Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- annotations/episode_00000004.json +881 -0
- annotations/episode_00000010.json +814 -0
- annotations/episode_00000011.json +781 -0
- annotations/episode_00000014.json +889 -0
- annotations/episode_00000024.json +914 -0
- annotations/episode_00000060.json +939 -0
- annotations/episode_00000071.json +939 -0
- annotations/episode_00000079.json +939 -0
- annotations/episode_00000083.json +839 -0
- annotations/episode_00000091.json +939 -0
- annotations/episode_00000113.json +939 -0
- annotations/episode_00000127.json +864 -0
- annotations/episode_00000133.json +789 -0
- annotations/episode_00000146.json +939 -0
- annotations/episode_00000158.json +814 -0
- annotations/episode_00000159.json +789 -0
- annotations/episode_00000169.json +814 -0
- annotations/episode_00000181.json +812 -0
- annotations/episode_00000191.json +756 -0
- annotations/episode_00000200.json +839 -0
- annotations/episode_00000202.json +681 -0
- annotations/episode_00000239.json +814 -0
- annotations/episode_00000253.json +889 -0
- annotations/episode_00000254.json +939 -0
- annotations/episode_00000263.json +914 -0
- annotations/episode_00000277.json +752 -0
- annotations/episode_00000287.json +862 -0
- data/chunk-000/file-000.parquet +3 -0
- data/chunk-000/file-001.parquet +3 -0
- data/chunk-000/file-002.parquet +3 -0
- data/chunk-000/file-003.parquet +3 -0
- data/chunk-000/file-004.parquet +3 -0
- data/chunk-000/file-005.parquet +3 -0
- data/chunk-000/file-006.parquet +3 -0
- data/chunk-000/file-007.parquet +3 -0
- data/chunk-000/file-008.parquet +3 -0
- data/chunk-000/file-009.parquet +3 -0
- data/chunk-000/file-010.parquet +3 -0
- data/chunk-000/file-011.parquet +3 -0
- data/chunk-000/file-012.parquet +3 -0
- data/chunk-000/file-013.parquet +3 -0
- data/chunk-000/file-014.parquet +3 -0
- data/chunk-000/file-015.parquet +3 -0
- data/chunk-000/file-016.parquet +3 -0
- data/chunk-000/file-017.parquet +3 -0
- data/chunk-000/file-018.parquet +3 -0
- data/chunk-000/file-019.parquet +3 -0
- data/chunk-000/file-020.parquet +3 -0
- data/chunk-000/file-021.parquet +3 -0
- data/chunk-000/file-022.parquet +3 -0
annotations/episode_00000004.json
ADDED
|
@@ -0,0 +1,881 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7606,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
66,
|
| 8 |
+
7672
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
66,
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
375,
|
| 56 |
+
664
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
664,
|
| 80 |
+
757
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"burner_mjvqii_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"right"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
757,
|
| 114 |
+
839
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
839,
|
| 138 |
+
1021
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
2
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"pick up from"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"chocolate_chip_cookie_207",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"chocolate_chip_cookie_207"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [
