Add files using upload-large-folder tool

.gitattributes

@@ -57,3 +57,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+meta/episodes_stats.jsonl filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,319 @@
+---
+license: mit
+task_categories:
+- robotics
+tags:
+- LeRobot
+- v
+- '2'
+- .
+- '1'
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+## Dataset Description
+
+
+
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** mit
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.1",
+    "robot_type": "R1Pro",
+    "total_episodes": 10000,
+    "total_frames": 119094660,
+    "total_tasks": 50,
+    "total_videos": 90000,
+    "chunks_size": 10000,
+    "fps": 30,
+    "splits": {
+        "train": "0:10000"
+    },
+    "data_path": "data/task-{episode_chunk:04d}/episode_{episode_index:08d}.parquet",
+    "video_path": "videos/task-{episode_chunk:04d}/{video_key}/episode_{episode_index:08d}.mp4",
+    "metainfo_path": "meta/episodes/task-{episode_chunk:04d}/episode_{episode_index:08d}.json",
+    "annotation_path": "annotations/task-{episode_chunk:04d}/episode_{episode_index:08d}.json",
+    "features": {
+        "observation.images.rgb.left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "rgb"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 480,
+                "video.channels": 3,
+                "video.codec": "libx265",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.rgb.right_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "rgb"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 480,
+                "video.channels": 3,
+                "video.codec": "libx265",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.rgb.head": {
+            "dtype": "video",
+            "shape": [
+                720,
+                720,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "rgb"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 720,
+                "video.width": 720,
+                "video.channels": 3,
+                "video.codec": "libx265",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.depth.left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "depth"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 480,
+                "video.channels": 3,
+                "video.codec": "libx265",
+                "video.pix_fmt": "yuv420p16le",
+                "video.is_depth_map": true,
+                "has_audio": false
+            }
+        },
+        "observation.images.depth.right_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "depth"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 480,
+                "video.channels": 3,
+                "video.codec": "libx265",
+                "video.pix_fmt": "yuv420p16le",
+                "video.is_depth_map": true,
+                "has_audio": false
+            }
+        },
+        "observation.images.depth.head": {
+            "dtype": "video",
+            "shape": [
+                720,
+                720,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "depth"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 720,
+                "video.width": 720,
+                "video.channels": 3,
+                "video.codec": "libx265",
+                "video.pix_fmt": "yuv420p16le",
+                "video.is_depth_map": true,
+                "has_audio": false
+            }
+        },
+        "observation.images.seg_instance_id.left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "rgb"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 480,
+                "video.channels": 3,
+                "video.codec": "libx265",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.seg_instance_id.right_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "rgb"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 480,
+                "video.channels": 3,
+                "video.codec": "libx265",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.seg_instance_id.head": {
+            "dtype": "video",
+            "shape": [
+                720,
+                720,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "rgb"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 720,
+                "video.width": 720,
+                "video.channels": 3,
+                "video.codec": "libx265",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                23
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.cam_rel_poses": {
+            "dtype": "float32",
+            "shape": [
+                21
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                256
+            ],
+            "names": null
+        },
+        "observation.task_info": {
+            "dtype": "float32",
+            "shape": [
+                null
+            ],
+            "names": null
+        }
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+@article{li2024behavior, 
+  title={Behavior-1k: A human-centered, embodied ai benchmark with 1,000 everyday activities and realistic simulation}, 
+  author={Li, Chengshu and Zhang, Ruohan and Wong, Josiah and Gokmen, Cem and Srivastava, Sanjana and Mart{'i}n-Mart{'i}n, Roberto and Wang, Chen and Levine, Gabrael and Ai, Wensi and Martinez, Benjamin and Yin, Hang and Lingelbach, Michael and Hwang, Minjune and Hiranaka, Ayano and Garlanka, Sujay and Aydin, Arman and Lee, Sharon and Sun, Jiankai and Anvari, Mona and Sharma, Manasi and Bansal, Dhruva and Hunter, Samuel and Kim, Kyu-Young and Lou, Alan and Matthews, Caleb R. and Villa-Renteria, Ivan and Tang, Jerry Huayang and Tang, Claire and Xia, Fei and Li, Yunzhu and Savarese, Silvio and Gweon, Hyowon and Liu, C. Karen and Wu, Jiajun and Fei-Fei, Li}, 
+  journal={arXiv preprint arXiv:2403.09227}, 
+  year={2024} 
+}
+```

annotations/task-0016/episode_00160050.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 12577,
+        "valid_duration": [0, 12577]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 547],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [547, 1369],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1369, 3001],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3002, 3748],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3748, 6140],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6140, 6505],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6505, 8754],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8754, 9244],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [9245, 12029],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12029, 12577],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1369],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1369, 6505],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6505, 12577],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160060.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15079,
+        "valid_duration": [0, 15079]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 518],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [518, 1650],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1650, 3289],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3411, 4920],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4920, 6981],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [7058, 7982],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7982, 10262],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [10262, 11778],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11808, 14145],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [14145, 15079],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1650],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1650, 7982],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7982, 15079],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160080.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 12352,
+        "valid_duration": [127, 12479]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [127, 205],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [205, 1035],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1050, 2715],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2715, 3672],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3673, 5437],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5437, 6058],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6058, 8277],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8278, 9567],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [9567, 11769],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [11769, 12479],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [127, 1035],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1050, 6058],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6058, 12479],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160100.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13492,
+        "valid_duration": [95, 13587]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [95, 728],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [729, 2489],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2489, 3828],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3828, 5047],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5048, 7433],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [7440, 8191],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8280, 10160],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [10161, 10910],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10911, 12920],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13040, 13587],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [95, 2489],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2489, 8191],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [8280, 13587],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160150.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 16101,
+        "valid_duration": [300, 16401]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [300, 631],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [634, 2159],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2166, 4373],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4373, 5582],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5583, 8537],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [8538, 9121],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9122, 11361],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [11361, 12642],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [12643, 15667],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [15757, 16401],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [300, 2159],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2166, 9121],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [9122, 16401],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160180.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 12954,
