{ "task_name": "picking up toys", "data_folder": "", "meta_data": { "task_duration": 20429, "valid_duration": [ 0, 20429 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "board_game_230" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 1468 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "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": [ 1468, 3722 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 2, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "toy_box_224" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3723, 4016 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 3, "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": [ 4016, 5017 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "board_game_229" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5017, 6338 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 5, "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": [ 6338, 7388 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "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": [ 7388, 8138 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "toy_box_224" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8138, 9216 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 8, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "board_game_229", "left", "right" ] ], "manipulating_object_id": [ "board_game_229" ], "spatial_prefix": [], "frame_duration": [ 9216, 9607 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 9, "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": [ 9608, 10417 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "jigsaw_puzzle_227" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10418, 10709 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 11, "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": [ 10709, 11109 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "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": [ 11110, 11439 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "jigsaw_puzzle_227", "left", "right" ] ], "manipulating_object_id": [ "jigsaw_puzzle_227" ], "spatial_prefix": [], "frame_duration": [ 11440, 11829 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 14, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "toy_box_224" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11830, 11971 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 15, "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": [ 11971, 12610 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "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": [ 12611, 14020 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "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": [ 14021, 14651 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "toy_box_224" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 14651, 15041 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 19, "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": [ 15041, 15701 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "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": [ 15702, 16598 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 21, "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": [ 16598, 16988 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "toy_box_224", "desk_xhjsub_0" ] ], "manipulating_object_id": [ "toy_box_224" ], "spatial_prefix": [], "frame_duration": [ 16988, 17438 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 23, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "toy_box_224", "desk_xhjsub_0" ] ], "manipulating_object_id": [ "toy_box_224" ], "spatial_prefix": [ [ "", "to_the_edge_of" ] ], "frame_duration": [ 17438, 17768 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 24, "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": [ 17768, 19176 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "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": [ 19177, 19596 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "toy_box_224" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 19597, 19789 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 27, "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": [ 19790, 20429 ], "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_230", "bed_rrcvaq_0" ], [ "board_game_230", "toy_box_224" ] ], "manipulating_object_id": [ "board_game_230", "board_game_230" ], "spatial_prefix": [], "frame_duration": [ 0, 5017 ], "skill_idxes": [ 0, 1, 2, 3 ] }, { "primitive_idx": 1, "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": [ 5017, 10417 ], "skill_idxes": [ 4, 5, 6, 7, 8, 9 ] }, { "primitive_idx": 2, "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": [ 10418, 12610 ], "skill_idxes": [ 10, 11, 12, 13, 14, 15 ] }, { "primitive_idx": 3, "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": [ 12611, 15701 ], "skill_idxes": [ 16, 17, 18, 19 ] }, { "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": [ 15702, 16988 ], "skill_idxes": [ 20, 21 ] }, { "primitive_idx": 5, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ "toy_box_224", "desk_xhjsub_0" ], [ "toy_box_224", "desk_xhjsub_0" ] ], "manipulating_object_id": [ "toy_box_224", "toy_box_224" ], "spatial_prefix": [ [], [ [], [ "to_the_edge_of" ] ] ], "frame_duration": [ 16988, 17768 ], "skill_idxes": [ 22, 23 ] }, { "primitive_idx": 6, "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": [ 17768, 20429 ], "skill_idxes": [ 24, 25, 26, 27 ] } ] }