| { | |
| "task_name": "picking up toys", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 20544, | |
| "valid_duration": [ | |
| 60, | |
| 20604 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_229" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 60, | |
| 1304 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_229", | |
| "bed_rrcvaq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_229" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 1304, | |
| 2739 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_229", | |
| "bed_rrcvaq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_229" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2739, | |
| 3733 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3733, | |
| 4956 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_229", | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_229" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4965, | |
| 6016 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_230" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6016, | |
| 6849 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_230", | |
| "bed_rrcvaq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_230" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6849, | |
| 7665 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_230", | |
| "bed_rrcvaq_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_230" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7665, | |
| 8426 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 8427, | |
| 9504 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 5 | |
| ], | |
| "skill_description": [ | |
| "hand over" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_230", | |
| "left", | |
| "right" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_230" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9504, | |
| 9930 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_230", | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_230" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9930, | |
| 11111 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jigsaw_puzzle_226" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11111, | |
| 11165 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jigsaw_puzzle_226", | |
| "desk_xhjsub_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jigsaw_puzzle_226" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 11165, | |
| 11688 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jigsaw_puzzle_226", | |
| "desk_xhjsub_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jigsaw_puzzle_226" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11688, | |
| 12609 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12609, | |
| 12927 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 5 | |
| ], | |
| "skill_description": [ | |
| "hand over" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jigsaw_puzzle_226", | |
| "left", | |
| "right" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jigsaw_puzzle_226" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 12927, | |
| 13131 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jigsaw_puzzle_226", | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jigsaw_puzzle_226" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13131, | |
| 14116 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jigsaw_puzzle_227" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14116, | |
| 14479 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jigsaw_puzzle_227", | |
| "desk_xhjsub_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jigsaw_puzzle_227" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 14480, | |
| 14823 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jigsaw_puzzle_227", | |
| "desk_xhjsub_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jigsaw_puzzle_227" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14823, | |
| 16001 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16001, | |
| 16366 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jigsaw_puzzle_227", | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jigsaw_puzzle_227" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 16366, | |
| 17000 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tennis_ball_225", | |
| "desk_xhjsub_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tennis_ball_225" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17000, | |
| 17614 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tennis_ball_225", | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tennis_ball_225" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17614, | |
| 17940 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 90 | |
| ], | |
| "skill_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_228", | |
| "desk_xhjsub_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_228" | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| "", | |
| "to_the_edge_of" | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 17940, | |
| 19245 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_228", | |
| "desk_xhjsub_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_228" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 19245, | |
| 19740 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 4 | |
| ], | |
| "skill_description": [ | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_228", | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_228" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 19740, | |
| 20604 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_229", | |
| "bed_rrcvaq_0" | |
| ], | |
| [ | |
| "board_game_229", | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_229", | |
| "board_game_229" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 60, | |
| 6016 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3, | |
| 4 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_230", | |
| "bed_rrcvaq_0" | |
| ], | |
| [ | |
| "board_game_230", | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_230", | |
| "board_game_230" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6016, | |
| 11111 | |
| ], | |
| "skill_idxes": [ | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jigsaw_puzzle_226", | |
| "desk_xhjsub_0" | |
| ], | |
| [ | |
| "jigsaw_puzzle_226", | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jigsaw_puzzle_226", | |
| "jigsaw_puzzle_226" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11111, | |
| 14116 | |
| ], | |
| "skill_idxes": [ | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "jigsaw_puzzle_227", | |
| "desk_xhjsub_0" | |
| ], | |
| [ | |
| "jigsaw_puzzle_227", | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "jigsaw_puzzle_227", | |
| "jigsaw_puzzle_227" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 14116, | |
| 17000 | |
| ], | |
| "skill_idxes": [ | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "tennis_ball_225", | |
| "desk_xhjsub_0" | |
| ], | |
| [ | |
| "tennis_ball_225", | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "tennis_ball_225", | |
| "tennis_ball_225" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17000, | |
| 17940 | |
| ], | |
| "skill_idxes": [ | |
| 22, | |
| 23 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 5, | |
| "primitive_id": [ | |
| 2, | |
| 4 | |
| ], | |
| "primitive_description": [ | |
| "pick up from", | |
| "place in" | |
| ], | |
| "object_id": [ | |
| [ | |
| "board_game_228", | |
| "desk_xhjsub_0" | |
| ], | |
| [ | |
| "board_game_228", | |
| "toy_box_224" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "board_game_228", | |
| "board_game_228" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 17940, | |
| 20604 | |
| ], | |
| "skill_idxes": [ | |
| 24, | |
| 25, | |
| 26 | |
| ] | |
| } | |
| ] | |
| } |