|
| 164 |
+
1021,
|
| 165 |
+
1299
|
| 166 |
+
],
|
| 167 |
+
"mp_ef": [],
|
| 168 |
+
"skill_type": [
|
| 169 |
+
"uncoordinated"
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"skill_idx": 6,
|
| 174 |
+
"skill_id": [
|
| 175 |
+
1
|
| 176 |
+
],
|
| 177 |
+
"skill_description": [
|
| 178 |
+
"move to"
|
| 179 |
+
],
|
| 180 |
+
"object_id": [
|
| 181 |
+
[
|
| 182 |
+
"packing_box_210"
|
| 183 |
+
]
|
| 184 |
+
],
|
| 185 |
+
"manipulating_object_id": [],
|
| 186 |
+
"spatial_prefix": [],
|
| 187 |
+
"frame_duration": [
|
| 188 |
+
1299,
|
| 189 |
+
1500
|
| 190 |
+
],
|
| 191 |
+
"mp_ef": [],
|
| 192 |
+
"skill_type": [
|
| 193 |
+
"navigation"
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
{
|
| 197 |
+
"skill_idx": 7,
|
| 198 |
+
"skill_id": [
|
| 199 |
+
4
|
| 200 |
+
],
|
| 201 |
+
"skill_description": [
|
| 202 |
+
"place in"
|
| 203 |
+
],
|
| 204 |
+
"object_id": [
|
| 205 |
+
[
|
| 206 |
+
"chocolate_chip_cookie_207",
|
| 207 |
+
"packing_box_210"
|
| 208 |
+
]
|
| 209 |
+
],
|
| 210 |
+
"manipulating_object_id": [
|
| 211 |
+
"chocolate_chip_cookie_207"
|
| 212 |
+
],
|
| 213 |
+
"spatial_prefix": [],
|
| 214 |
+
"frame_duration": [
|
| 215 |
+
1500,
|
| 216 |
+
1734
|
| 217 |
+
],
|
| 218 |
+
"mp_ef": [],
|
| 219 |
+
"skill_type": [
|
| 220 |
+
"uncoordinated"
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"skill_idx": 8,
|
| 225 |
+
"skill_id": [
|
| 226 |
+
2
|
| 227 |
+
],
|
| 228 |
+
"skill_description": [
|
| 229 |
+
"pick up from"
|
| 230 |
+
],
|
| 231 |
+
"object_id": [
|
| 232 |
+
[
|
| 233 |
+
"half_apple_213",
|
| 234 |
+
"chopping_board_211"
|
| 235 |
+
]
|
| 236 |
+
],
|
| 237 |
+
"manipulating_object_id": [
|
| 238 |
+
"half_apple_213"
|
| 239 |
+
],
|
| 240 |
+
"spatial_prefix": [],
|
| 241 |
+
"frame_duration": [
|
| 242 |
+
1734,
|
| 243 |
+
2166
|
| 244 |
+
],
|
| 245 |
+
"mp_ef": [],
|
| 246 |
+
"skill_type": [
|
| 247 |
+
"uncoordinated"
|
| 248 |
+
]
|
| 249 |
+
},
|
| 250 |
+
{
|
| 251 |
+
"skill_idx": 9,
|
| 252 |
+
"skill_id": [
|
| 253 |
+
1
|
| 254 |
+
],
|
| 255 |
+
"skill_description": [
|
| 256 |
+
"move to"
|
| 257 |
+
],
|
| 258 |
+
"object_id": [
|
| 259 |
+
[
|
| 260 |
+
"packing_box_210"
|
| 261 |
+
]
|
| 262 |
+
],
|
| 263 |
+
"manipulating_object_id": [],
|
| 264 |
+
"spatial_prefix": [],
|
| 265 |
+
"frame_duration": [
|
| 266 |
+
2166,
|
| 267 |
+
2262
|
| 268 |
+
],
|
| 269 |
+
"mp_ef": [],
|
| 270 |
+
"skill_type": [
|
| 271 |
+
"navigation"
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"skill_idx": 10,
|
| 276 |
+
"skill_id": [
|
| 277 |
+
4
|
| 278 |
+
],
|
| 279 |
+
"skill_description": [
|
| 280 |
+
"place in"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"half_apple_213",
|
| 285 |
+
"packing_box_210"
|
| 286 |
+
]
|
| 287 |
+
],
|
| 288 |
+
"manipulating_object_id": [
|
| 289 |
+
"half_apple_213"
|
| 290 |
+
],
|
| 291 |
+
"spatial_prefix": [],
|
| 292 |
+
"frame_duration": [
|
| 293 |
+
2262,
|
| 294 |
+
2396
|
| 295 |
+
],
|
| 296 |
+
"mp_ef": [],
|
| 297 |
+
"skill_type": [
|
| 298 |
+
"uncoordinated"
|
| 299 |
+
]
|
