annotations/episode_00000041.json

{
    "task_name": "cleaning up plates and food",
    "data_folder": "",
    "meta_data": {
        "task_duration": 18150,
        "valid_duration": [
            0,
            18150
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                638
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                638,
                1950
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_94"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1950,
                2787
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_94",
                    "breakfast_table_xftrki_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_94"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2787,
                4161
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4161,
                5046
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "plate_94",
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_94"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_4"
                ]
            ],
            "frame_duration": [
                5046,
                5596
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_93"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5596,
                7144
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_93",
                    "breakfast_table_xftrki_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_93"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7144,
                8031
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8031,
                9931
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "plate_93",
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_93"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_5"
                ]
            ],
            "frame_duration": [
                9931,
                10735
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                10735,
                12320
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                12320,
                12927
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bowl_91"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12927,
                13146
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_91",
                    "breakfast_table_xftrki_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_91"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13146,
                13812
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bowl_92"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                13812,
                14409
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_92",
                    "breakfast_table_xftrki_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_92"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14409,
                15293
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "drop_in_sink_lkklqs_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                15293,
                16417
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bowl_92",
                    "drop_in_sink_lkklqs_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_92"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                16417,
                17273
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bowl_91",
                    "drop_in_sink_lkklqs_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_91"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17273,
                18150
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "right_door"
                    ]
                ]
            ],
            "frame_duration": [
                0,
                1950
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    "plate_94",
                    "breakfast_table_xftrki_0"
                ],
                [
                    "plate_94",
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_94",
                "plate_94"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "layer_4"
                    ]
                ]
            ],
            "frame_duration": [
                1950,
                5596
            ],
            "skill_idxes": [
                2,
                3,
                4,
                5
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    "plate_93",
                    "breakfast_table_xftrki_0"
                ],
                [
                    "plate_93",
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_93",
                "plate_93"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "layer_5"
                    ]
                ]
            ],
            "frame_duration": [
                5596,
                10735
            ],
            "skill_idxes": [
                6,
                7,
                8,
                9
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "right_door"
                    ]
                ]
            ],
            "frame_duration": [
                10735,
                12927
            ],
            "skill_idxes": [
                10,
                11
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "bowl_91",
                        "bowl_92"
                    ],
                    "breakfast_table_xftrki_0"
                ],
                [
                    [
                        "bowl_92",
                        "bowl_91"
                    ],
                    "drop_in_sink_lkklqs_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "bowl_91",
                    "bowl_92"
                ],
                [
                    "bowl_92",
                    "bowl_91"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12927,
                18150
            ],
            "skill_idxes": [
                12,
                13,
                14,
                15,
                16,
                17,
                18
            ]
        }
    ]
}