{ "task_name": "picking up toys", "data_folder": "", "meta_data": { "task_duration": 15699, "valid_duration": [ 207, 15906 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "board_game_229" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 207, 909 ], "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": [ 909, 1411 ], "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": [ 1411, 2224 ], "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": [ 2224, 3530 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 4, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "board_game_229", "left", "right" ] ], "manipulating_object_id": [ "board_game_229" ], "spatial_prefix": [], "frame_duration": [ 3530, 3852 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 5, "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": [ 3852, 4524 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "board_game_230" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4524, 5468 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "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": [ 5468, 5946 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "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": [ 5946, 6646 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "toy_box_224" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6646, 7433 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 10, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "board_game_230", "left", "right" ] ], "manipulating_object_id": [ "board_game_230" ], "spatial_prefix": [], "frame_duration": [ 7433, 7696 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 11, "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": [ 7696, 8147 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "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": [ 8147, 8747 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "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": [ 8747, 9175 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "board_game_228", "left", "right" ] ], "manipulating_object_id": [ "board_game_228" ], "spatial_prefix": [], "frame_duration": [ 9175, 9480 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 15, "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": [ 9480, 10133 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "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": [ 10133, 10633 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "toy_box_224" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10633, 10821 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 18, "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": [ 10821, 11016 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "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": [ 11016, 11397 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 20, "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": [ 11397, 11652 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 21, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "jigsaw_puzzle_227" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11652, 11941 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 22, "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": [ 11941, 12102 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "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": [ 12102, 12644 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "toy_box_224" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12644, 12927 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 25, "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": [ 12927, 13386 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "jigsaw_puzzle_226" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13386, 13655 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 27, "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": [ 13655, 14512 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 28, "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": [ 14512, 15134 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "toy_box_224" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 15134, 15288 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 30, "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": [ 15288, 15906 ], "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": [ 207, 4524 ], "skill_idxes": [ 0, 1, 2, 3, 4, 5 ] }, { "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": [ 4524, 8147 ], "skill_idxes": [ 6, 7, 8, 9, 10, 11 ] }, { "primitive_idx": 2, "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": [ 8147, 10133 ], "skill_idxes": [ 12, 13, 14, 15 ] }, { "primitive_idx": 3, "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": [ 10133, 11016 ], "skill_idxes": [ 16, 17, 18 ] }, { "primitive_idx": 4, "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": [ 11016, 11652 ], "skill_idxes": [ 19, 20 ] }, { "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": [ 11652, 13386 ], "skill_idxes": [ 21, 22, 23, 24, 25 ] }, { "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": [ 13386, 15906 ], "skill_idxes": [ 26, 27, 28, 29, 30 ] } ] }