| 300 |
+
},
|
| 301 |
+
{
|
| 302 |
+
"skill_idx": 11,
|
| 303 |
+
"skill_id": [
|
| 304 |
+
2
|
| 305 |
+
],
|
| 306 |
+
"skill_description": [
|
| 307 |
+
"pick up from"
|
| 308 |
+
],
|
| 309 |
+
"object_id": [
|
| 310 |
+
[
|
| 311 |
+
"half_apple_212",
|
| 312 |
+
"chopping_board_211"
|
| 313 |
+
]
|
| 314 |
+
],
|
| 315 |
+
"manipulating_object_id": [
|
| 316 |
+
"half_apple_212"
|
| 317 |
+
],
|
| 318 |
+
"spatial_prefix": [],
|
| 319 |
+
"frame_duration": [
|
| 320 |
+
2396,
|
| 321 |
+
2757
|
| 322 |
+
],
|
| 323 |
+
"mp_ef": [],
|
| 324 |
+
"skill_type": [
|
| 325 |
+
"uncoordinated"
|
| 326 |
+
]
|
| 327 |
+
},
|
| 328 |
+
{
|
| 329 |
+
"skill_idx": 12,
|
| 330 |
+
"skill_id": [
|
| 331 |
+
1
|
| 332 |
+
],
|
| 333 |
+
"skill_description": [
|
| 334 |
+
"move to"
|
| 335 |
+
],
|
| 336 |
+
"object_id": [
|
| 337 |
+
[
|
| 338 |
+
"packing_box_210"
|
| 339 |
+
]
|
| 340 |
+
],
|
| 341 |
+
"manipulating_object_id": [],
|
| 342 |
+
"spatial_prefix": [],
|
| 343 |
+
"frame_duration": [
|
| 344 |
+
2757,
|
| 345 |
+
2853
|
| 346 |
+
],
|
| 347 |
+
"mp_ef": [],
|
| 348 |
+
"skill_type": [
|
| 349 |
+
"navigation"
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"skill_idx": 13,
|
| 354 |
+
"skill_id": [
|
| 355 |
+
4
|
| 356 |
+
],
|
| 357 |
+
"skill_description": [
|
| 358 |
+
"place in"
|
| 359 |
+
],
|
| 360 |
+
"object_id": [
|
| 361 |
+
[
|
| 362 |
+
"half_apple_212",
|
| 363 |
+
"packing_box_210"
|
| 364 |
+
]
|
| 365 |
+
],
|
| 366 |
+
"manipulating_object_id": [
|
| 367 |
+
"half_apple_212"
|
| 368 |
+
],
|
| 369 |
+
"spatial_prefix": [],
|
| 370 |
+
"frame_duration": [
|
| 371 |
+
2853,
|
| 372 |
+
3062
|
| 373 |
+
],
|
| 374 |
+
"mp_ef": [],
|
| 375 |
+
"skill_type": [
|
| 376 |
+
"uncoordinated"
|
| 377 |
+
]
|
| 378 |
+
},
|
| 379 |
+
{
|
| 380 |
+
"skill_idx": 14,
|
| 381 |
+
"skill_id": [
|
| 382 |
+
2
|
| 383 |
+
],
|
| 384 |
+
"skill_description": [
|
| 385 |
+
"pick up from"
|
| 386 |
+
],
|
| 387 |
+
"object_id": [
|
| 388 |
+
[
|
| 389 |
+
"club_sandwich_209",
|
| 390 |
+
"chopping_board_211"
|
| 391 |
+
]
|
| 392 |
+
],
|
| 393 |
+
"manipulating_object_id": [
|
| 394 |
+
"club_sandwich_209"
|
| 395 |
+
],
|
| 396 |
+
"spatial_prefix": [],
|
| 397 |
+
"frame_duration": [
|
| 398 |
+
3062,
|
| 399 |
+
3690
|
| 400 |
+
],
|
| 401 |
+
"mp_ef": [],
|
| 402 |
+
"skill_type": [
|
| 403 |
+
"uncoordinated"
|
| 404 |
+
]
|
| 405 |
+
},
|
| 406 |
+
{
|
| 407 |
+
"skill_idx": 15,
|
| 408 |
+
"skill_id": [
|
| 409 |
+
1
|
| 410 |
+
],
|
| 411 |
+
"skill_description": [
|
| 412 |
+
"move to"
|
| 413 |
+
],
|
| 414 |
+
"object_id": [
|
| 415 |
+
[
|
| 416 |
+
"packing_box_210"
|
| 417 |
+
]
|
| 418 |
+
],
|
| 419 |
+
"manipulating_object_id": [],
|
| 420 |
+
"spatial_prefix": [],
|
| 421 |
+
"frame_duration": [
|
| 422 |
+
3690,
|
| 423 |
+
3882
|
| 424 |
+
],
|
| 425 |
+
"mp_ef": [],
|
| 426 |
+
"skill_type": [
|
| 427 |
+
"navigation"
|
| 428 |
+
]
|
| 429 |
+
},
|
| 430 |
+
{
|
| 431 |
+
"skill_idx": 16,
|
| 432 |
+
"skill_id": [
|
| 433 |
+
4
|
| 434 |
+
],
|
| 435 |
+
"skill_description": [
|
| 436 |
+
"place in"
|
| 437 |
+
],
|
| 438 |
+
