annotations/episode_00000030.json

{
    "task_name": "sorting household items",
    "data_folder": "",
    "meta_data": {
        "task_duration": 13710,
        "valid_duration": [
            0,
            13710
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "sliding_door_tprpvb_10"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                681
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "sliding_door_tprpvb_10"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                682,
                1521
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottle_of_detergent_227"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1522,
                2001
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bottle_of_detergent_227",
                    "hamper_226"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_detergent_227"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2002,
                2493
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bottle_of_detergent_228",
                    "hamper_226"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_detergent_228"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2494,
                2895
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2896,
                3702
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                98
            ],
            "skill_description": [
                "place under"
            ],
            "object_id": [
                [
                    "bottle_of_detergent_228",
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_detergent_228"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3703,
                4008
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                98
            ],
            "skill_description": [
                "place under"
            ],
            "object_id": [
                [
                    "bottle_of_detergent_227",
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_detergent_227"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4009,
                4299
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "hamper_226"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4300,
                5223
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "hamper_226",
                    "robot"
                ]
            ],
            "manipulating_object_id": [
                "hamper_226"
            ],
            "spatial_prefix": [
                [
                    "",
                    "away"
                ]
            ],
            "frame_duration": [
                5224,
                5508
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "box_of_sanitary_napkins_224",
                    "hamper_226"
                ]
            ],
            "manipulating_object_id": [
                "box_of_sanitary_napkins_224"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5509,
                5835
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "soap_dispenser_223"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5836,
                6420
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "soap_dispenser_223",
                    "hamper_225"
                ]
            ],
            "manipulating_object_id": [
                "soap_dispenser_223"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6421,
                7218
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7219,
                8133
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "soap_dispenser_223",
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [
                "soap_dispenser_223"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8134,
                8388
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "box_of_sanitary_napkins_224",
                    "shelf_fjozhc_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_sanitary_napkins_224"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8389,
                8721
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "hamper_225"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8722,
                9969
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "hamper_225",
                    "robot"
                ]
            ],
            "manipulating_object_id": [
                "hamper_225"
            ],
            "spatial_prefix": [
                [
                    "",
                    "near"
                ]
            ],
            "frame_duration": [
                9970,
                10371
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tube_of_toothpaste_222",
                    "hamper_225"
                ]
            ],
            "manipulating_object_id": [
                "tube_of_toothpaste_222"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10372,
                11292
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "hamper_225",
                    "robot"
                ]
            ],
            "manipulating_object_id": [
                "hamper_225"
            ],
            "spatial_prefix": [
                [
                    "",
                    "away"
                ]
            ],
            "frame_duration": [
                11293,
                11541
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "toothbrush_221",
                    "hamper_225"
                ]
            ],
            "manipulating_object_id": [
                "toothbrush_221"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11542,
                11961
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "coffee_cup_220"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11962,
                12921
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "toothbrush_221",
                    "coffee_cup_220"
                ]
            ],
            "manipulating_object_id": [
                "toothbrush_221"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12922,
                13230
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "tube_of_toothpaste_222",
                    "coffee_cup_220"
                ]
            ],
            "manipulating_object_id": [
                "tube_of_toothpaste_222"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13231,
                13710
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "sliding_door_tprpvb_10"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                1521
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                98
            ],
            "primitive_description": [
                "pick up from",
                "place under"
            ],
            "object_id": [
                [
                    [
                        "bottle_of_detergent_227",
                        "bottle_of_detergent_228"
                    ],
                    "hamper_226"
                ],
                [
                    [
                        "bottle_of_detergent_228",
                        "bottle_of_detergent_227"
                    ],
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "bottle_of_detergent_227",
                    "bottle_of_detergent_228"
                ],
                [
                    "bottle_of_detergent_228",
                    "bottle_of_detergent_227"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1522,
                4299
            ],
            "skill_idxes": [
                2,
                3,
                4,
                5,
                6,
                7
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    "box_of_sanitary_napkins_224",
                    "hamper_226"
                ],
                [
                    "box_of_sanitary_napkins_224",
                    "shelf_fjozhc_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_sanitary_napkins_224",
                "box_of_sanitary_napkins_224"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4300,
                8721
            ],
            "skill_idxes": [
                8,
                9,
                10,
                13,
                15
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    "soap_dispenser_223",
                    "hamper_225"
                ],
                [
                    "soap_dispenser_223",
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [
                "soap_dispenser_223",
                "soap_dispenser_223"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5836,
                8388
            ],
            "skill_idxes": [
                11,
                12,
                13,
                14
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "tube_of_toothpaste_222",
                        "toothbrush_221"
                    ],
                    "hamper_225"
                ],
                [
                    [
                        "toothbrush_221",
                        "tube_of_toothpaste_222"
                    ],
                    "coffee_cup_220"
                ]
            ],
            "manipulating_object_id": [
                [
                    "tube_of_toothpaste_222",
                    "toothbrush_221"
                ],
                [
                    "toothbrush_221",
                    "tube_of_toothpaste_222"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8722,
                13710
            ],
            "skill_idxes": [
                16,
                17,
                18,
                19,
                20,
                21,
                22,
                23
            ]
        }
    ]
}