Hugging Face's logo

Datasets:
lerobot
/
behavior1k-task0001

Dataset card Data Studio Files
xet
 Community
jadechoghari commited on
Commit
3fa4056
·
verified ·
1 Parent(s): e0aa057

Add files using upload-large-folder tool

Browse files
Files changed (50) hide show
  1. annotations/episode_00000003.json +485 -0
  2. annotations/episode_00000004.json +485 -0
  3. annotations/episode_00000005.json +485 -0
  4. annotations/episode_00000012.json +485 -0
  5. annotations/episode_00000014.json +485 -0
  6. annotations/episode_00000015.json +485 -0
  7. annotations/episode_00000018.json +485 -0
  8. annotations/episode_00000019.json +485 -0
  9. annotations/episode_00000021.json +485 -0
  10. annotations/episode_00000022.json +485 -0
  11. annotations/episode_00000023.json +485 -0
  12. annotations/episode_00000028.json +485 -0
  13. annotations/episode_00000032.json +485 -0
  14. annotations/episode_00000033.json +485 -0
  15. annotations/episode_00000039.json +485 -0
  16. annotations/episode_00000069.json +485 -0
  17. annotations/episode_00000072.json +485 -0
  18. annotations/episode_00000073.json +485 -0
  19. annotations/episode_00000075.json +485 -0
  20. annotations/episode_00000090.json +485 -0
  21. annotations/episode_00000104.json +485 -0
  22. annotations/episode_00000115.json +485 -0
  23. annotations/episode_00000120.json +485 -0
  24. annotations/episode_00000127.json +485 -0
  25. annotations/episode_00000131.json +485 -0
  26. annotations/episode_00000139.json +485 -0
  27. annotations/episode_00000149.json +485 -0
  28. annotations/episode_00000201.json +485 -0
  29. annotations/episode_00000207.json +485 -0
  30. annotations/episode_00000209.json +485 -0
  31. annotations/episode_00000213.json +485 -0
  32. annotations/episode_00000216.json +485 -0
  33. annotations/episode_00000220.json +485 -0
  34. annotations/episode_00000235.json +485 -0
  35. annotations/episode_00000250.json +485 -0
  36. annotations/episode_00000251.json +485 -0
  37. annotations/episode_00000254.json +485 -0
  38. annotations/episode_00000262.json +485 -0
  39. annotations/episode_00000269.json +485 -0
  40. annotations/episode_00000271.json +485 -0
  41. annotations/episode_00000273.json +485 -0
  42. annotations/episode_00000276.json +485 -0
  43. annotations/episode_00000278.json +485 -0
  44. annotations/episode_00000280.json +485 -0
  45. annotations/episode_00000281.json +485 -0
  46. annotations/episode_00000286.json +485 -0
  47. annotations/episode_00000288.json +485 -0
  48. annotations/episode_00000289.json +485 -0
  49. annotations/episode_00000293.json +485 -0
  50. annotations/episode_00000296.json +485 -0
annotations/episode_00000003.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5562,
6
+ "valid_duration": [
7
+ 36,
8
+ 5598
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 36,
29
+ 252
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 252,
56
+ 676
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 676,
80
+ 1402
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1501,
107
+ 2154
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2154,
134
+ 2450
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2556,
158
+ 2883
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3054,
185
+ 3707
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3707,
212
+ 3982
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3982,
236
+ 4249
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4249,
263
+ 4791
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4792,
290
+ 5182
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5182,
317
+ 5598
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 36,
346
+ 676
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 676,
380
+ 2450
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2556,
415
+ 3982
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3982,
450
+ 5182
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5182,
478
+ 5598
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000004.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7497,
6
+ "valid_duration": [
7
+ 0,
8
+ 7497
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 118
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 120,
56
+ 879
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_113"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 906,
80
+ 1380
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_113",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_113"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2216,
107
+ 3144
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_113",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_113"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 3144,
134
+ 3341
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_114"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3374,
158
+ 3998
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_114",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_114"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 4117,
185
+ 5044
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_114",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_114"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 5044,
212
+ 5278
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 5278,
236
+ 5963
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 5964,
263
+ 6580
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 6580,
290
+ 7244
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 7244,
317
+ 7497
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 0,
346
+ 879
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_113",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_113",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_113",
375
+ "can_of_soda_113"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 906,
380
+ 3341
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_114",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_114",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_114",
410
+ "can_of_soda_114"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3374,
415
+ 5278
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 5278,
450
+ 7244
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 7244,
478
+ 7497
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000005.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7179,
6
+ "valid_duration": [
7
+ 35,
8
+ 7214
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 35,
29
+ 818
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 818,
56
+ 1351
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1352,
80
+ 2298
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2298,
107
+ 3478
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 3479,
134
+ 3752
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3770,
158
+ 4098
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 4511,
185
+ 5143
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 5144,
212
+ 5520
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 5521,
236
+ 6509
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 6510,
263
+ 6894
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 6894,
290
+ 7071
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 7071,
317
+ 7214
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 35,
346
+ 1351
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1352,
380
+ 3752
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3770,
415
+ 5520
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 5521,
450
+ 7071
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 7071,
478
+ 7214
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000012.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5310,
6
+ "valid_duration": [
7
+ 0,
8
+ 5310
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 271
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 271,
56
+ 878
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 878,
80
+ 1302
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1303,
107
+ 1930
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 1935,
134
+ 2284
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2284,
158
+ 2565
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2565,
185
+ 3108
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3108,
212
+ 3557
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3557,
236
+ 3768
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3768,
263
+ 4437
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4438,
290
+ 4766
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4766,
317
+ 5310
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 0,
346
+ 878
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 878,
380
+ 2284
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2284,
415
+ 3557
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3557,
450
+ 4766
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4766,
478
+ 5310
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000014.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5520,
6
+ "valid_duration": [
7
+ 0,
8
+ 5520
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 842
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 842,
56
+ 1504
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1512,
80
+ 1997
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2057,
107
+ 2809
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2809,
134
+ 3047
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3141,
158
+ 3526
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3526,
185
+ 3945
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3945,
212
+ 4231
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4231,
236
+ 4403
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4404,
263
+ 4754
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4784,
290
+ 5139
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5140,
317
+ 5520
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 0,
346
+ 1504
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1512,
380
+ 3047
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3141,
415
+ 4231
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4231,
450
+ 5139
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5140,
478
+ 5520
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000015.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6846,
6
+ "valid_duration": [
7
+ 0,
8
+ 6846
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 1239
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1240,
56
+ 1726
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_113"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1727,
80
+ 2537
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_113",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_113"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2537,
107
+ 3372
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_113",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_113"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 3372,
134
+ 3630
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3643,
158
+ 3909
