annotations/episode_00000041.json

{
    "task_name": "putting dishes away after cleaning",
    "data_folder": "",
    "meta_data": {
        "task_duration": 9666,
        "valid_duration": [
            0,
            9666
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                362
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                362,
                972
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                972,
                1239
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_210"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1239,
                1683
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_210",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1683,
                2083
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2083,
                2237
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2237,
                2764
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "plate_210",
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [
                "plate_210"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                2764,
                3069
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "plate_207",
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [
                "plate_207"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                3069,
                3203
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3209,
                3403
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_208",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3403,
                3679
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_209",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3679,
                3842
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3842,
                4023
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_209",
                    "plate_210"
                ]
            ],
            "manipulating_object_id": [
                "plate_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4023,
                4354
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_208",
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [
                "plate_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4354,
                4642
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_214"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4642,
                5511
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_214",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5511,
                5856
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_212",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5856,
                6000
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6000,
                6437
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_212",
                    "plate_209"
                ]
            ],
            "manipulating_object_id": [
                "plate_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6437,
                6701
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_214",
                    "plate_208"
                ]
            ],
            "manipulating_object_id": [
                "plate_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6708,
                6852
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_213"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6852,
                7636
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_213",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7636,
                7798
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_211",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7798,
                7903
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7903,
                8484
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_213",
                    "plate_212"
                ]
            ],
            "manipulating_object_id": [
                "plate_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8485,
                8847
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_211",
                    "plate_214"
                ]
            ],
            "manipulating_object_id": [
                "plate_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8847,
                8983
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                8983,
                9229
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                9229,
                9666
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "right_door",
                        "left_door"
                    ]
                ]
            ],
            "frame_duration": [
                0,
                1239
            ],
            "skill_idxes": [
                0,
                1,
                2
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "plate_210",
                        "plate_207"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "plate_210",
                        "plate_207"
                    ],
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_210",
                    "plate_207"
                ],
                [
                    "plate_210",
                    "plate_207"
                ]
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "low_level",
                        "low_level"
                    ]
                ]
            ],
            "frame_duration": [
                1239,
                3203
            ],
            "skill_idxes": [
                3,
                4,
                5,
                6,
                7,
                8
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "plate_208",
                        "plate_209"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "plate_209",
                        "plate_208"
                    ],
                    [
                        "plate_210",
                        "plate_207"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_208",
                    "plate_209"
                ],
                [
                    "plate_209",
                    "plate_208"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3209,
                4642
            ],
            "skill_idxes": [
                9,
                10,
                11,
                12,
                13,
                14
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "plate_214",
                        "plate_212"
                    ],
                    "bar_udatjt_0"
                ],
                [
                    [
                        "plate_212",
                        "plate_214"
                    ],
                    [
                        "plate_209",
                        "plate_208"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_214",
                    "plate_212"
                ],
                [
                    "plate_212",
                    "plate_214"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4642,
                6852
            ],
            "skill_idxes": [
                15,
                16,
                17,
                18,
                19,
                20
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "plate_213",
                        "plate_211"
                    ],
                    "bar_udatjt_0"
                ],
                [
                    [
                        "plate_213",
                        "plate_211"
                    ],
                    [
                        "plate_212",
                        "plate_214"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_213",
                    "plate_211"
                ],
                [
                    "plate_213",
                    "plate_211"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6852,
                8983
            ],
            "skill_idxes": [
                21,
                22,
                23,
                24,
                25,
                26
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "left_door",
                        "right_door"
                    ]
                ]
            ],
            "frame_duration": [
                8983,
                9666
            ],
            "skill_idxes": [
                27,
                28
            ]
        }
    ]
}