duration": [ 23155, 23781 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 36, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "pencil_case_224", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "pencil_case_224" ], "spatial_prefix": [], "frame_duration": [ 23781, 24040 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 37, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "laptop_233" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 24040, 24512 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 38, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "laptop_233", "bed_rrcvaq_1" ] ], "manipulating_object_id": [ "laptop_233" ], "spatial_prefix": [ [ "", "center" ] ], "frame_duration": [ 24512, 25954 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 39, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "laptop_233", "bed_rrcvaq_1" ] ], "manipulating_object_id": [ "laptop_233" ], "spatial_prefix": [], "frame_duration": [ 25954, 26779 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 40, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "desk_bhkhxo_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 26779, 27184 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 41, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "laptop_233", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "laptop_233" ], "spatial_prefix": [], "frame_duration": [ 27184, 27666 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 42, "skill_id": [ 14 ], "skill_description": [ "close lid" ], "object_id": [ [ "laptop_233" ] ], "manipulating_object_id": [ "laptop_233" ], "spatial_prefix": [], "frame_duration": [ 27666, 28365 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 43, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "stapler_227" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 28365, 28551 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 44, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "stapler_227", "bookcase_jaysra_0" ] ], "manipulating_object_id": [ "stapler_227" ], "spatial_prefix": [ [ "", "2X1" ] ], "frame_duration": [ 28551, 29481 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 45, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "stapler_227", "left", "right" ] ], "manipulating_object_id": [ "stapler_227" ], "spatial_prefix": [], "frame_duration": [ 29481, 29970 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 46, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "desk_bhkhxo_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 29970, 30201 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 47, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "stapler_227", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "stapler_227" ], "spatial_prefix": [], "frame_duration": [ 30201, 31020 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "folder_231", "eames_chair_hndxiw_0" ], [ "folder_231", "bookcase_jaysra_0" ] ], "manipulating_object_id": [ "folder_231", "folder_231" ], "spatial_prefix": [ [], [ [], [ "3X3" ] ] ], "frame_duration": [ 60, 4771 ], "skill_idxes": [ 0, 1, 2, 3, 4, 5 ] }, { "primitive_idx": 1, "primitive_id": [ 2, 91 ], "primitive_description": [ "pick up from", "place on next to" ], "object_id": [ [ "eames_chair_hndxiw_0", "floors_qnvzkr_0" ], [ "eames_chair_hndxiw_0", "floors_qnvzkr_0", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "eames_chair_hndxiw_0", "eames_chair_hndxiw_0" ], "spatial_prefix": [ [], [ [], [], [ "under" ] ] ], "frame_duration": [ 4771, 6406 ], "skill_idxes": [ 6, 7, 8 ] }, { "primitive_idx": 2, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ "folder_232", "desk_bhkhxo_0" ], [ "folder_232", "folder_231" ] ], "manipulating_object_id": [ "folder_232", "folder_232" ], "spatial_prefix": [], "frame_duration": [ 6406, 9264 ], "skill_idxes": [ 9, 10, 11, 12, 13 ] }, { "primitive_idx": 3, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ "paperback_book_226", "desk_bhkhxo_0" ], [ "paperback_book_226", "bookcase_jaysra_0" ] ], "manipulating_object_id": [ "paperback_book_226", "paperback_book_226" ], "spatial_prefix": [ [], [ [], [ "2X3" ] ] ], "frame_duration": [ 9264, 13842 ], "skill_idxes": [ 14, 15, 16, 17, 18, 19 ] }, { "primitive_idx": 4, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ "paperback_book_225", "desk_bhkhxo_0" ], [ "paperback_book_225", "paperback_book_226" ] ], "manipulating_object_id": [ "paperback_book_225", "paperback_book_225" ], "spatial_prefix": [], "frame_duration": [ 13842, 16659 ], "skill_idxes": [ 20, 21, 22, 23, 24, 25 ] }, { "primitive_idx": 5, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "pencil_case_224", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "pencil_case_224" ], "spatial_prefix": [], "frame_duration": [ 16659, 17481 ], "skill_idxes": [ 26, 27 ] }, { "primitive_idx": 6, "primitive_id": [ 6 ], "primitive_description": [ "insert" ], "object_id": [ [ "pen_229", "pencil_case_224" ] ], "manipulating_object_id": [ "pen_229" ], "spatial_prefix": [], "frame_duration": [ 17481, 21027 ], "skill_idxes": [ 28, 29, 30 ] }, { "primitive_idx": 7, "primitive_id": [ 6 ], "primitive_description": [ "insert" ], "object_id": [ [ "pen_228", "pencil_case_224" ] ], "manipulating_object_id": [ "pen_228" ], "spatial_prefix": [], "frame_duration": [ 21027, 22553 ], "skill_idxes": [ 31, 32 ] }, { "primitive_idx": 8, "primitive_id": [ 6 ], "primitive_description": [ "insert" ], "object_id": [ [ "pencil_230", "pencil_case_224" ] ], "manipulating_object_id": [ "pencil_230" ], "spatial_prefix": [], "frame_duration": [ 22553, 23781 ], "skill_idxes": [ 33, 34, 35 ] }, { "primitive_idx": 9, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ "pencil_case_224", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "pencil_case_224" ], "spatial_prefix": [], "frame_duration": [ 23781, 24040 ], "skill_idxes": [ 36 ] }, { "primitive_idx": 10, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ "laptop_233", "bed_rrcvaq_1" ], [ "laptop_233", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "laptop_233", "laptop_233" ], "spatial_prefix": [], "frame_duration": [ 24040, 27666 ], "skill_idxes": [ 37, 38, 39, 40, 41 ] }, { "primitive_idx": 11, "primitive_id": [ 14 ], "primitive_description": [ "close lid" ], "object_id": [ [ "laptop_233" ] ], "manipulating_object_id": [ "laptop_233" ], "spatial_prefix": [], "frame_duration": [ 27666, 28365 ], "skill_idxes": [ 42 ] }, { "primitive_idx": 12, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ "stapler_227", "bookcase_jaysra_0" ], [ "stapler_227", "desk_bhkhxo_0" ] ], "manipulating_object_id": [ "stapler_227", "stapler_227" ], "spatial_prefix": [ [ [], [ "2X1" ] ], [] ], "frame_duration": [ 28365, 31020 ], "skill_idxes": [ 43, 44, 45, 46, 47 ] } ] }