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3909,
185
+ 4783
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4783,
212
+ 5133
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 5137,
236
+ 5342
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 5343,
263
+ 6033
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 6033,
290
+ 6256
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 6257,
317
+ 6846
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 0,
346
+ 1726
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_113",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_113",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_113",
375
+ "can_of_soda_113"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1727,
380
+ 3630
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3643,
415
+ 5133
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 5137,
450
+ 6256
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 6257,
478
+ 6846
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000018.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5989,
6
+ "valid_duration": [
7
+ 77,
8
+ 6066
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 77,
29
+ 618
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 619,
56
+ 1275
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1275,
80
+ 1939
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1939,
107
+ 2621
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2621,
134
+ 2894
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2894,
158
+ 3341
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3354,
185
+ 3980
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3980,
212
+ 4270
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4277,
236
+ 4668
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4669,
263
+ 5338
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5356,
290
+ 5625
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5627,
317
+ 6066
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 77,
346
+ 1275
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1275,
380
+ 2894
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2894,
415
+ 4270
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4277,
450
+ 5625
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5627,
478
+ 6066
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000019.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5951,
6
+ "valid_duration": [
7
+ 75,
8
+ 6026
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 75,
29
+ 303
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 303,
56
+ 855
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_113"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 855,
80
+ 1304
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_113",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_113"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1647,
107
+ 2166
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_113",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_113"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2166,
134
+ 2376
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2377,
158
+ 2646
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2963,
185
+ 3615
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3615,
212
+ 3826
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3843,
236
+ 4123
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4179,
263
+ 4875
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4875,
290
+ 5184
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5184,
317
+ 6026
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 75,
346
+ 855
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_113",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_113",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_113",
375
+ "can_of_soda_113"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 855,
380
+ 2376
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2377,
415
+ 3826
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3843,
450
+ 5184
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5184,
478
+ 6026
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000021.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8083,
6
+ "valid_duration": [
7
+ 103,
8
+ 8186
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 103,
29
+ 637
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 637,
56
+ 1200
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1200,
80
+ 1934
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1935,
107
+ 2880
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2880,
134
+ 3283
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3342,
158
+ 3646
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3677,
185
+ 5004
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 5004,
212
+ 5307
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 5316,
236
+ 5796
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 5796,
263
+ 6902
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 6902,
290
+ 7427
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 7427,
317
+ 8186
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 103,
346
+ 1200
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1200,
380
+ 3283
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3342,
415
+ 5307
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 5316,
450
+ 7427
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 7427,
478
+ 8186
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000022.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7728,
6
+ "valid_duration": [
7
+ 45,
8
+ 7773
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 45,
29
+ 917
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 917,
56
+ 1627
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1627,
80
+ 2182
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2182,
107
+ 3123
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 3124,
134
+ 3510
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3511,
158
+ 4118
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 4118,
185
+ 5161
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 5161,
212
+ 5436
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 5436,
236
+ 5706
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 5707,
263
+ 6718
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 6718,
290
+ 7092
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 7093,
317
+ 7773
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 45,
346
+ 1627
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1627,
380
+ 3510
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3511,
415
+ 5436
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 5436,
450
+ 7092
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 7093,
478
+ 7773
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000023.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4768,
6
+ "valid_duration": [
7
+ 12,
8
+ 4780
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 12,
29
+ 342
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 342,
56
+ 720
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 720,
80
+ 1384
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1384,
107
+ 1961
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 1961,
134
+ 2301
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_114"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2301,
158
+ 2712
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_114",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_114"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2713,
185
+ 3080
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_114",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_114"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3081,
212
+ 3392
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3417,
236
+ 3750
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3750,
263
+ 4154
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4154,
290
+ 4460
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4460,
317
+ 4780
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 12,
346
+ 720
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 720,
380
+ 2301
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_114",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_114",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_114",
410
+ "can_of_soda_114"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2301,
415
+ 3392
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3417,
450
+ 4460
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4460,
478
+ 4780
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000028.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5160,
6
+ "valid_duration": [
7
+ 60,
8
+ 5220
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 549
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 549,
56
+ 1005
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1005,
80
+ 1762
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1893,
107
+ 2320
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2321,
134
+ 2524
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_114"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2644,
158
+ 3060
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_114",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_114"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3180,
185
+ 3513
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_114",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_114"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3514,
212
+ 3807
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3807,
236
+ 4149
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4149,
263
+ 4534
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4534,
290
+ 4807
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4807,
317
+ 5220
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 60,
346
+ 1005
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1005,
380
+ 2524
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_114",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_114",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_114",
410
+ "can_of_soda_114"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2644,
415
+ 3807
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3807,
450
+ 4807
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4807,
478
+ 5220
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000032.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6368,
6
+ "valid_duration": [
7
+ 51,
8
+ 6419
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 51,
29
+ 375
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 375,
56
+ 918
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 918,
80
+ 1432
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1432,
107
+ 2556
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2556,
134
+ 2869
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2872,
158
+ 3406
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3407,
185
+ 4289
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4289,