"object_id": [
|
| 439 |
+
[
|
| 440 |
+
"club_sandwich_209",
|
| 441 |
+
"packing_box_210"
|
| 442 |
+
]
|
| 443 |
+
],
|
| 444 |
+
"manipulating_object_id": [
|
| 445 |
+
"club_sandwich_209"
|
| 446 |
+
],
|
| 447 |
+
"spatial_prefix": [],
|
| 448 |
+
"frame_duration": [
|
| 449 |
+
3882,
|
| 450 |
+
4136
|
| 451 |
+
],
|
| 452 |
+
"mp_ef": [],
|
| 453 |
+
"skill_type": [
|
| 454 |
+
"uncoordinated"
|
| 455 |
+
]
|
| 456 |
+
},
|
| 457 |
+
{
|
| 458 |
+
"skill_idx": 17,
|
| 459 |
+
"skill_id": [
|
| 460 |
+
1
|
| 461 |
+
],
|
| 462 |
+
"skill_description": [
|
| 463 |
+
"move to"
|
| 464 |
+
],
|
| 465 |
+
"object_id": [
|
| 466 |
+
[
|
| 467 |
+
"fridge_dszchb_0"
|
| 468 |
+
]
|
| 469 |
+
],
|
| 470 |
+
"manipulating_object_id": [],
|
| 471 |
+
"spatial_prefix": [],
|
| 472 |
+
"frame_duration": [
|
| 473 |
+
4136,
|
| 474 |
+
4929
|
| 475 |
+
],
|
| 476 |
+
"mp_ef": [],
|
| 477 |
+
"skill_type": [
|
| 478 |
+
"navigation"
|
| 479 |
+
]
|
| 480 |
+
},
|
| 481 |
+
{
|
| 482 |
+
"skill_idx": 18,
|
| 483 |
+
"skill_id": [
|
| 484 |
+
10
|
| 485 |
+
],
|
| 486 |
+
"skill_description": [
|
| 487 |
+
"open door"
|
| 488 |
+
],
|
| 489 |
+
"object_id": [
|
| 490 |
+
[
|
| 491 |
+
"fridge_dszchb_0"
|
| 492 |
+
]
|
| 493 |
+
],
|
| 494 |
+
"manipulating_object_id": [],
|
| 495 |
+
"spatial_prefix": [],
|
| 496 |
+
"frame_duration": [
|
| 497 |
+
4929,
|
| 498 |
+
5679
|
| 499 |
+
],
|
| 500 |
+
"mp_ef": [],
|
| 501 |
+
"skill_type": [
|
| 502 |
+
"uncoordinated"
|
| 503 |
+
]
|
| 504 |
+
},
|
| 505 |
+
{
|
| 506 |
+
"skill_idx": 19,
|
| 507 |
+
"skill_id": [
|
| 508 |
+
2
|
| 509 |
+
],
|
| 510 |
+
"skill_description": [
|
| 511 |
+
"pick up from"
|
| 512 |
+
],
|
| 513 |
+
"object_id": [
|
| 514 |
+
[
|
| 515 |
+
"bottle_of_tea_208",
|
| 516 |
+
"fridge_dszchb_0"
|
| 517 |
+
]
|
| 518 |
+
],
|
| 519 |
+
"manipulating_object_id": [
|
| 520 |
+
"bottle_of_tea_208"
|
| 521 |
+
],
|
| 522 |
+
"spatial_prefix": [
|
| 523 |
+
[
|
| 524 |
+
"",
|
| 525 |
+
"low_level"
|
| 526 |
+
]
|
| 527 |
+
],
|
| 528 |
+
"frame_duration": [
|
| 529 |
+
5679,
|
| 530 |
+
6314
|
| 531 |
+
],
|
| 532 |
+
"mp_ef": [],
|
| 533 |
+
"skill_type": [
|
| 534 |
+
"uncoordinated"
|
| 535 |
+
]
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"skill_idx": 20,
|
| 539 |
+
"skill_id": [
|
| 540 |
+
12
|
| 541 |
+
],
|
| 542 |
+
"skill_description": [
|
| 543 |
+
"close door"
|
| 544 |
+
],
|
| 545 |
+
"object_id": [
|
| 546 |
+
[
|
| 547 |
+
"fridge_dszchb_0"
|
| 548 |
+
]
|
| 549 |
+
],
|
| 550 |
+
"manipulating_object_id": [],
|
| 551 |
+
"spatial_prefix": [],
|
| 552 |
+
"frame_duration": [
|
| 553 |
+
6314,
|
| 554 |
+
6856
|
| 555 |
+
],
|
| 556 |
+
"mp_ef": [],
|
| 557 |
+
"skill_type": [
|
| 558 |
+
"uncoordinated"
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
{
|
| 562 |
+
"skill_idx": 21,
|
| 563 |
+
"skill_id": [
|
| 564 |
+
1
|
| 565 |
+
],
|
| 566 |
+
"skill_description": [
|
| 567 |
+
"move to"
|
| 568 |
+
],
|
| 569 |
+
"object_id": [
|
| 570 |
+
[
|
| 571 |
+
"packing_box_210"
|
| 572 |
+
]
|
| 573 |
+
],
|
| 574 |
+
"manipulating_object_id": [],
|
| 575 |
+
"spatial_prefix": [],
