| { | |
| "task_name": "assembling gift baskets", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 28988, | |
| "valid_duration": [0, 28988] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["wicker_basket_91"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [0, 195], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["wicker_basket_91", "floors_ulujpr_0"]], | |
| "manipulating_object_id": ["wicker_basket_91"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [195, 900], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["wicker_basket_92"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [900, 1434], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["wicker_basket_92", "floors_ulujpr_0"]], | |
| "manipulating_object_id": ["wicker_basket_92"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [1434, 1839], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [1839, 2160], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [3], | |
| "skill_description": ["place on"], | |
| "object_id": [["wicker_basket_91", "bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": ["wicker_basket_91"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [2160, 2562], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [3], | |
| "skill_description": ["place on"], | |
| "object_id": [["wicker_basket_92", "bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": ["wicker_basket_92"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [2562, 2694], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["wicker_basket_90"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [2694, 3183], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["wicker_basket_90", "floors_ulujpr_0"]], | |
| "manipulating_object_id": ["wicker_basket_90"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [3183, 3630], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["wicker_basket_89"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [3630, 3702], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["wicker_basket_89", "floors_ulujpr_0"]], | |
| "manipulating_object_id": ["wicker_basket_89"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [3702, 4125], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [4125, 4695], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [3], | |
| "skill_description": ["place on"], | |
| "object_id": [["wicker_basket_89", "bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": ["wicker_basket_89"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [4695, 5100], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [3], | |
| "skill_description": ["place on"], | |
| "object_id": [["wicker_basket_90", "bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": ["wicker_basket_90"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [5100, 5199], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["pillar_candle_86"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [5199, 5763], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["pillar_candle_86", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["pillar_candle_86"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [5763, 6168], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["pillar_candle_87"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [6168, 6243], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["pillar_candle_87", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["pillar_candle_87"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [6243, 6699], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [6699, 7236], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["pillar_candle_87", "wicker_basket_89"]], | |
| "manipulating_object_id": ["pillar_candle_87"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [7236, 7662], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["pillar_candle_86", "wicker_basket_90"]], | |
| "manipulating_object_id": ["pillar_candle_86"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [7662, 7926], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["swiss_cheese_79"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [7926, 8370], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["swiss_cheese_79", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["swiss_cheese_79"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [8370, 8802], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["swiss_cheese_78"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [8802, 8844], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["swiss_cheese_78", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["swiss_cheese_78"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [8844, 9330], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [9330, 9822], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["swiss_cheese_78", "wicker_basket_89"]], | |
| "manipulating_object_id": ["swiss_cheese_78"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [9822, 10200], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["swiss_cheese_79", "wicker_basket_90"]], | |
| "manipulating_object_id": ["swiss_cheese_79"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [10200, 10530], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["butter_cookie_82"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [10530, 11289], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["butter_cookie_82", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["butter_cookie_82"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [11289, 11769], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["butter_cookie_83"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [11769, 11850], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["butter_cookie_83", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["butter_cookie_83"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [11850, 12336], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [12336, 12840], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["butter_cookie_82", "wicker_basket_89"]], | |
| "manipulating_object_id": ["butter_cookie_82"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [12840, 13200], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["butter_cookie_83", "wicker_basket_90"]], | |