212
+ 4630
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4630,
236
+ 4792
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4792,
263
+ 5463
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5464,
290
+ 5764
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5764,
317
+ 6419
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 51,
346
+ 918
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 918,
380
+ 2869
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2872,
415
+ 4630
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4630,
450
+ 5764
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5764,
478
+ 6419
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000033.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6259,
6
+ "valid_duration": [
7
+ 58,
8
+ 6317
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 58,
29
+ 441
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 615,
56
+ 1497
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1497,
80
+ 1662
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1662,
107
+ 2222
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2222,
134
+ 2400
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2400,
158
+ 2682
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2682,
185
+ 3587
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3587,
212
+ 3870
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3903,
236
+ 4352
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4512,
263
+ 5274
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5274,
290
+ 5582
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5583,
317
+ 6317
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 58,
346
+ 1497
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1497,
380
+ 2400
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2400,
415
+ 3870
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3903,
450
+ 5582
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5583,
478
+ 6317
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000039.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5921,
6
+ "valid_duration": [
7
+ 54,
8
+ 5975
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 54,
29
+ 563
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 563,
56
+ 1167
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1167,
80
+ 1511
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1516,
107
+ 2175
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2175,
134
+ 2352
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2352,
158
+ 2490
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2490,
185
+ 3448
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3449,
212
+ 3624
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3624,
236
+ 3729
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3730,
263
+ 4500
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4500,
290
+ 4886
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4886,
317
+ 5975
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 54,
346
+ 1167
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1167,
380
+ 2352
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2352,
415
+ 3624
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3624,
450
+ 4886
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4886,
478
+ 5975
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000069.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7292,
6
+ "valid_duration": [
7
+ 28,
8
+ 7320
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 28,
29
+ 254
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 541,
56
+ 1119
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1119,
80
+ 1834
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1835,
107
+ 2568
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2568,
134
+ 2887
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3180,
158
+ 4187
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 4187,
185
+ 4930
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4930,
212
+ 5222
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 5331,
236
+ 5909
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 5909,
263
+ 6426
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 6470,
290
+ 6749
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 6895,
317
+ 7320
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 28,
346
+ 1119
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1119,
380
+ 2887
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3180,
415
+ 5222
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 5331,
450
+ 6749
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 6895,
478
+ 7320
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000072.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6542,
6
+ "valid_duration": [
7
+ 6,
8
+ 6548
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 6,
29
+ 684
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 684,
56
+ 1533
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1563,
80
+ 2281
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2382,
107
+ 3109
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 3109,
134
+ 3428
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3560,
158
+ 3871
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3928,
185
+ 4419
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4434,
212
+ 4667
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4788,
236
+ 5239
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 5240,
263
+ 5739
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5771,
290
+ 5979
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 6097,
317
+ 6548
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 6,
346
+ 1533
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1563,
380
+ 3428
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3560,
415
+ 4667
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4788,
450
+ 5979
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 6097,
478
+ 6548
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000073.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12120,
6
+ "valid_duration": [
7
+ 60,
8
+ 12180
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 814
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 6900,
56
+ 7421
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 7455,
80
+ 8580
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 8625,
107
+ 9105
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 9106,
134
+ 9417
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 9570,
158
+ 10250
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 10401,
185
+ 10599
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 10605,
212
+ 10761
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 10764,
236
+ 11491
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 11491,
263
+ 11723
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 11726,
290
+ 11959
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 11995,
317
+ 12180
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 60,
346
+ 7421
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 7455,
380
+ 9417
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 9570,
415
+ 10761
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 10764,
450
+ 11959
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 11995,
478
+ 12180
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000075.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6015,
6
+ "valid_duration": [
7
+ 75,
8
+ 6090
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 75,
29
+ 861
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 870,
56
+ 1469
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1470,
80
+ 1770
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1799,
107
+ 2610
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2610,
134
+ 2880
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2952,
158
+ 3210
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3236,
185
+ 4020
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4047,
212
+ 4316
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4407,
236
+ 4680
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "trash_can_116"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4711,
263
+ 5355
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5355,
290
+ 5608
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5608,
317
+ 6090
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 75,
346
+ 1469
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1470,
380
+ 2880
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2952,
415
+ 4316
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "trash_can_116"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4407,
450
+ 5608
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5608,
478
+ 6090
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000090.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6243,
6
+ "valid_duration": [
7
+ 0,
8
+ 6243
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 740
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 836,
56
+ 1280
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1502,
80
+ 2600
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2837,
107
+ 3747
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 3747,
134
+ 4100
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 4100,
158
+ 4250
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 4250,
185
+ 4628
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4628,
212
+ 4907
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4907,
236
+ 5207
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 5288,
263
+ 5621
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5621,
290
+ 5900
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5900,
317
+ 6243
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 0,
346
+ 1280
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1502,
380
+ 4100
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 4100,
415
+ 4907
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4907,
450
+ 5900
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5900,
478
+ 6243
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000104.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5802,
6
+ "valid_duration": [
7
+ 112,
8
+ 5914
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 112,
29
+ 1164
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1216,
56
+ 1927
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1928,
80
+ 2592
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2651,
107
+ 3440
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 3440,
134
+ 3695
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3696,
158
+ 3920
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3921,
185
+ 4508
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4508,
212
+ 4674
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4828,
236
+ 4917
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4918,
263
+ 5469
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5469,
290
+ 5641
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5641,
