annotations/task-0032/episode_00320190.json

{
    "task_name": "wash a baseball cap",
    "data_folder": "",
    "meta_data": {
        "task_duration": 9428,
        "valid_duration": [0, 9428]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["washer_ynwamu_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [0, 448],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 1,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["washer_ynwamu_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [448, 2100],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 2,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["baseball_cap_189"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2100, 2819],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 3,
            "skill_id": [93],
            "skill_description": ["turn to"],
            "object_id": [["baseball_cap_189", "robot"]],
            "manipulating_object_id": ["baseball_cap_189"],
            "memory_prefix": [],
            "spatial_prefix": [["", "face"]],
            "frame_duration": [2819, 3725],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 4,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["baseball_cap_189", "countertop_ikwqer_0"]],
            "manipulating_object_id": ["baseball_cap_189"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [3725, 4383],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 5,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["baseball_cap_188"]],
            "manipulating_object_id": [],
            "memory_prefix": ["the other"],
            "spatial_prefix": [],
            "frame_duration": [4383, 4628],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 6,
            "skill_id": [93],
            "skill_description": ["turn to"],
            "object_id": [["baseball_cap_188", "robot"]],
            "manipulating_object_id": ["baseball_cap_188"],
            "memory_prefix": ["the other"],
            "spatial_prefix": [["", "face"]],
            "frame_duration": [4628, 5006],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 7,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["baseball_cap_188", "countertop_ikwqer_0"]],
            "manipulating_object_id": ["baseball_cap_188"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [5007, 5643],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 8,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["washer_ynwamu_0"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [5644, 6101],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 9,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["baseball_cap_188", "washer_ynwamu_0"]],
            "manipulating_object_id": ["baseball_cap_188"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [6101, 7196],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 10,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["baseball_cap_189", "washer_ynwamu_0"]],
            "manipulating_object_id": ["baseball_cap_189"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [7196, 8297],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 11,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["washer_ynwamu_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [8297, 9060],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 12,
            "skill_id": [69],
            "skill_description": ["turn on switch"],
            "object_id": [["washer_ynwamu_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [9060, 9428],
            "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": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [0, 2100],
            "skill_idxes": [0, 1]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [2, 4],
            "primitive_description": ["pick up from", "place in"],
            "object_id": [[["baseball_cap_189", "baseball_cap_188"], "countertop_ikwqer_0"], [["baseball_cap_188", "baseball_cap_189"], "washer_ynwamu_0"]],
            "manipulating_object_id": [["baseball_cap_189", "baseball_cap_188"], ["baseball_cap_188", "baseball_cap_189"]],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2100, 8297],
            "skill_idxes": [2, 3, 4, 5, 6, 7, 8, 9, 10]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [12],
            "primitive_description": ["close door"],
            "object_id": [["washer_ynwamu_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [8297, 9060],
            "skill_idxes": [11]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [69],
            "primitive_description": ["turn on switch"],
            "object_id": [["washer_ynwamu_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [9060, 9428],
            "skill_idxes": [12]
        }
    ]
}