+        "valid_duration": [0, 12954]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 759],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [759, 1613],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1613, 3153],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3153, 3915],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3916, 6061],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6062, 6594],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6594, 8936],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8936, 9969],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [9970, 12257],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12360, 12954],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1613],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1613, 6594],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6594, 12954],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160230.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 12304,
+        "valid_duration": [59, 12363]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [59, 300],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [301, 1290],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1290, 2881],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2881, 3525],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3525, 5610],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5610, 6126],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6126, 8487],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8487, 9210],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [9210, 11881],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [11882, 12363],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [59, 1290],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1290, 6126],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6126, 12363],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160310.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13437,
+        "valid_duration": [0, 13437]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 502],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [502, 1136],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1136, 2537],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2628, 3460],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3509, 5734],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5800, 6764],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6779, 8823],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8830, 9853],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [9927, 12382],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12383, 13437],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1136],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1136, 6764],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6779, 13437],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160320.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15396,
+        "valid_duration": [0, 15396]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 863],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [894, 1803],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1803, 3208],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3208, 4676],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4738, 6881],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6912, 7774],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7774, 9757],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9758, 11343],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11343, 13667],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13679, 15396],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1803],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1803, 7774],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7774, 15396],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160330.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 14755,
+        "valid_duration": [95, 14850]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [95, 1156],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1159, 1939],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1939, 3346],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3346, 4493],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4493, 6732],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6789, 7531],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7531, 9946],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9946, 11319],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11320, 13870],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13871, 14850],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [95, 1939],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1939, 7531],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7531, 14850],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160350.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15128,
+        "valid_duration": [0, 15128]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1119],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1120, 2434],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2434, 3868],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3868, 5007],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5007, 7200],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [7200, 8053],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8053, 10162],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [10162, 11476],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11476, 13743],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13924, 15128],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 2434],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2434, 8053],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [8053, 15128],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160460.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15318,
+        "valid_duration": [0, 15318]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 941],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [941, 1909],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1909, 3279],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3283, 4770],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4770, 7022],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [7022, 8102],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8103, 10113],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [10143, 11511],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11580, 13751],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13829, 15318],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1909],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1909, 8102],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [8103, 15318],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160590.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 17217,
+        "valid_duration": [0, 17217]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 894],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [894, 1989],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2000, 3853],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3863, 5381],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5381, 7811],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [7822, 8874],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8874, 11517],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [11517, 12843],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [12854, 15475],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [15476, 17217],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1989],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2000, 8874],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [8874, 17217],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160600.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 12170,
+        "valid_duration": [14, 12184]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [14, 525],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [525, 1023],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1023, 2676],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2676, 3423],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3423, 5829],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5829, 6285],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6285, 8553],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8553, 9186],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [9213, 11703],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [11703, 12184],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [14, 1023],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1023, 6285],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6285, 12184],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160630.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15021,
+        "valid_duration": [0, 15021]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 667],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [667, 1512],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1512, 3280],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3280, 4577],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4577, 7079],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [7079, 7885],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7885, 10229],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [10230, 11665],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11666, 14139],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [14140, 15021],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1512],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1512, 7885],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7885, 15021],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160700.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 14595,
+        "valid_duration": [30, 14625]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [30, 1038],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1039, 1833],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1834, 3333],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3333, 4486],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4489, 6675],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6685, 7398],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7407, 9600],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9600, 10876],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10885, 13379],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13379, 14625],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [30, 1833],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1834, 7398],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7407, 14625],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160710.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13969,
+        "valid_duration": [0, 13969]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 629],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [681, 1539],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1539, 2705],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2705, 3900],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3901, 5807],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5808, 6734],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6735, 8624],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8624, 9968],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [9968, 12262],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12262, 13969],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1539],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1539, 6734],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6735, 13969],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00160930.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 14414,
