annotations/episode_00000012.json

{
    "task_name": "clean boxing gloves",
    "data_folder": "",
    "meta_data": {
        "task_duration": 12245,
        "valid_duration": [
            0,
            12245
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                831
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                831,
                2588
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "boxing_gloves_188"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2588,
                3440
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "boxing_gloves_188",
                    "countertop_sjxber_0"
                ]
            ],
            "manipulating_object_id": [
                "boxing_gloves_188"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3440,
                4317
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                93
            ],
            "skill_description": [
                "turn to"
            ],
            "object_id": [
                [
                    "boxing_gloves_189",
                    "robot"
                ]
            ],
            "manipulating_object_id": [
                "boxing_gloves_189"
            ],
            "spatial_prefix": [
                [
                    "",
                    "face_away"
                ]
            ],
            "frame_duration": [
                4317,
                4871
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "boxing_gloves_189",
                    "countertop_sjxber_0"
                ]
            ],
            "manipulating_object_id": [
                "boxing_gloves_189"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4871,
                5222
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5222,
                6219
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "boxing_gloves_189",
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                "boxing_gloves_189"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6219,
                7298
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "boxing_gloves_188",
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                "boxing_gloves_188"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7298,
                9690
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9751,
                11040
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                69
            ],
            "skill_description": [
                "turn on switch"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                "washer_ynwamu_0"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11040,
                12245
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                2588
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "boxing_gloves_188",
                        "boxing_gloves_189"
                    ],
                    "countertop_sjxber_0"
                ],
                [
                    [
                        "boxing_gloves_189",
                        "boxing_gloves_188"
                    ],
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "boxing_gloves_188",
                    "boxing_gloves_189"
                ],
                [
                    "boxing_gloves_189",
                    "boxing_gloves_188"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2588,
                9690
            ],
            "skill_idxes": [
                2,
                3,
                4,
                5,
                6,
                7,
                8
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9751,
                11040
            ],
            "skill_idxes": [
                9
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                69
            ],
            "primitive_description": [
                "turn on switch"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                "washer_ynwamu_0"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11040,
                12245
            ],
            "skill_idxes": [
                10
            ]
        }
    ]
}