{ "task_name": "collecting childrens toys", "data_folder": "", "meta_data": { "task_duration": 32459, "valid_duration": [0, 32459] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [1], "skill_description": ["move to"], "object_id": [["teddy_bear_267"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [0, 654], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 1, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["teddy_bear_267", "floors_vmamhf_0"]], "manipulating_object_id": ["teddy_bear_267"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [654, 1413], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 2, "skill_id": [1], "skill_description": ["move to"], "object_id": [["teddy_bear_266"]], "manipulating_object_id": [], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [1413, 1508], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 3, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["teddy_bear_266", "floors_vmamhf_0"]], "manipulating_object_id": ["teddy_bear_266"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [1508, 2080], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 4, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bookcase_zfpyqe_1"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [2080, 2551], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 5, "skill_id": [4], "skill_description": ["place in"], "object_id": [["teddy_bear_267", "bookcase_zfpyqe_1"]], "manipulating_object_id": ["teddy_bear_267"], "memory_prefix": [], "spatial_prefix": [["", "layer_3"]], "frame_duration": [2551, 3360], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 6, "skill_id": [4], "skill_description": ["place in"], "object_id": [["teddy_bear_266", "bookcase_zfpyqe_1"]], "manipulating_object_id": ["teddy_bear_266"], "memory_prefix": [], "spatial_prefix": [["", "layer_3"]], "frame_duration": [3360, 4305], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 7, "skill_id": [1], "skill_description": ["move to"], "object_id": [["dice_269"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4305, 4749], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 8, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["dice_269", "bed_ivdnny_0"]], "manipulating_object_id": ["dice_269"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4749, 8289], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 9, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["dice_268", "bed_ivdnny_0"]], "manipulating_object_id": ["dice_268"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [8289, 9743], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 10, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bookcase_zfpyqe_1"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [9743, 10280], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 11, "skill_id": [4], "skill_description": ["place in"], "object_id": [["dice_269", "bookcase_zfpyqe_1"]], "manipulating_object_id": ["dice_269"], "memory_prefix": [], "spatial_prefix": [["", "layer_2"]], "frame_duration": [10280, 11480], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 12, "skill_id": [4], "skill_description": ["place in"], "object_id": [["dice_268", "bookcase_zfpyqe_1"]], "manipulating_object_id": ["dice_268"], "memory_prefix": [], "spatial_prefix": [["", "layer_2"]], "frame_duration": [11480, 12771], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 13, "skill_id": [1], "skill_description": ["move to"], "object_id": [["board_game_263"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [12771, 13168], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 14, "skill_id": [90], "skill_description": ["push to"], "object_id": [["board_game_263", "bed_ivdnny_0"]], "manipulating_object_id": ["board_game_263"], "memory_prefix": [], "spatial_prefix": [["", "to_the_edge_of"]], "frame_duration": [13168, 14759], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 15, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["board_game_263", "bed_ivdnny_0"]], "manipulating_object_id": ["board_game_263"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [14759, 15637], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 16, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bookcase_zfpyqe_1"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [15637, 16021], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 17, "skill_id": [4], "skill_description": ["place in"], "object_id": [["board_game_263", "bookcase_zfpyqe_1"]], "manipulating_object_id": ["board_game_263"], "memory_prefix": [], "spatial_prefix": [["", "layer_2"]], "frame_duration": [16021, 