+        "valid_duration": [66, 14480]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [66, 843],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [843, 1634],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1634, 3318],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3318, 4095],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4095, 6923],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6923, 7608],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7608, 10089],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [10089, 10893],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10896, 13888],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13888, 14480],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [66, 1634],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1634, 7608],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7608, 14480],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161010.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 14344,
+        "valid_duration": [17, 14361]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [17, 465],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [465, 1016],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1020, 2509],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2509, 3822],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3823, 5961],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5961, 6828],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7283, 9378],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9380, 10840],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10841, 13184],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13184, 14361],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [17, 1016],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1020, 6828],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7283, 14361],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161030.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 14322,
+        "valid_duration": [0, 14322]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 460],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [460, 1000],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1000, 2150],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2151, 3236],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3552, 5471],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5471, 6691],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6691, 9328],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9328, 10920],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11010, 13231],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13232, 14322],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1000],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1000, 6691],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6691, 14322],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161040.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 14456,
+        "valid_duration": [60, 14516]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [60, 1026],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1027, 1650],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1650, 2869],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2870, 4247],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4248, 5985],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5985, 7247],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7247, 9267],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9268, 10880],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10880, 13467],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13467, 14516],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [60, 1650],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1650, 7247],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7247, 14516],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161300.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 14286,
+        "valid_duration": [63, 14349]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [63, 511],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [512, 1209],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1258, 3001],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3002, 4097],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4173, 6357],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6357, 7200],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7270, 9543],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9543, 10419],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10419, 13125],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13126, 14349],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [63, 1209],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1258, 7200],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7270, 14349],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161390.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 11604,
+        "valid_duration": [0, 11604]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 829],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [830, 1349],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1349, 2970],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2970, 3524],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3524, 5634],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5634, 6009],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6009, 8439],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8439, 8889],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [8889, 11171],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [11171, 11604],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1349],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1349, 6009],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6009, 11604],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161410.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 16476,
+        "valid_duration": [12, 16488]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12, 527],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [533, 1601],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1601, 3619],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3619, 4826],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4826, 7471],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [7471, 8527],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8527, 11508],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [11508, 12645],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [12645, 15638],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [15638, 16488],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12, 1601],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1601, 8527],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [8527, 16488],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161440.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13362,
+        "valid_duration": [90, 13452]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [90, 447],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [447, 1085],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1085, 2401],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2401, 3322],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3322, 5312],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5312, 6054],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6054, 8606],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8606, 9348],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [9348, 12243],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12243, 13452],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [90, 1085],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1085, 6054],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6054, 13452],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161520.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13550,
+        "valid_duration": [0, 13550]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 750],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [750, 1116],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1116, 2466],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2478, 3642],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3676, 5493],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5493, 6450],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6639, 8695],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8696, 10309],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10309, 12452],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12461, 13550],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1116],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1116, 6450],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6639, 13550],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161620.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15046,
+        "valid_duration": [30, 15076]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [30, 891],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [892, 1318],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1318, 3176],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3176, 4595],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4595, 6485],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6485, 7620],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7620, 9895],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9895, 11695],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11695, 13844],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13844, 15076],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [30, 1318],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1318, 7620],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7620, 15076],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161720.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15003,
+        "valid_duration": [0, 15003]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 955],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [955, 1771],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1771, 3120],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3120, 4593],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4593, 6720],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6720, 7479],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7479, 10163],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [10163, 11677],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11677, 13937],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13938, 15003],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1771],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1771, 7479],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7479, 15003],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161760.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13251,