|
| 576 |
+
"frame_duration": [
|
| 577 |
+
6856,
|
| 578 |
+
7275
|
| 579 |
+
],
|
| 580 |
+
"mp_ef": [],
|
| 581 |
+
"skill_type": [
|
| 582 |
+
"navigation"
|
| 583 |
+
]
|
| 584 |
+
},
|
| 585 |
+
{
|
| 586 |
+
"skill_idx": 22,
|
| 587 |
+
"skill_id": [
|
| 588 |
+
4
|
| 589 |
+
],
|
| 590 |
+
"skill_description": [
|
| 591 |
+
"place in"
|
| 592 |
+
],
|
| 593 |
+
"object_id": [
|
| 594 |
+
[
|
| 595 |
+
"bottle_of_tea_208",
|
| 596 |
+
"packing_box_210"
|
| 597 |
+
]
|
| 598 |
+
],
|
| 599 |
+
"manipulating_object_id": [
|
| 600 |
+
"bottle_of_tea_208"
|
| 601 |
+
],
|
| 602 |
+
"spatial_prefix": [],
|
| 603 |
+
"frame_duration": [
|
| 604 |
+
7275,
|
| 605 |
+
7672
|
| 606 |
+
],
|
| 607 |
+
"mp_ef": [],
|
| 608 |
+
"skill_type": [
|
| 609 |
+
"uncoordinated"
|
| 610 |
+
]
|
| 611 |
+
}
|
| 612 |
+
],
|
| 613 |
+
"primitive_annotation": [
|
| 614 |
+
{
|
| 615 |
+
"primitive_idx": 0,
|
| 616 |
+
"primitive_id": [
|
| 617 |
+
2,
|
| 618 |
+
91
|
| 619 |
+
],
|
| 620 |
+
"primitive_description": [
|
| 621 |
+
"pick up from",
|
| 622 |
+
"place on next to"
|
| 623 |
+
],
|
| 624 |
+
"object_id": [
|
| 625 |
+
[
|
| 626 |
+
"packing_box_210",
|
| 627 |
+
"countertop_kelker_0"
|
| 628 |
+
],
|
| 629 |
+
[
|
| 630 |
+
"packing_box_210",
|
| 631 |
+
"burner_mjvqii_0",
|
| 632 |
+
"chopping_board_211"
|
| 633 |
+
]
|
| 634 |
+
],
|
| 635 |
+
"manipulating_object_id": [
|
| 636 |
+
"packing_box_210",
|
| 637 |
+
"packing_box_210"
|
| 638 |
+
],
|
| 639 |
+
"spatial_prefix": [
|
| 640 |
+
[],
|
| 641 |
+
[
|
| 642 |
+
[],
|
| 643 |
+
[],
|
| 644 |
+
[
|
| 645 |
+
"right"
|
| 646 |
+
]
|
| 647 |
+
]
|
| 648 |
+
],
|
| 649 |
+
"frame_duration": [
|
| 650 |
+
66,
|
| 651 |
+
839
|
| 652 |
+
],
|
| 653 |
+
"skill_idxes": [
|
| 654 |
+
0,
|
| 655 |
+
1,
|
| 656 |
+
2,
|
| 657 |
+
3
|
| 658 |
+
]
|
| 659 |
+
},
|
| 660 |
+
{
|
| 661 |
+
"primitive_idx": 1,
|
| 662 |
+
"primitive_id": [
|
| 663 |
+
2,
|
| 664 |
+
4
|
| 665 |
+
],
|
| 666 |
+
"primitive_description": [
|
| 667 |
+
"pick up from",
|
| 668 |
+
"place in"
|
| 669 |
+
],
|
| 670 |
+
"object_id": [
|
| 671 |
+
[
|
| 672 |
+
"chocolate_chip_cookie_207",
|
| 673 |
+
"chopping_board_211"
|
| 674 |
+
],
|
| 675 |
+
[
|
| 676 |
+
"chocolate_chip_cookie_207",
|
| 677 |
+
"packing_box_210"
|
| 678 |
+
]
|
| 679 |
+
],
|
| 680 |
+
"manipulating_object_id": [
|
| 681 |
+
"chocolate_chip_cookie_207",
|
| 682 |
+
"chocolate_chip_cookie_207"
|
| 683 |
+
],
|
| 684 |
+
"spatial_prefix": [],
|
| 685 |
+
"frame_duration": [
|
| 686 |
+
839,
|
| 687 |
+
1734
|
| 688 |
+
],
|
| 689 |
+
"skill_idxes": [
|
| 690 |
+
4,
|
| 691 |
+
5,
|
| 692 |
+
6,
|
| 693 |
+
7
|
| 694 |
+
]
|
| 695 |
+
},
|
| 696 |
+
{
|
| 697 |
+
"primitive_idx": 2,
|
| 698 |
+
"primitive_id": [
|
| 699 |
+
2,
|
| 700 |
+
4
|
| 701 |
+
],
|
| 702 |
+
"primitive_description": [
|
| 703 |
+
"pick up from",
|
| 704 |
+
"place in"
|
| 705 |
+
],
|
| 706 |
+
"object_id": [
|
| 707 |
+
[
|
| 708 |
+
[
|
| 709 |
+
"half_apple_213",
|
| 710 |
+
"half_apple_212"
|
| 711 |
+
],
|
| 712 |
+
"chopping_board_211"
|
| 713 |
+
],
|
| 714 |
+
[
|
| 715 |
+
[
|
| 716 |
+