317
+ 5914
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 112,
346
+ 1927
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1928,
380
+ 3695
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3696,
415
+ 4674
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4828,
450
+ 5641
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5641,
478
+ 5914
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000115.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5931,
6
+ "valid_duration": [
7
+ 151,
8
+ 6082
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 151,
29
+ 1042
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1043,
56
+ 1779
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1786,
80
+ 2196
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2196,
107
+ 2801
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2801,
134
+ 3008
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3071,
158
+ 3334
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3334,
185
+ 4119
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4120,
212
+ 4335
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4378,
236
+ 4941
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4941,
263
+ 5506
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5507,
290
+ 5753
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5753,
317
+ 6082
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 151,
346
+ 1779
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1786,
380
+ 3008
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3071,
415
+ 4335
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4378,
450
+ 5753
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5753,
478
+ 6082
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000120.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5971,
6
+ "valid_duration": [
7
+ 149,
8
+ 6120
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 149,
29
+ 510
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 540,
56
+ 1320
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1320,
80
+ 2040
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2055,
107
+ 3030
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 3030,
134
+ 3300
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3330,
158
+ 3540
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3567,
185
+ 4020
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4020,
212
+ 4278
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4380,
236
+ 4816
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4849,
263
+ 5430
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5430,
290
+ 5670
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5700,
317
+ 6120
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 149,
346
+ 1320
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1320,
380
+ 3300
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3330,
415
+ 4278
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4380,
450
+ 5670
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5700,
478
+ 6120
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000127.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4323,
6
+ "valid_duration": [
7
+ 135,
8
+ 4458
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 135,
29
+ 443
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 443,
56
+ 1036
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1209,
80
+ 1452
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1652,
107
+ 1924
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 1924,
134
+ 2175
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_114"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2175,
158
+ 2399
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_114",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_114"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2469,
185
+ 2785
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_114",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_114"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 2905,
212
+ 3285
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3285,
236
+ 3366
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3501,
263
+ 3849
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 3849,
290
+ 4077
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_zqjkvm_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4077,
317
+ 4458
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 135,
346
+ 1036
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1209,
380
+ 2175
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_114",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_114",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_114",
410
+ "can_of_soda_114"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2175,
415
+ 3285
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3285,
450
+ 4077
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_zqjkvm_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4077,
478
+ 4458
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000131.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5213,
6
+ "valid_duration": [
7
+ 102,
8
+ 5315
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 102,
29
+ 459
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 470,
56
+ 1176
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1176,
80
+ 1638
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1675,
107
+ 2487
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2490,
134
+ 2827
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2833,
158
+ 3354
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3371,
185
+ 3870
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3881,
212
+ 4148
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4164,
236
+ 4386
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4408,
263
+ 4743
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4743,
290
+ 5012
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5013,
317
+ 5315
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 102,
346
+ 1176
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1176,
380
+ 2827
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2833,
415
+ 4148
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4164,
450
+ 5012
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5013,
478
+ 5315
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000139.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4905,
6
+ "valid_duration": [
7
+ 193,
8
+ 5098
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 193,
29
+ 833
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 833,
56
+ 1639
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1639,
80
+ 2123
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2123,
107
+ 2957
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2958,
134
+ 3387
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_114"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3388,
158
+ 3540
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_114",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_114"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3540,
185
+ 3900
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_114",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_114"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3900,
212
+ 4153
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4153,
236
+ 4281
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4281,
263
+ 4603
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4603,
290
+ 4857
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4857,
317
+ 5098
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 193,
346
+ 1639
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1639,
380
+ 3387
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_114",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_114",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_114",
410
+ "can_of_soda_114"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3388,
415
+ 4153
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4153,
450
+ 4857
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4857,
478
+ 5098
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000149.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6274,
6
+ "valid_duration": [
7
+ 131,
8
+ 6405
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 131,
29
+ 1321
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1322,
56
+ 1909
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_113"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1940,
80
+ 2946
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_113",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_113"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2946,
107
+ 3459
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_113",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_113"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 3459,
134
+ 3777
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_114"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3777,
158
+ 4326
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_114",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_114"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 4327,
185
+ 4603
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_114",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_114"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4603,
212
+ 4846
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4847,
236
+ 5116
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 5116,
263
+ 5616
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5766,
290
+ 5957
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5958,
317
+ 6405
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 131,
346
+ 1909
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_113",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_113",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_113",
375
+ "can_of_soda_113"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1940,
380
+ 3777
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_114",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_114",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_114",
410
+ "can_of_soda_114"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3777,
415
+ 4846
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4847,
450
+ 5957
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5958,
478
+ 6405
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000201.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4532,
6
+ "valid_duration": [
7
+ 92,
8
+ 4624
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 92,
29
+ 714
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 714,
56
+ 1308
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1308,
80
+ 1859
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1859,
107
+ 2259
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2259,
134
+ 2448
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2448,
158
+ 2894
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2894,