+        "valid_duration": [0, 13251]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 473],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [474, 989],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [990, 2413],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2415, 3630],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3630, 5536],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5536, 6518],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6518, 8569],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8570, 9878],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [9878, 11889],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [11889, 13251],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 989],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [990, 6518],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6518, 13251],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161870.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13494,
+        "valid_duration": [0, 13494]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 517],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [517, 1043],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1043, 2536],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2537, 3922],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3922, 5866],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5867, 6960],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6960, 8971],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8971, 10264],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10264, 12417],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12417, 13494],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1043],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1043, 6960],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6960, 13494],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161900.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13641,
+        "valid_duration": [0, 13641]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 411],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [419, 939],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [999, 2346],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2347, 3608],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3608, 5482],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5483, 6331],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6331, 8544],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8544, 10053],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10084, 12395],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12426, 13641],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 939],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [999, 6331],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6331, 13641],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161950.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13605,
+        "valid_duration": [90, 13695]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [90, 882],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [882, 1558],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1558, 3219],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3219, 4066],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4109, 6591],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6591, 7178],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7256, 9725],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9725, 10718],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10718, 13081],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13081, 13695],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [90, 1558],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1558, 7178],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7256, 13695],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00161970.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13530,
+        "valid_duration": [0, 13530]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 660],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [660, 1272],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1272, 2883],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2883, 3823],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3865, 6057],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6057, 6736],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6736, 9128],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9128, 10181],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10181, 12497],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12497, 13530],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1272],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1272, 6736],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6736, 13530],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162010.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15238,
+        "valid_duration": [0, 15238]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1299],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1299, 1800],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1801, 3495],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3495, 4655],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4707, 6870],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6870, 8111],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8112, 10197],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [10199, 11814],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11861, 14281],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [14281, 15238],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1800],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1801, 8111],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [8112, 15238],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162050.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15438,
+        "valid_duration": [0, 15438]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 676],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [677, 1342],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1343, 3034],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3035, 4349],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4349, 6511],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6512, 7862],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7863, 9829],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9830, 11504],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11504, 13756],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13756, 15438],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1342],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1343, 7862],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7863, 15438],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162090.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15727,
+        "valid_duration": [0, 15727]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1116],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1116, 1707],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1710, 3061],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3062, 4694],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4695, 6347],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6359, 7452],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7951, 10002],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [10002, 11975],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [12005, 13952],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13970, 15727],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1707],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1710, 7452],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7951, 15727],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162120.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 14307,
+        "valid_duration": [0, 14307]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 596],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [596, 1089],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1089, 2508],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2508, 3650],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3650, 5934],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5934, 7141],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7141, 9290],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9290, 10679],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10679, 12801],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12802, 14307],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1089],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1089, 7141],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7141, 14307],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162130.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 14955,
+        "valid_duration": [0, 14955]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 412],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [437, 1095],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1116, 2497],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2506, 3956],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3956, 6195],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6195, 7265],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7505, 9712],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9712, 11237],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11237, 13538],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13538, 14955],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1095],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1116, 7265],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7505, 14955],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162260.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 14820,
+        "valid_duration": [0, 14820]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 612],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [629, 1034],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1034, 2713],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2713, 4233],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4233, 6450],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6450, 7728],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7728, 9912],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9912, 11427],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11427, 13800],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13800, 14820],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1034],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1034, 7728],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7728, 14820],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162270.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 14943,