| "manipulating_object_id": ["butter_cookie_83"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [13200, 13464], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 35, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bow_75"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [13464, 13785], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 36, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["bow_75", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["bow_75"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [13785, 14190], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 37, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bow_73"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [14190, 14871], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 38, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["bow_73", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["bow_73"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [14871, 15300], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 39, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [15300, 15983], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 40, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["bow_73", "wicker_basket_89"]], | |
| "manipulating_object_id": ["bow_73"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [15983, 16350], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 41, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["bow_75", "wicker_basket_90"]], | |
| "manipulating_object_id": ["bow_75"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [16350, 16680], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 42, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["butter_cookie_81"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back", "the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [16680, 17257], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 43, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["butter_cookie_81", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["butter_cookie_81"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [17257, 17625], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 44, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["butter_cookie_84"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [17625, 17835], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 45, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["butter_cookie_84", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["butter_cookie_84"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [17835, 18387], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 46, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [18387, 18840], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 47, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["butter_cookie_84", "wicker_basket_92"]], | |
| "manipulating_object_id": ["butter_cookie_84"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [18840, 19080], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 48, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["butter_cookie_81", "wicker_basket_91"]], | |
| "manipulating_object_id": ["butter_cookie_81"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [19080, 19362], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 49, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bow_74"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back", "the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [19362, 19845], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 50, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["bow_74", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["bow_74"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [19845, 20373], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 51, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bow_76"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [20373, 20565], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 52, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["bow_76", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["bow_76"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [20565, 20970], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 53, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [20970, 21390], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 54, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["bow_76", "wicker_basket_92"]], | |
| "manipulating_object_id": ["bow_76"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [21390, 21738], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 55, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["bow_74", "wicker_basket_91"]], | |
| "manipulating_object_id": ["bow_74"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [21738, 22059], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 56, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["swiss_cheese_77"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back", "the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [22059, 22764], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 57, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["swiss_cheese_77", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["swiss_cheese_77"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [22764, 23700], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 58, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["swiss_cheese_80"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [23700, 24306], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 59, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["swiss_cheese_80", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["swiss_cheese_80"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [24306, 24690], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 60, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [24690, 25269], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 61, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["swiss_cheese_77", "wicker_basket_92"]], | |
| "manipulating_object_id": ["swiss_cheese_77"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [25269, 25560], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 62, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["swiss_cheese_80", "wicker_basket_91"]], | |
| "manipulating_object_id": ["swiss_cheese_80"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [25560, 25950], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 63, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["pillar_candle_88"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back", "the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [25950, 26412], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 64, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["pillar_candle_88", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["pillar_candle_88"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [26412, 26700], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 65, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["pillar_candle_85"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [26700, 27477], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 66, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["pillar_candle_85", "coffee_table_koagbh_0"]], | |
