{ "task_name": "picking up toys", "data_folder": "", "meta_data": { "task_duration": 20040, "valid_duration": [ 0, 20040 ] }, "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, 1477 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "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": [ 1477, 3477 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "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": [ 3477, 5464 ], "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": [ 5464, 6555 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 4, "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": [ 6555, 7173 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 5, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "board_game_229" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7173, 8348 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 6, "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": [ 8348, 8917 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "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": [ 8918, 9426 ], "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": [ 9427, 10262 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 9, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "board_game_229", "left", "right" ] ], "manipulating_object_id": [ "board_game_229" ], "spatial_prefix": [], "frame_duration": [ 10263, 10662 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 10, "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": [ 10662, 11183 ], "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": [ 11183, 11329 ], "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": [ 11329, 11765 ], "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": [ 11765, 12147 ], "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": [ 12147, 12510 ], "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": [ 12510, 12710 ], "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": [ 12710, 13061 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "board_game_228" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13062, 13255 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 18, "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": [ 13256, 14842 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "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": [ 14843, 15255 ], "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": [ 15255, 15521 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 21, "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": [ 15521, 16260 ], "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": [ 16260, 16684 ], "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": [ 16685, 16951 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "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": [ 16951, 18574 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "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": [ 18575, 19144 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "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": [ 19144, 20040 ], "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, 7173 ], "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_229", "bed_rrcvaq_0" ], [ "board_game_229", "toy_box_224" ] ], "manipulating_object_id": [ "board_game_229", "board_game_229" ], "spatial_prefix": [], "frame_duration": [ 7173, 11183 ], "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": [ 11183, 13061 ], "skill_idxes": [ 11, 12, 13, 14, 15, 16 ] }, { "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": [ 13062, 16260 ], "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": [ 16260, 16951 ], "skill_idxes": [ 22, 23 ] }, { "primitive_idx": 5, "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": [ 16951, 20040 ], "skill_idxes": [ 24, 25, 26 ] } ] }