annotations/episode_00000020.json

{
    "task_name": "picking up toys",
    "data_folder": "",
    "meta_data": {
        "task_duration": 18833,
        "valid_duration": [
            36,
            18869
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "board_game_229"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                36,
                1546
            ],
            "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": [
                1546,
                3049
            ],
            "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": [
                3050,
                3903
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "toy_box_224"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3904,
                4579
            ],
            "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": [
                4580,
                4927
            ],
            "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": [
                4928,
                5563
            ],
            "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": [
                5564,
                6073
            ],
            "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": [
                6074,
                6763
            ],
            "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": [
                6764,
                7473
            ],
            "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": [
                7473,
                8066
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 10,
            "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": [
                8066,
                8537
            ],
            "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": [
                8537,
                8807
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 12,
            "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": [
                8807,
                9310
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "toy_box_224"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9311,
                9574
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 14,
            "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": [
                9574,
                10001
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "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": [
                10001,
                10653
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 16,
            "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": [
                10653,
                10999
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "tennis_ball_225"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11000,
                11203
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 18,
            "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": [
                11203,
                11563
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "toy_box_224"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11563,
                11803
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 20,
            "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": [
                11803,
                12100
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "jigsaw_puzzle_227"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12101,
                12756
            ],
            "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": [
                12756,
                14529
            ],
            "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": [
                14530,
                15248
            ],
            "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": [
                15248,
                15623
            ],
            "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": [
                15623,
                15880
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "board_game_228"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                15881,
                16279
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 27,
            "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": [
                16280,
                17353
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "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": [
                17353,
                17953
            ],
            "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": [
                17953,
                18391
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 30,
            "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": [
                18391,
                18869
            ],
            "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": [
                36,
                5563
            ],
            "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": [
                5564,
                8537
            ],
            "skill_idxes": [
                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": [
                8537,
                10001
            ],
            "skill_idxes": [
                11,
                12,
                13,
                14
            ]
        },
        {
            "primitive_idx": 3,
            "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": [
                10001,
                10999
            ],
            "skill_idxes": [
                15,
                16
            ]
        },
        {
            "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": [
                11000,
                12100
            ],
            "skill_idxes": [
                17,
                18,
                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": [
                12101,
                15880
            ],
            "skill_idxes": [
                21,
                22,
                23,
                24,
                25
            ]
        },
        {
            "primitive_idx": 6,
            "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": [
                15881,
                18869
            ],
            "skill_idxes": [
                26,
                27,
                28,
                29,
                30
            ]
        }
    ]
}