185
+ 3235
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3236,
212
+ 3421
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3421,
236
+ 3898
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3899,
263
+ 4154
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4155,
290
+ 4308
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4308,
317
+ 4624
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 92,
346
+ 1308
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1308,
380
+ 2448
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2448,
415
+ 3421
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3421,
450
+ 4308
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4308,
478
+ 4624
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000207.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3758,
6
+ "valid_duration": [
7
+ 97,
8
+ 3855
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 97,
29
+ 452
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 467,
56
+ 997
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_113"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 998,
80
+ 1299
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_113",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_113"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1299,
107
+ 2072
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_113",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_113"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2072,
134
+ 2220
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2221,
158
+ 2437
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2437,
185
+ 2856
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 2868,
212
+ 3003
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3007,
236
+ 3228
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "can_of_soda_114"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3456,
263
+ 3575
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 3576,
290
+ 3724
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 3724,
317
+ 3855
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 97,
346
+ 997
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_113",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_113",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_113",
375
+ "can_of_soda_113"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 998,
380
+ 2220
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2221,
415
+ 3003
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "can_of_soda_114"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3007,
450
+ 3724
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 3724,
478
+ 3855
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000209.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4745,
6
+ "valid_duration": [
7
+ 125,
8
+ 4870
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 125,
29
+ 636
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 655,
56
+ 1210
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_113"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1211,
80
+ 1786
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_113",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_113"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1786,
107
+ 2686
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_113",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_113"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2686,
134
+ 2898
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_114"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2898,
158
+ 3069
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_114",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_114"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3069,
185
+ 3328
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_114",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_114"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3328,
212
+ 3526
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3527,
236
+ 3897
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3897,
263
+ 4378
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4380,
290
+ 4631
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4632,
317
+ 4870
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 125,
346
+ 1210
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_113",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_113",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_113",
375
+ "can_of_soda_113"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1211,
380
+ 2898
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_114",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_114",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_114",
410
+ "can_of_soda_114"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2898,
415
+ 3526
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3527,
450
+ 4631
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4632,
478
+ 4870
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000213.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4173,
6
+ "valid_duration": [
7
+ 0,
8
+ 4173
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 975
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_ulujpr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 975,
56
+ 1403
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_113"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1403,
80
+ 1563
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_113",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_113"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1563,
107
+ 2054
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_113",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_113"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2055,
134
+ 2265
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_114"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2265,
158
+ 2526
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_114",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_114"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2526,
185
+ 2869
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_114",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_114"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 2870,
212
+ 3075
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3075,
236
+ 3504
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3504,
263
+ 3836
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 3836,
290
+ 3990
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 3990,
317
+ 4173
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_ulujpr_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 0,
346
+ 1403
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_113",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_113",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_113",
375
+ "can_of_soda_113"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1403,
380
+ 2265
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_114",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_114",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_114",
410
+ "can_of_soda_114"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2265,
415
+ 3075
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3075,
450
+ 3990
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 3990,
478
+ 4173
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000216.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3186,
6
+ "valid_duration": [
7
+ 99,
8
+ 3285
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 99,
29
+ 575
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_ulujpr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 576,
56
+ 1008
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1008,
80
+ 1185
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1185,
107
+ 1587
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 1587,
134
+ 1770
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 1770,
158
+ 1887
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 1887,
185
+ 2219
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 2219,
212
+ 2399
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 2400,
236
+ 2624
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 2624,
263
+ 2919
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 2919,
290
+ 3055
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 3055,
317
+ 3285
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_ulujpr_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 99,
346
+ 1008
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1008,
380
+ 1770
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 1770,
415
+ 2399
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 2400,
450
+ 3055
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 3055,
478
+ 3285
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000220.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3489,
6
+ "valid_duration": [
7
+ 119,
8
+ 3608
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 119,
29
+ 703
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 719,
56
+ 1233
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1236,
80
+ 1646
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1647,
107
+ 2081
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2081,
134
+ 2235
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2238,
158
+ 2513
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2514,
185
+ 2767
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 2775,
212
+ 2922
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 2961,
236
+ 3021
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3021,
263
+ 3237
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 3240,
290
+ 3384
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 3387,
317
+ 3608
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 119,
346
+ 1233
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1236,
380
+ 2235
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2238,
415
+ 2922
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 2961,
450
+ 3384
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 3387,
478
+ 3608
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000235.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3470,
6
+ "valid_duration": [
7
+ 90,
8
+ 3560
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 90,
29
+ 414
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 414,
56
+ 827
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 827,
80
+ 1171
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1171,
107
+ 1507
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 1512,
134
+ 1716
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 1852,
158
+ 2167
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2167,
185
+ 2421
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 2421,
212
+ 2573
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 2573,
236
+ 2675
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 2675,
263
+ 3044