"half_apple_213",
|
| 717 |
+
"half_apple_212"
|
| 718 |
+
],
|
| 719 |
+
"packing_box_210"
|
| 720 |
+
]
|
| 721 |
+
],
|
| 722 |
+
"manipulating_object_id": [
|
| 723 |
+
[
|
| 724 |
+
"half_apple_213",
|
| 725 |
+
"half_apple_212"
|
| 726 |
+
],
|
| 727 |
+
[
|
| 728 |
+
"half_apple_213",
|
| 729 |
+
"half_apple_212"
|
| 730 |
+
]
|
| 731 |
+
],
|
| 732 |
+
"spatial_prefix": [],
|
| 733 |
+
"frame_duration": [
|
| 734 |
+
1734,
|
| 735 |
+
3062
|
| 736 |
+
],
|
| 737 |
+
"skill_idxes": [
|
| 738 |
+
8,
|
| 739 |
+
9,
|
| 740 |
+
10,
|
| 741 |
+
11,
|
| 742 |
+
12,
|
| 743 |
+
13
|
| 744 |
+
]
|
| 745 |
+
},
|
| 746 |
+
{
|
| 747 |
+
"primitive_idx": 3,
|
| 748 |
+
"primitive_id": [
|
| 749 |
+
2,
|
| 750 |
+
4
|
| 751 |
+
],
|
| 752 |
+
"primitive_description": [
|
| 753 |
+
"pick up from",
|
| 754 |
+
"place in"
|
| 755 |
+
],
|
| 756 |
+
"object_id": [
|
| 757 |
+
[
|
| 758 |
+
"club_sandwich_209",
|
| 759 |
+
"chopping_board_211"
|
| 760 |
+
],
|
| 761 |
+
[
|
| 762 |
+
"club_sandwich_209",
|
| 763 |
+
"packing_box_210"
|
| 764 |
+
]
|
| 765 |
+
],
|
| 766 |
+
"manipulating_object_id": [
|
| 767 |
+
"club_sandwich_209",
|
| 768 |
+
"club_sandwich_209"
|
| 769 |
+
],
|
| 770 |
+
"spatial_prefix": [],
|
| 771 |
+
"frame_duration": [
|
| 772 |
+
3062,
|
| 773 |
+
4136
|
| 774 |
+
],
|
| 775 |
+
"skill_idxes": [
|
| 776 |
+
14,
|
| 777 |
+
15,
|
| 778 |
+
16
|
| 779 |
+
]
|
| 780 |
+
},
|
| 781 |
+
{
|
| 782 |
+
"primitive_idx": 4,
|
| 783 |
+
"primitive_id": [],
|
| 784 |
+
"primitive_description": [],
|
| 785 |
+
"object_id": [],
|
| 786 |
+
"manipulating_object_id": [],
|
| 787 |
+
"spatial_prefix": [],
|
| 788 |
+
"frame_duration": [
|
| 789 |
+
4136,
|
| 790 |
+
7275
|
| 791 |
+
],
|
| 792 |
+
"skill_idxes": [
|
| 793 |
+
17,
|
| 794 |
+
18,
|
| 795 |
+
21
|
| 796 |
+
]
|
| 797 |
+
},
|
| 798 |
+
{
|
| 799 |
+
"primitive_idx": 5,
|
| 800 |
+
"primitive_id": [
|
| 801 |
+
2
|
| 802 |
+
],
|
| 803 |
+
"primitive_description": [
|
| 804 |
+
"pick up from"
|
| 805 |
+
],
|
| 806 |
+
"object_id": [
|
| 807 |
+
[
|
| 808 |
+
"bottle_of_tea_208",
|
| 809 |
+
"fridge_dszchb_0"
|
| 810 |
+
]
|
| 811 |
+
],
|
| 812 |
+
"manipulating_object_id": [
|
| 813 |
+
"bottle_of_tea_208"
|
| 814 |
+
],
|
| 815 |
+
"spatial_prefix": [
|
| 816 |
+
[
|
| 817 |
+
[],
|
| 818 |
+
[
|
| 819 |
+
"low_level"
|
| 820 |
+
]
|
| 821 |
+
]
|
| 822 |
+
],
|
| 823 |
+
"frame_duration": [
|
| 824 |
+
5679,
|
| 825 |
+
6314
|
| 826 |
+
],
|
| 827 |
+
"skill_idxes": [
|
| 828 |
+
19
|
| 829 |
+
]
|
| 830 |
+
},
|
| 831 |
+
{
|
| 832 |
+
"primitive_idx": 6,
|
| 833 |
+
"primitive_id": [
|
| 834 |
+
12
|
| 835 |
+
],
|
| 836 |
+
"primitive_description": [
|
| 837 |
+
"close door"
|
| 838 |
+
],
|
| 839 |
+
"object_id": [
|
| 840 |
+
[
|
| 841 |
+
"fridge_dszchb_0"
|
| 842 |
+
]
|
| 843 |
+
],
|
| 844 |
+
"manipulating_object_id": [],
|
| 845 |
+
"spatial_prefix": [],
|
| 846 |
+
"frame_duration": [
|
| 847 |
+
6314,
|
| 848 |
+
6856
|
| 849 |
+
],
|
| 850 |
+
"skill_idxes": [
|
| 851 |
+
20
|
| 852 |
+
]
|
| 853 |
+
},
|
| 854 |
+
{
|
| 855 |
+
"primitive_idx": 7,
|
| 856 |
+
"primitive_id": [
|