16602], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 18, "skill_id": [1], "skill_description": ["move to"], "object_id": [["toy_train_265"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [16602, 17524], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 19, "skill_id": [90], "skill_description": ["push to"], "object_id": [["toy_train_265", "desk_nbpuns_0"]], "manipulating_object_id": ["toy_train_265"], "memory_prefix": [], "spatial_prefix": [["", "to_the_edge_of"]], "frame_duration": [17524, 20174], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 20, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["toy_train_265", "desk_nbpuns_0"]], "manipulating_object_id": ["toy_train_265"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [20174, 21410], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 21, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bookcase_zfpyqe_1"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [21410, 22186], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 22, "skill_id": [4], "skill_description": ["place in"], "object_id": [["toy_train_265", "bookcase_zfpyqe_1"]], "manipulating_object_id": ["toy_train_265"], "memory_prefix": [], "spatial_prefix": [["", "layer_4"]], "frame_duration": [22186, 24432], "mp_ef": [], "skill_type": ["coordinated"] }, { "skill_idx": 23, "skill_id": [1], "skill_description": ["move to"], "object_id": [["board_game_264"]], "manipulating_object_id": [], "memory_prefix": ["back", "the other"], "spatial_prefix": [], "frame_duration": [24513, 26116], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 24, "skill_id": [90], "skill_description": ["push to"], "object_id": [["board_game_264", "desk_nbpuns_0"]], "manipulating_object_id": ["board_game_264"], "memory_prefix": ["the other"], "spatial_prefix": [["", "to_the_edge_of"]], "frame_duration": [26116, 29806], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 25, "skill_id": [2], "skill_description": ["pick up from"], "object_id": [["board_game_264", "desk_nbpuns_0"]], "manipulating_object_id": ["board_game_264"], "memory_prefix": ["the other"], "spatial_prefix": [], "frame_duration": [29806, 30692], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 26, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bookcase_zfpyqe_1"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [30692, 31384], "mp_ef": [], "skill_type": ["navigation"] }, { "skill_idx": 27, "skill_id": [3], "skill_description": ["place on"], "object_id": [["board_game_264", "board_game_263"]], "manipulating_object_id": ["board_game_264"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [31384, 32459], "mp_ef": [], "skill_type": ["coordinated"] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [[["teddy_bear_267", "teddy_bear_266"], "floors_vmamhf_0"], [["teddy_bear_267", "teddy_bear_266"], "bookcase_zfpyqe_1"]], "manipulating_object_id": [["teddy_bear_267", "teddy_bear_266"], ["teddy_bear_267", "teddy_bear_266"]], "memory_prefix": [], "spatial_prefix": [[], [[], ["layer_3", "layer_3"]]], "frame_duration": [0, 4305], "skill_idxes": [0, 1, 2, 3, 4, 5, 6] }, { "primitive_idx": 1, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [[["dice_269", "dice_268"], "bed_ivdnny_0"], [["dice_269", "dice_268"], "bookcase_zfpyqe_1"]], "manipulating_object_id": [["dice_269", "dice_268"], ["dice_269", "dice_268"]], "memory_prefix": [], "spatial_prefix": [[], [[], ["layer_2", "layer_2"]]], "frame_duration": [4305, 12771], "skill_idxes": [7, 8, 9, 10, 11, 12] }, { "primitive_idx": 2, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [["board_game_263", "bed_ivdnny_0"], ["board_game_263", "bookcase_zfpyqe_1"]], "manipulating_object_id": ["board_game_263", "board_game_263"], "memory_prefix": [], "spatial_prefix": [[], [[], ["layer_2"]]], "frame_duration": [12771, 16602], "skill_idxes": [13, 14, 15, 16, 17] }, { "primitive_idx": 3, "primitive_id": [2, 4], "primitive_description": ["pick up from", "place in"], "object_id": [["toy_train_265", "desk_nbpuns_0"], ["toy_train_265", "bookcase_zfpyqe_1"]], "manipulating_object_id": ["toy_train_265", "toy_train_265"], "memory_prefix": [], "spatial_prefix": [[], [[], ["layer_4"]]], "frame_duration": [16602, 24432], "skill_idxes": [18, 19, 20, 21, 22] }, { "primitive_idx": 4, "primitive_id": [2, 3], "primitive_description": ["pick up from", "place on"], "object_id": [["board_game_264", "desk_nbpuns_0"], ["board_game_264", "board_game_263"]], "manipulating_object_id": ["board_game_264", "board_game_264"], "memory_prefix": ["the other", ""], "spatial_prefix": [], "frame_duration": [24513, 32459], "skill_idxes": [23, 24, 25, 26, 27] } ] }