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 3044,
290
+ 3233
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 3233,
317
+ 3560
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 90,
346
+ 827
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 827,
380
+ 1716
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 1852,
415
+ 2573
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 2573,
450
+ 3233
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 3233,
478
+ 3560
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000250.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6073,
6
+ "valid_duration": [
7
+ 176,
8
+ 6249
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 176,
29
+ 752
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 844,
56
+ 1443
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1446,
80
+ 2205
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2434,
107
+ 2940
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2940,
134
+ 3331
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3354,
158
+ 3705
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3811,
185
+ 4168
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "floors_ulujpr_0"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4169,
212
+ 4476
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4646,
236
+ 5052
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 5163,
263
+ 5592
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "floors_ulujpr_0"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5592,
290
+ 5814
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5814,
317
+ 6249
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 176,
346
+ 1443
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1446,
380
+ 3331
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "floors_ulujpr_0"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3354,
415
+ 4476
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "floors_ulujpr_0"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4646,
450
+ 5814
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5814,
478
+ 6249
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000251.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4778,
6
+ "valid_duration": [
7
+ 94,
8
+ 4872
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 94,
29
+ 226
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 227,
56
+ 726
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 938,
80
+ 1584
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1584,
107
+ 2204
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2204,
134
+ 2343
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2386,
158
+ 2537
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2537,
185
+ 3089
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3098,
212
+ 3307
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3440,
236
+ 3630
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3630,
263
+ 4027
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4048,
290
+ 4239
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4393,
317
+ 4872
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 94,
346
+ 726
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 938,
380
+ 2343
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2386,
415
+ 3307
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3440,
450
+ 4239
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4393,
478
+ 4872
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000254.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4172,
6
+ "valid_duration": [
7
+ 164,
8
+ 4336
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 164,
29
+ 396
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 401,
56
+ 1213
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1213,
80
+ 1824
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1830,
107
+ 2499
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2503,
134
+ 2690
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2691,
158
+ 2932
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2936,
185
+ 3205
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3207,
212
+ 3360
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3360,
236
+ 3465
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3465,
263
+ 3798
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 3801,
290
+ 3976
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 3980,
317
+ 4336
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 164,
346
+ 1213
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1213,
380
+ 2690
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2691,
415
+ 3360
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3360,
450
+ 3976
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 3980,
478
+ 4336
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000262.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5471,
6
+ "valid_duration": [
7
+ 152,
8
+ 5623
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 152,
29
+ 880
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 892,
56
+ 1581
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1581,
80
+ 2353
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2355,
107
+ 2905
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2907,
134
+ 3187
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3193,
158
+ 3639
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_zqjkvm_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3639,
185
+ 4067
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4070,
212
+ 4449
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4449,
236
+ 4831
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4832,
263
+ 5118
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5121,
290
+ 5250
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5252,
317
+ 5623
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 152,
346
+ 1581
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1581,
380
+ 3187
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_zqjkvm_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3193,
415
+ 4449
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4449,
450
+ 5250
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5252,
478
+ 5623
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000269.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6240,
6
+ "valid_duration": [
7
+ 0,
8
+ 6240
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 330
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 330,
56
+ 810
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 990,
80
+ 1740
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1890,
107
+ 2520
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2520,
134
+ 2760
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2760,
158
+ 3384
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3450,
185
+ 3870
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 4050,
212
+ 4260
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4320,
236
+ 4710
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4980,
263
+ 5310
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 5430,
290
+ 5700
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5703,
317
+ 6240
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 0,
346
+ 810
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 990,
380
+ 2760
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2760,
415
+ 4260
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4320,
450
+ 5700
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5703,
478
+ 6240
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000271.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4841,
6
+ "valid_duration": [
7
+ 99,
8
+ 4940
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 99,
29
+ 562
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_ulujpr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 563,
56
+ 1230
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_113"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1230,
80
+ 1771
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_113",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_113"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1771,
107
+ 2307
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_113",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_113"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2307,
134
+ 2622
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2622,
158
+ 2859
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2859,
185
+ 3605
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3605,
212
+ 3878
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3878,
236
+ 4046
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4099,
263
+ 4398
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4399,
290
+ 4624
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4625,
317
+ 4940
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_ulujpr_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 99,
346
+ 1230
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_113",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_113",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_113",
375
+ "can_of_soda_113"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1230,
380
+ 2622
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2622,
415
+ 3878
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3878,
450
+ 4624
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4625,
478
+ 4940
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000273.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5318,
6
+ "valid_duration": [
7
+ 0,
8
+ 5318
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 640
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 656,
56
+ 1160
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1356,
80
+ 1696
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2085,
107
+ 2288
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2382,
134
+ 2581
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_114"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2615,
158
+ 3082
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_114",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_114"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3325,
185
+ 3539
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_114",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_114"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3563,
212
+ 3796
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3840,
236
+ 4224
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4472,
263
+ 4735
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4765,
290
+ 4905
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4929,
317
+ 5318
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 0,
346
+ 1160
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1356,
380
+ 2581
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_114",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_114",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_114",
410
+ "can_of_soda_114"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2615,
