annotations/episode_00000019.json

{
    "task_name": "picking up toys",
    "data_folder": "",
    "meta_data": {
        "task_duration": 9729,
        "valid_duration": [
            21,
            9750
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "board_game_229"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                21,
                271
            ],
            "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": [
                271,
                670
            ],
            "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": [
                670,
                1275
            ],
            "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": [
                1275,
                1830
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 4,
            "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": [
                1830,
                2084
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "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": [
                2084,
                2253
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 6,
            "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": [
                2253,
                2473
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "board_game_230"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2473,
                2884
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 8,
            "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": [
                2884,
                3354
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "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": [
                3354,
                3642
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "toy_box_224"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3642,
                4026
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "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": [
                4026,
                4659
            ],
            "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": [
                4659,
                5157
            ],
            "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": [
                5157,
                5483
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "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": [
                5483,
                5884
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "jigsaw_puzzle_227"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5884,
                6091
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 16,
            "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": [
                6091,
                6427
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "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": [
                6427,
                6804
            ],
            "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": [
                6804,
                6968
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 19,
            "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": [
                6968,
                7156
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "tennis_ball_225"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7156,
                7237
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 21,
            "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": [
                7237,
                7826
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "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": [
                7826,
                8149
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "jigsaw_puzzle_226"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8149,
                8307
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "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": [
                8307,
                8716
            ],
            "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": [
                8716,
                9192
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "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": [
                9192,
                9750
            ],
            "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": [
                21,
                2084
            ],
            "skill_idxes": [
                0,
                1,
                2,
                3,
                4
            ]
        },
        {
            "primitive_idx": 1,
            "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": [
                2084,
                2473
            ],
            "skill_idxes": [
                5,
                6
            ]
        },
        {
            "primitive_idx": 2,
            "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": [
                2473,
                4659
            ],
            "skill_idxes": [
                7,
                8,
                9,
                10,
                11
            ]
        },
        {
            "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": [
                4659,
                5884
            ],
            "skill_idxes": [
                12,
                13,
                14
            ]
        },
        {
            "primitive_idx": 4,
            "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": [
                5884,
                7156
            ],
            "skill_idxes": [
                15,
                16,
                17,
                18,
                19
            ]
        },
        {
            "primitive_idx": 5,
            "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": [
                7156,
                8149
            ],
            "skill_idxes": [
                20,
                21,
                22
            ]
        },
        {
            "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": [
                8149,
                9750
            ],
            "skill_idxes": [
                23,
                24,
                25,
                26
            ]
        }
    ]
}