| 857 |
+
4
|
| 858 |
+
],
|
| 859 |
+
"primitive_description": [
|
| 860 |
+
"place in"
|
| 861 |
+
],
|
| 862 |
+
"object_id": [
|
| 863 |
+
[
|
| 864 |
+
"bottle_of_tea_208",
|
| 865 |
+
"packing_box_210"
|
| 866 |
+
]
|
| 867 |
+
],
|
| 868 |
+
"manipulating_object_id": [
|
| 869 |
+
"bottle_of_tea_208"
|
| 870 |
+
],
|
| 871 |
+
"spatial_prefix": [],
|
| 872 |
+
"frame_duration": [
|
| 873 |
+
7275,
|
| 874 |
+
7672
|
| 875 |
+
],
|
| 876 |
+
"skill_idxes": [
|
| 877 |
+
22
|
| 878 |
+
]
|
| 879 |
+
}
|
| 880 |
+
]
|
| 881 |
+
}
|
annotations/episode_00000010.json
ADDED
|
@@ -0,0 +1,814 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9510,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
30,
|
| 8 |
+
9540
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
30,
|
| 29 |
+
293
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
293,
|
| 56 |
+
838
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
838,
|
| 80 |
+
989
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"burner_mjvqii_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
989,
|
| 114 |
+
1194
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"half_apple_213"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
1194,
|
| 138 |
+
1344
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
2
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"pick up from"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"half_apple_213",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"half_apple_213"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [
|
| 164 |
+
1344,
|
| 165 |
+
1821
|
| 166 |
+
],
|
| 167 |
+
"mp_ef": [],
|
| 168 |
+
"skill_type": [
|
| 169 |
+
"uncoordinated"
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"skill_idx": 6,
|
| 174 |
+
"skill_id": [
|
| 175 |
+
2
|
| 176 |
+
],
|
| 177 |
+
"skill_description": [
|
| 178 |
+
"pick up from"
|
| 179 |
+
],
|
| 180 |
+
"object_id": [
|
| 181 |
+
[
|
| 182 |
+
"half_apple_212",
|
| 183 |
+
"chopping_board_211"
|
| 184 |
+
]
|
| 185 |
+
],
|
| 186 |
+
"manipulating_object_id": [
|
| 187 |
+
"half_apple_212"
|
| 188 |
+
],
|
| 189 |
+
"spatial_prefix": [],
|
| 190 |
+
"frame_duration": [
|
| 191 |
+
1821,
|
| 192 |
+
2271
|
| 193 |
+
],
|
| 194 |
+
"mp_ef": [],
|
| 195 |
+
"skill_type": [
|
| 196 |
+
"uncoordinated"
|
| 197 |
+
]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"skill_idx": 7,
|
| 201 |
+
"skill_id": [
|
| 202 |
+
4
|
| 203 |
+
],
|
| 204 |
+
"skill_description": [
|
| 205 |
+
"place in"
|
| 206 |
+
],
|
| 207 |
+
"object_id": [
|
| 208 |
+
[
|
| 209 |
+
"half_apple_212",
|
| 210 |
+
"packing_box_210"
|
| 211 |
+
]
|
| 212 |
+
],
|
| 213 |
+
"manipulating_object_id": [
|
| 214 |
+
"half_apple_212"
|
| 215 |
+
],
|
| 216 |
+
"spatial_prefix": [],
|
| 217 |
+
"frame_duration": [
|
| 218 |
+
2271,
|
| 219 |
+
2573
|
| 220 |
+
],
|
| 221 |
+
"mp_ef": [],
|
| 222 |
+
"skill_type": [
|
| 223 |
+
"uncoordinated"
|
| 224 |
+
]
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"skill_idx": 8,
|
| 228 |
+
"skill_id": [
|
| 229 |
+
4
|
| 230 |
+
],
|
| 231 |
+
"skill_description": [
|
| 232 |
+
"place in"
|