| "manipulating_object_id": ["pillar_candle_85"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [27477, 27786], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 67, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [27786, 28242], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 68, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["pillar_candle_85", "wicker_basket_92"]], | |
| "manipulating_object_id": ["pillar_candle_85"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [28242, 28530], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 69, | |
| "skill_id": [4], | |
| "skill_description": ["place in"], | |
| "object_id": [["pillar_candle_88", "wicker_basket_91"]], | |
| "manipulating_object_id": ["pillar_candle_88"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [28530, 28988], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [2, 3], | |
| "primitive_description": ["pick up from", "place on"], | |
| "object_id": [[["wicker_basket_91", "wicker_basket_92"], "floors_ulujpr_0"], [["wicker_basket_91", "wicker_basket_92"], "bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": [["wicker_basket_91", "wicker_basket_92"], ["wicker_basket_91", "wicker_basket_92"]], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [0, 2694], | |
| "skill_idxes": [0, 1, 2, 3, 4, 5, 6] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [2, 3], | |
| "primitive_description": ["pick up from", "place on"], | |
| "object_id": [[["wicker_basket_90", "wicker_basket_89"], "floors_ulujpr_0"], [["wicker_basket_89", "wicker_basket_90"], "bottom_cabinet_rhdbzv_0"]], | |
| "manipulating_object_id": [["wicker_basket_90", "wicker_basket_89"], ["wicker_basket_89", "wicker_basket_90"]], | |
| "memory_prefix": ["the other", ""], | |
| "spatial_prefix": [], | |
| "frame_duration": [2694, 5199], | |
| "skill_idxes": [7, 8, 9, 10, 11, 12, 13] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [2, 4], | |
| "primitive_description": ["pick up from", "place in"], | |
| "object_id": [[["pillar_candle_86", "pillar_candle_87"], "coffee_table_koagbh_0"], [["pillar_candle_87", "pillar_candle_86"], ["wicker_basket_89", "wicker_basket_90"]]], | |
| "manipulating_object_id": [["pillar_candle_86", "pillar_candle_87"], ["pillar_candle_87", "pillar_candle_86"]], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [5199, 7926], | |
| "skill_idxes": [14, 15, 16, 17, 18, 19, 20] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [2, 4], | |
| "primitive_description": ["pick up from", "place in"], | |
| "object_id": [[["swiss_cheese_79", "swiss_cheese_78"], "coffee_table_koagbh_0"], [["swiss_cheese_78", "swiss_cheese_79"], ["wicker_basket_89", "wicker_basket_90"]]], | |
| "manipulating_object_id": [["swiss_cheese_79", "swiss_cheese_78"], ["swiss_cheese_78", "swiss_cheese_79"]], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [7926, 10530], | |
| "skill_idxes": [21, 22, 23, 24, 25, 26, 27] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [2, 4], | |
| "primitive_description": ["pick up from", "place in"], | |
| "object_id": [[["butter_cookie_82", "butter_cookie_83"], "coffee_table_koagbh_0"], [["butter_cookie_82", "butter_cookie_83"], ["wicker_basket_89", "wicker_basket_90"]]], | |
| "manipulating_object_id": [["butter_cookie_82", "butter_cookie_83"], ["butter_cookie_82", "butter_cookie_83"]], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [10530, 13464], | |
| "skill_idxes": [28, 29, 30, 31, 32, 33, 34] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [2, 4], | |
| "primitive_description": ["pick up from", "place in"], | |
| "object_id": [[["bow_75", "bow_73"], "coffee_table_koagbh_0"], [["bow_73", "bow_75"], ["wicker_basket_89", "wicker_basket_90"]]], | |
| "manipulating_object_id": [["bow_75", "bow_73"], ["bow_73", "bow_75"]], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [13464, 16680], | |
| "skill_idxes": [35, 36, 37, 38, 39, 40, 41] | |
| }, | |
| { | |
| "primitive_idx": 6, | |
| "primitive_id": [2, 4], | |
| "primitive_description": ["pick up from", "place in"], | |
| "object_id": [[["butter_cookie_81", "butter_cookie_84"], "coffee_table_koagbh_0"], [["butter_cookie_84", "butter_cookie_81"], ["wicker_basket_92", "wicker_basket_91"]]], | |
| "manipulating_object_id": [["butter_cookie_81", "butter_cookie_84"], ["butter_cookie_84", "butter_cookie_81"]], | |
| "memory_prefix": ["the other", ""], | |
| "spatial_prefix": [], | |
| "frame_duration": [16680, 19362], | |
| "skill_idxes": [42, 43, 44, 45, 46, 47, 48] | |
| }, | |
| { | |
| "primitive_idx": 7, | |
| "primitive_id": [2, 4], | |
| "primitive_description": ["pick up from", "place in"], | |
| "object_id": [[["bow_74", "bow_76"], "coffee_table_koagbh_0"], [["bow_76", "bow_74"], ["wicker_basket_92", "wicker_basket_91"]]], | |
| "manipulating_object_id": [["bow_74", "bow_76"], ["bow_76", "bow_74"]], | |
| "memory_prefix": ["the other", ""], | |
| "spatial_prefix": [], | |
| "frame_duration": [19362, 22059], | |
| "skill_idxes": [49, 50, 51, 52, 53, 54, 55] | |
| }, | |
| { | |
| "primitive_idx": 8, | |
| "primitive_id": [2, 4], | |
| "primitive_description": ["pick up from", "place in"], | |
| "object_id": [[["swiss_cheese_77", "swiss_cheese_80"], "coffee_table_koagbh_0"], [["swiss_cheese_77", "swiss_cheese_80"], ["wicker_basket_92", "wicker_basket_91"]]], | |
| "manipulating_object_id": [["swiss_cheese_77", "swiss_cheese_80"], ["swiss_cheese_77", "swiss_cheese_80"]], | |
| "memory_prefix": ["the other", ""], | |
| "spatial_prefix": [], | |
| "frame_duration": [22059, 25950], | |
| "skill_idxes": [56, 57, 58, 59, 60, 61, 62] | |
| }, | |
| { | |
| "primitive_idx": 9, | |
| "primitive_id": [2, 4], | |
| "primitive_description": ["pick up from", "place in"], | |
| "object_id": [[["pillar_candle_88", "pillar_candle_85"], "coffee_table_koagbh_0"], [["pillar_candle_85", "pillar_candle_88"], ["wicker_basket_92", "wicker_basket_91"]]], | |
| "manipulating_object_id": [["pillar_candle_88", "pillar_candle_85"], ["pillar_candle_85", "pillar_candle_88"]], | |
| "memory_prefix": ["the other", ""], | |
| "spatial_prefix": [], | |
| "frame_duration": [25950, 28988], | |
| "skill_idxes": [63, 64, 65, 66, 67, 68, 69] | |
| } | |
| ] | |
| } |