+        "valid_duration": [0, 14943]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 957],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1018, 1446],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1446, 3003],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3003, 4413],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4413, 6633],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6633, 7502],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7503, 9764],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9779, 11463],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11464, 13721],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13722, 14943],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1446],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1446, 7502],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7503, 14943],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162290.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15554,
+        "valid_duration": [0, 15554]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 720],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [720, 1285],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1315, 3111],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3111, 4985],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5004, 7059],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [7060, 8074],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8130, 10621],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [10621, 12106],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [12136, 14199],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [14199, 15554],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1285],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1315, 8074],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [8130, 15554],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162350.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 14850,
+        "valid_duration": [30, 14880]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [30, 1110],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1110, 1609],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1625, 3084],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3084, 4467],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [4479, 6489],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6489, 7407],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7407, 9711],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9711, 11255],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11255, 13397],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13397, 14880],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [30, 1609],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1625, 7407],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7407, 14880],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162390.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13702,
+        "valid_duration": [0, 13702]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 419],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [419, 955],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [955, 2397],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2444, 3762],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3831, 5824],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5825, 6486],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6687, 9065],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9065, 10249],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10250, 12579],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12632, 13702],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 955],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [955, 6486],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6687, 13702],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162400.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15150,
+        "valid_duration": [0, 15150]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 540],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [540, 1007],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1007, 2880],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2880, 3814],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3814, 6300],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [6300, 7350],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [7350, 9746],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [9746, 11670],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11670, 13831],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [13831, 15150],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 1007],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1007, 7350],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [7350, 15150],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162410.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 12990,
+        "valid_duration": [0, 12990]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 480],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [481, 954],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [956, 2189],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2189, 3566],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3567, 5466],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5466, 6609],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6610, 8602],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8604, 9842],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [9843, 11880],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [11880, 12990],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 954],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [956, 6609],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6610, 12990],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162440.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13953,
+        "valid_duration": [0, 13953]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 333],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [333, 727],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [735, 1777],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1777, 3178],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3179, 5481],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5482, 6511],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6511, 8750],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8750, 10374],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [10374, 12561],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [12561, 13953],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 727],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [735, 6511],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6511, 13953],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162450.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 13226,
+        "valid_duration": [0, 13226]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 271],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [272, 751],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [752, 2162],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [2162, 3222],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3222, 5249],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5249, 6037],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [6037, 8596],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8596, 9787],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [9787, 11984],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [11984, 13226],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [0, 751],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [752, 6037],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [6037, 13226],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}

annotations/task-0016/episode_00162580.json

@@ -0,0 +1,165 @@
+{
+    "task_name": "moving boxes to storage",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 15312,
+        "valid_duration": [63, 15375]
+    },
+    "skill_annotation": [
+        {
+            "skill_idx": 0,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [63, 537],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 1,
+            "skill_id": [10],
+            "skill_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [537, 1554],
+            "mp_ef": [],
+            "skill_type": ["uncoordinated"]
+        },
+        {
+            "skill_idx": 2,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1554, 3917],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 3,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [3917, 5146],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 4,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["floors_nbxnpk_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [5149, 7547],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 5,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [7547, 8181],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 6,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_80"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [8181, 10696],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 7,
+            "skill_id": [2],
+            "skill_description": ["pick up from"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": ["the other"],
+            "spatial_prefix": [],
+            "frame_duration": [10696, 11828],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        },
+        {
+            "skill_idx": 8,
+            "skill_id": [1],
+            "skill_description": ["move to"],
+            "object_id": [["storage_box_79"]],
+            "manipulating_object_id": [],
+            "memory_prefix": ["back"],
+            "spatial_prefix": [],
+            "frame_duration": [11858, 14633],
+            "mp_ef": [],
+            "skill_type": ["navigation"]
+        },
+        {
+            "skill_idx": 9,
+            "skill_id": [3],
+            "skill_description": ["place on"],
+            "object_id": [["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [14633, 15375],
+            "mp_ef": [],
+            "skill_type": ["coordinated"]
+        }
+    ],
+    "primitive_annotation": [
+        {
+            "primitive_idx": 0,
+            "primitive_id": [10],
+            "primitive_description": ["open door"],
+            "object_id": [["door_bexenl_0"]],
+            "manipulating_object_id": [],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [63, 1554],
+            "skill_idxes": [0, 1]
+        },
+        {
+            "primitive_idx": 1,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
+            "manipulating_object_id": ["storage_box_79", "storage_box_79"],
+            "memory_prefix": [],
+            "spatial_prefix": [],
+            "frame_duration": [1554, 8181],
+            "skill_idxes": [2, 3, 4, 5]
+        },
+        {
+            "primitive_idx": 2,
+            "primitive_id": [2, 3],
+            "primitive_description": ["pick up from", "place on"],
+            "object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
+            "manipulating_object_id": ["storage_box_80", "storage_box_80"],
+            "memory_prefix": ["the other", ""],
+            "spatial_prefix": [],
+            "frame_duration": [8181, 15375],
+            "skill_idxes": [6, 7, 8, 9]
+        }
+    ]
+}