annotations/episode_00000021.json

{
    "task_name": "set up a coffee station in your kitchen",
    "data_folder": "",
    "meta_data": {
        "task_duration": 5855,
        "valid_duration": [
            0,
            5855
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "paper_coffee_filter_210"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                441
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "paper_coffee_filter_210",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "paper_coffee_filter_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                441,
                838
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "coffee_maker_212"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                838,
                1010
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "paper_coffee_filter_210",
                    "coffee_maker_212"
                ]
            ],
            "manipulating_object_id": [
                "paper_coffee_filter_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1010,
                1473
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottle_of_coffee_211"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1473,
                1591
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bottle_of_coffee_211",
                    "shelf_pfusrd_1"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_coffee_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1591,
                2196
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "coffee_maker_212"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2196,
                2270
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "bottle_of_coffee_211",
                    "countertop_kelzer_0",
                    "coffee_maker_212"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_coffee_211"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "left"
                ]
            ],
            "frame_duration": [
                2270,
                2546
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "electric_kettle_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2546,
                2910
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "electric_kettle_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "electric_kettle_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2910,
                3229
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "coffee_maker_212"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3229,
                3349
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "electric_kettle_207",
                    "countertop_kelzer_0",
                    "coffee_maker_212"
                ]
            ],
            "manipulating_object_id": [
                "electric_kettle_207"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "right"
                ]
            ],
            "frame_duration": [
                3349,
                3636
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "saucer_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3636,
                3995
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "saucer_208",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "saucer_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3995,
                4650
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "coffee_maker_212"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4650,
                4770
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "saucer_208",
                    "countertop_kelzer_0",
                    "coffee_maker_212"
                ]
            ],
            "manipulating_object_id": [
                "saucer_208"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "right"
                ]
            ],
            "frame_duration": [
                4770,
                4961
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "coffee_cup_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4961,
                5090
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "coffee_cup_209",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "coffee_cup_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5090,
                5453
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "saucer_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5453,
                5585
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "coffee_cup_209",
                    "saucer_208"
                ]
            ],
            "manipulating_object_id": [
                "coffee_cup_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5585,
                5855
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    "paper_coffee_filter_210",
                    "countertop_kelzer_0"
                ],
                [
                    "paper_coffee_filter_210",
                    "coffee_maker_212"
                ]
            ],
            "manipulating_object_id": [
                "paper_coffee_filter_210",
                "paper_coffee_filter_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                1473
            ],
            "skill_idxes": [
                0,
                1,
                2,
                3
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                91
            ],
            "primitive_description": [
                "pick up from",
                "place on next to"
            ],
            "object_id": [
                [
                    "bottle_of_coffee_211",
                    "shelf_pfusrd_1"
                ],
                [
                    "bottle_of_coffee_211",
                    "countertop_kelzer_0",
                    "coffee_maker_212"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_coffee_211",
                "bottle_of_coffee_211"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [],
                    [
                        "left"
                    ]
                ]
            ],
            "frame_duration": [
                1473,
                2546
            ],
            "skill_idxes": [
                4,
                5,
                6,
                7
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                91
            ],
            "primitive_description": [
                "pick up from",
                "place on next to"
            ],
            "object_id": [
                [
                    "electric_kettle_207",
                    "countertop_kelzer_0"
                ],
                [
                    "electric_kettle_207",
                    "countertop_kelzer_0",
                    "coffee_maker_212"
                ]
            ],
            "manipulating_object_id": [
                "electric_kettle_207",
                "electric_kettle_207"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [],
                    [
                        "right"
                    ]
                ]
            ],
            "frame_duration": [
                2546,
                3636
            ],
            "skill_idxes": [
                8,
                9,
                10,
                11
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                91
            ],
            "primitive_description": [
                "pick up from",
                "place on next to"
            ],
            "object_id": [
                [
                    "saucer_208",
                    "countertop_kelzer_0"
                ],
                [
                    "saucer_208",
                    "countertop_kelzer_0",
                    "coffee_maker_212"
                ]
            ],
            "manipulating_object_id": [
                "saucer_208",
                "saucer_208"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [],
                    [
                        "right"
                    ]
                ]
            ],
            "frame_duration": [
                3636,
                4961
            ],
            "skill_idxes": [
                12,
                13,
                14,
                15
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    "coffee_cup_209",
                    "countertop_kelzer_0"
                ],
                [
                    "coffee_cup_209",
                    "saucer_208"
                ]
            ],
            "manipulating_object_id": [
                "coffee_cup_209",
                "coffee_cup_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4961,
                5855
            ],
            "skill_idxes": [
                16,
                17,
                18,
                19
            ]
        }
    ]
}