415
+ 3796
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3840,
450
+ 4905
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4929,
478
+ 5318
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000276.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5154,
6
+ "valid_duration": [
7
+ 176,
8
+ 5330
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 176,
29
+ 1081
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1099,
56
+ 1774
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1774,
80
+ 2520
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2520,
107
+ 3063
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 3064,
134
+ 3276
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3276,
158
+ 3405
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3405,
185
+ 3685
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3685,
212
+ 3868
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3868,
236
+ 4200
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4200,
263
+ 4623
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4623,
290
+ 4848
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4848,
317
+ 5330
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 176,
346
+ 1774
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1774,
380
+ 3276
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3276,
415
+ 3868
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3868,
450
+ 4848
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4848,
478
+ 5330
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000278.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4878,
6
+ "valid_duration": [
7
+ 124,
8
+ 5002
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 124,
29
+ 325
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 331,
56
+ 832
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 832,
80
+ 1320
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1320,
107
+ 1852
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 1857,
134
+ 2105
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2136,
158
+ 2328
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2333,
185
+ 2659
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 2664,
212
+ 3036
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3078,
236
+ 3476
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3481,
263
+ 4211
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4237,
290
+ 4537
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4578,
317
+ 5002
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 124,
346
+ 832
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 832,
380
+ 2105
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2136,
415
+ 3036
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3078,
450
+ 4537
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4578,
478
+ 5002
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000280.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3288,
6
+ "valid_duration": [
7
+ 114,
8
+ 3402
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 114,
29
+ 636
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 936,
56
+ 1212
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1212,
80
+ 1455
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1518,
107
+ 1791
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 1791,
134
+ 2000
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2000,
158
+ 2085
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2085,
185
+ 2298
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 2298,
212
+ 2504
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 2504,
236
+ 2565
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 2565,
263
+ 2892
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 2892,
290
+ 3105
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 3105,
317
+ 3402
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 114,
346
+ 1212
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1212,
380
+ 2000
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2000,
415
+ 2504
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 2504,
450
+ 3105
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 3105,
478
+ 3402
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000281.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5550,
6
+ "valid_duration": [
7
+ 210,
8
+ 5760
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 210,
29
+ 1260
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1500,
56
+ 1980
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1980,
80
+ 2655
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2655,
107
+ 3015
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 3030,
134
+ 3198
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3198,
158
+ 3480
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3540,
185
+ 3780
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3780,
212
+ 3960
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_113"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3960,
236
+ 4350
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_113",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_113"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4350,
263
+ 4770
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_113",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_113"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4995,
290
+ 5190
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 5280,
317
+ 5760
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 210,
346
+ 1980
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1980,
380
+ 3198
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3198,
415
+ 3960
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_113",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_113",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_113",
445
+ "can_of_soda_113"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3960,
450
+ 5190
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 5280,
478
+ 5760
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000286.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4873,
6
+ "valid_duration": [
7
+ 76,
8
+ 4949
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 76,
29
+ 210
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 210,
56
+ 563
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_114"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 613,
80
+ 1016
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_114",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_114"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1016,
107
+ 1437
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_114",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_114"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 1437,
134
+ 1635
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 1761,
158
+ 2466
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2496,
185
+ 3015
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3016,
212
+ 3284
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3311,
236
+ 3968
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3968,
263
+ 4409
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4409,
290
+ 4594
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4595,
317
+ 4949
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 76,
346
+ 563
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_114",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_114",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_114",
375
+ "can_of_soda_114"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 613,
380
+ 1635
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 1761,
415
+ 3284
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3311,
450
+ 4594
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4595,
478
+ 4949
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000288.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4781,
6
+ "valid_duration": [
7
+ 120,
8
+ 4901
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 120,
29
+ 918
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 918,
56
+ 1565
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_113"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1595,
80
+ 2017
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_113",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_113"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2017,
107
+ 2643
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_113",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_113"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2644,
134
+ 2794
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_115"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2794,
158
+ 3006
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_115",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_115"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3006,
185
+ 3427
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_115",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_115"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3427,
212
+ 3579
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3579,
236
+ 3790
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3791,
263
+ 4225
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4226,
290
+ 4434
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4434,
317
+ 4901
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 120,
346
+ 1565
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_113",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_113",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_113",
375
+ "can_of_soda_113"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1595,
380
+ 2794
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_115",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_115",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_115",
410
+ "can_of_soda_115"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2794,
415
+ 3579
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3579,
450
+ 4434
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4434,
478
+ 4901
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000289.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4955,
6
+ "valid_duration": [
7
+ 72,
8
+ 5027
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 72,
29
+ 1457
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1457,
56
+ 1870
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_113"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1870,
80
+ 2730
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_113",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_113"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2730,
107
+ 3146
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_113",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_113"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 3146,
134
+ 3317
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_114"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 3317,
158
+ 3570
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_114",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_114"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 3570,
185
+ 3928
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_114",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_114"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3929,
212
+ 4158
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 4158,
236
+ 4365
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 4366,
263
+ 4639
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 4640,
290
+ 4787
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4787,
317
+ 5027
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 72,
346
+ 1870
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_113",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_113",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_113",
375
+ "can_of_soda_113"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1870,
380
+ 3317
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_114",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_114",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_114",
410
+ "can_of_soda_114"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 3317,
415
+ 4158
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 4158,
450
+ 4787
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4787,
478
+ 5027
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000293.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4401,
6
+ "valid_duration": [
7
+ 115,
8
+ 4516
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 115,
29
+ 1105
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1128,
56
+ 1621
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_115"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1621,
80
+ 2100
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_115",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_115"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2136,
107
+ 2414
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_115",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_115"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2414,
134
+ 2581
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_113"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2605,
158
+ 2790
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_113",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_113"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2790,
185
+ 3051
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_113",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_113"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 3051,
212
+ 3225
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_114"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 3225,
236
+ 3623
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_114",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_114"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3676,
263
+ 3989
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_114",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_114"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 3989,
290
+ 4226
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 4227,
317
+ 4516
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 115,
346
+ 1621
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_115",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_115",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_115",
375
+ "can_of_soda_115"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 1621,
380
+ 2581
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_113",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_113",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_113",
410
+ "can_of_soda_113"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2605,
415
+ 3225
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_114",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_114",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_114",
445
+ "can_of_soda_114"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 3225,
450
+ 4226
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 4227,
478
+ 4516
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }
annotations/episode_00000296.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3933,
6
+ "valid_duration": [
7
+ 66,
8
+ 3999
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "trash_can_116"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 66,
29
+ 443
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trash_can_116",
47
+ "floors_zqjkvm_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trash_can_116"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 444,
56
+ 977
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "can_of_soda_113"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 977,
80
+ 1610
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "can_of_soda_113",
98
+ "floors_ulujpr_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "can_of_soda_113"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1610,
107
+ 2024
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 4
118
+ ],
119
+ "skill_description": [
120
+ "place in"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "can_of_soda_113",
125
+ "trash_can_116"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "can_of_soda_113"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2024,
134
+ 2239
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "coordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 1
145
+ ],
146
+ "skill_description": [
147
+ "move to"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "can_of_soda_114"
152
+ ]
153
+ ],
154
+ "manipulating_object_id": [],
155
+ "spatial_prefix": [],
156
+ "frame_duration": [
157
+ 2240,
158
+ 2281
159
+ ],
160
+ "mp_ef": [],
161
+ "skill_type": [
162
+ "navigation"
163
+ ]
164
+ },
165
+ {
166
+ "skill_idx": 6,
167
+ "skill_id": [
168
+ 2
169
+ ],
170
+ "skill_description": [
171
+ "pick up from"
172
+ ],
173
+ "object_id": [
174
+ [
175
+ "can_of_soda_114",
176
+ "floors_ulujpr_0"
177
+ ]
178
+ ],
179
+ "manipulating_object_id": [
180
+ "can_of_soda_114"
181
+ ],
182
+ "spatial_prefix": [],
183
+ "frame_duration": [
184
+ 2281,
185
+ 2579
186
+ ],
187
+ "mp_ef": [],
188
+ "skill_type": [
189
+ "uncoordinated"
190
+ ]
191
+ },
192
+ {
193
+ "skill_idx": 7,
194
+ "skill_id": [
195
+ 4
196
+ ],
197
+ "skill_description": [
198
+ "place in"
199
+ ],
200
+ "object_id": [
201
+ [
202
+ "can_of_soda_114",
203
+ "trash_can_116"
204
+ ]
205
+ ],
206
+ "manipulating_object_id": [
207
+ "can_of_soda_114"
208
+ ],
209
+ "spatial_prefix": [],
210
+ "frame_duration": [
211
+ 2579,
212
+ 2753
213
+ ],
214
+ "mp_ef": [],
215
+ "skill_type": [
216
+ "coordinated"
217
+ ]
218
+ },
219
+ {
220
+ "skill_idx": 8,
221
+ "skill_id": [
222
+ 1
223
+ ],
224
+ "skill_description": [
225
+ "move to"
226
+ ],
227
+ "object_id": [
228
+ [
229
+ "can_of_soda_115"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [],
233
+ "spatial_prefix": [],
234
+ "frame_duration": [
235
+ 2773,
236
+ 3159
237
+ ],
238
+ "mp_ef": [],
239
+ "skill_type": [
240
+ "navigation"
241
+ ]
242
+ },
243
+ {
244
+ "skill_idx": 9,
245
+ "skill_id": [
246
+ 2
247
+ ],
248
+ "skill_description": [
249
+ "pick up from"
250
+ ],
251
+ "object_id": [
252
+ [
253
+ "can_of_soda_115",
254
+ "floors_ulujpr_0"
255
+ ]
256
+ ],
257
+ "manipulating_object_id": [
258
+ "can_of_soda_115"
259
+ ],
260
+ "spatial_prefix": [],
261
+ "frame_duration": [
262
+ 3159,
263
+ 3423
264
+ ],
265
+ "mp_ef": [],
266
+ "skill_type": [
267
+ "uncoordinated"
268
+ ]
269
+ },
270
+ {
271
+ "skill_idx": 10,
272
+ "skill_id": [
273
+ 4
274
+ ],
275
+ "skill_description": [
276
+ "place in"
277
+ ],
278
+ "object_id": [
279
+ [
280
+ "can_of_soda_115",
281
+ "trash_can_116"
282
+ ]
283
+ ],
284
+ "manipulating_object_id": [
285
+ "can_of_soda_115"
286
+ ],
287
+ "spatial_prefix": [],
288
+ "frame_duration": [
289
+ 3424,
290
+ 3630
291
+ ],
292
+ "mp_ef": [],
293
+ "skill_type": [
294
+ "coordinated"
295
+ ]
296
+ },
297
+ {
298
+ "skill_idx": 11,
299
+ "skill_id": [
300
+ 3
301
+ ],
302
+ "skill_description": [
303
+ "place on"
304
+ ],
305
+ "object_id": [
306
+ [
307
+ "trash_can_116",
308
+ "floors_ulujpr_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [
312
+ "trash_can_116"
313
+ ],
314
+ "spatial_prefix": [],
315
+ "frame_duration": [
316
+ 3697,
317
+ 3999
318
+ ],
319
+ "mp_ef": [],
320
+ "skill_type": [
321
+ "uncoordinated"
322
+ ]
323
+ }
324
+ ],
325
+ "primitive_annotation": [
326
+ {
327
+ "primitive_idx": 0,
328
+ "primitive_id": [
329
+ 2
330
+ ],
331
+ "primitive_description": [
332
+ "pick up from"
333
+ ],
334
+ "object_id": [
335
+ [
336
+ "trash_can_116",
337
+ "floors_zqjkvm_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ "trash_can_116"
342
+ ],
343
+ "spatial_prefix": [],
344
+ "frame_duration": [
345
+ 66,
346
+ 977
347
+ ],
348
+ "skill_idxes": [
349
+ 0,
350
+ 1
351
+ ]
352
+ },
353
+ {
354
+ "primitive_idx": 1,
355
+ "primitive_id": [
356
+ 2,
357
+ 4
358
+ ],
359
+ "primitive_description": [
360
+ "pick up from",
361
+ "place in"
362
+ ],
363
+ "object_id": [
364
+ [
365
+ "can_of_soda_113",
366
+ "floors_ulujpr_0"
367
+ ],
368
+ [
369
+ "can_of_soda_113",
370
+ "trash_can_116"
371
+ ]
372
+ ],
373
+ "manipulating_object_id": [
374
+ "can_of_soda_113",
375
+ "can_of_soda_113"
376
+ ],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 977,
380
+ 2239
381
+ ],
382
+ "skill_idxes": [
383
+ 2,
384
+ 3,
385
+ 4
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 2,
390
+ "primitive_id": [
391
+ 2,
392
+ 4
393
+ ],
394
+ "primitive_description": [
395
+ "pick up from",
396
+ "place in"
397
+ ],
398
+ "object_id": [
399
+ [
400
+ "can_of_soda_114",
401
+ "floors_ulujpr_0"
402
+ ],
403
+ [
404
+ "can_of_soda_114",
405
+ "trash_can_116"
406
+ ]
407
+ ],
408
+ "manipulating_object_id": [
409
+ "can_of_soda_114",
410
+ "can_of_soda_114"
411
+ ],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 2240,
415
+ 2753
416
+ ],
417
+ "skill_idxes": [
418
+ 5,
419
+ 6,
420
+ 7
421
+ ]
422
+ },
423
+ {
424
+ "primitive_idx": 3,
425
+ "primitive_id": [
426
+ 2,
427
+ 4
428
+ ],
429
+ "primitive_description": [
430
+ "pick up from",
431
+ "place in"
432
+ ],
433
+ "object_id": [
434
+ [
435
+ "can_of_soda_115",
436
+ "floors_ulujpr_0"
437
+ ],
438
+ [
439
+ "can_of_soda_115",
440
+ "trash_can_116"
441
+ ]
442
+ ],
443
+ "manipulating_object_id": [
444
+ "can_of_soda_115",
445
+ "can_of_soda_115"
446
+ ],
447
+ "spatial_prefix": [],
448
+ "frame_duration": [
449
+ 2773,
450
+ 3630
451
+ ],
452
+ "skill_idxes": [
453
+ 8,
454
+ 9,
455
+ 10
456
+ ]
457
+ },
458
+ {
459
+ "primitive_idx": 4,
460
+ "primitive_id": [
461
+ 3
462
+ ],
463
+ "primitive_description": [
464
+ "place on"
465
+ ],
466
+ "object_id": [
467
+ [
468
+ "trash_can_116",
469
+ "floors_ulujpr_0"
470
+ ]
471
+ ],
472
+ "manipulating_object_id": [
473
+ "trash_can_116"
474
+ ],
475
+ "spatial_prefix": [],
476
+ "frame_duration": [
477
+ 3697,
478
+ 3999
479
+ ],
480
+ "skill_idxes": [
481
+ 11
482
+ ]
483
+ }
484
+ ]
485
+ }