| 233 |
+
],
|
| 234 |
+
"object_id": [
|
| 235 |
+
[
|
| 236 |
+
"half_apple_213",
|
| 237 |
+
"packing_box_210"
|
| 238 |
+
]
|
| 239 |
+
],
|
| 240 |
+
"manipulating_object_id": [
|
| 241 |
+
"half_apple_213"
|
| 242 |
+
],
|
| 243 |
+
"spatial_prefix": [],
|
| 244 |
+
"frame_duration": [
|
| 245 |
+
2574,
|
| 246 |
+
3034
|
| 247 |
+
],
|
| 248 |
+
"mp_ef": [],
|
| 249 |
+
"skill_type": [
|
| 250 |
+
"uncoordinated"
|
| 251 |
+
]
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"skill_idx": 9,
|
| 255 |
+
"skill_id": [
|
| 256 |
+
2
|
| 257 |
+
],
|
| 258 |
+
"skill_description": [
|
| 259 |
+
"pick up from"
|
| 260 |
+
],
|
| 261 |
+
"object_id": [
|
| 262 |
+
[
|
| 263 |
+
"club_sandwich_209",
|
| 264 |
+
"chopping_board_211"
|
| 265 |
+
]
|
| 266 |
+
],
|
| 267 |
+
"manipulating_object_id": [
|
| 268 |
+
"club_sandwich_209"
|
| 269 |
+
],
|
| 270 |
+
"spatial_prefix": [],
|
| 271 |
+
"frame_duration": [
|
| 272 |
+
3034,
|
| 273 |
+
3906
|
| 274 |
+
],
|
| 275 |
+
"mp_ef": [],
|
| 276 |
+
"skill_type": [
|
| 277 |
+
"uncoordinated"
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"skill_idx": 10,
|
| 282 |
+
"skill_id": [
|
| 283 |
+
4
|
| 284 |
+
],
|
| 285 |
+
"skill_description": [
|
| 286 |
+
"place in"
|
| 287 |
+
],
|
| 288 |
+
"object_id": [
|
| 289 |
+
[
|
| 290 |
+
"club_sandwich_209",
|
| 291 |
+
"packing_box_210"
|
| 292 |
+
]
|
| 293 |
+
],
|
| 294 |
+
"manipulating_object_id": [
|
| 295 |
+
"club_sandwich_209"
|
| 296 |
+
],
|
| 297 |
+
"spatial_prefix": [],
|
| 298 |
+
"frame_duration": [
|
| 299 |
+
3906,
|
| 300 |
+
4445
|
| 301 |
+
],
|
| 302 |
+
"mp_ef": [],
|
| 303 |
+
"skill_type": [
|
| 304 |
+
"uncoordinated"
|
| 305 |
+
]
|
| 306 |
+
},
|
| 307 |
+
{
|
| 308 |
+
"skill_idx": 11,
|
| 309 |
+
"skill_id": [
|
| 310 |
+
90
|
| 311 |
+
],
|
| 312 |
+
"skill_description": [
|
| 313 |
+
"push to"
|
| 314 |
+
],
|
| 315 |
+
"object_id": [
|
| 316 |
+
[
|
| 317 |
+
"chocolate_chip_cookie_207",
|
| 318 |
+
"chopping_board_211"
|
| 319 |
+
]
|
| 320 |
+
],
|
| 321 |
+
"manipulating_object_id": [
|
| 322 |
+
"chocolate_chip_cookie_207"
|
| 323 |
+
],
|
| 324 |
+
"spatial_prefix": [
|
| 325 |
+
[
|
| 326 |
+
"",
|
| 327 |
+
"to_the_edge_of"
|
| 328 |
+
]
|
| 329 |
+
],
|
| 330 |
+
"frame_duration": [
|
| 331 |
+
4445,
|
| 332 |
+
4862
|
| 333 |
+
],
|
| 334 |
+
"mp_ef": [],
|
| 335 |
+
"skill_type": [
|
| 336 |
+
"uncoordinated"
|
| 337 |
+
]
|
| 338 |
+
},
|
| 339 |
+
{
|
| 340 |
+
"skill_idx": 12,
|
| 341 |
+
"skill_id": [
|
| 342 |
+
2
|
| 343 |
+
],
|
| 344 |
+
"skill_description": [
|
| 345 |
+
"pick up from"
|
| 346 |
+
],
|
| 347 |
+
"object_id": [
|
| 348 |
+
[
|
| 349 |
+
"chocolate_chip_cookie_207",
|
| 350 |
+
"chopping_board_211"
|
| 351 |
+
]
|
| 352 |
+
],
|
| 353 |
+
"manipulating_object_id": [
|
| 354 |
+
"chocolate_chip_cookie_207"
|
| 355 |
+
],
|
| 356 |
+
"spatial_prefix": [],
|
| 357 |
+
"frame_duration": [
|
| 358 |
+
4862,
|
| 359 |
+
5092
|
| 360 |
+
],
|
| 361 |
+
"mp_ef": [],
|
| 362 |
+
"skill_type": [
|
| 363 |
+
"uncoordinated"
|
| 364 |
+
]
|
| 365 |
+
},
|
| 366 |
+
{
|
| 367 |
+
"skill_idx": 13,
|
| 368 |
+
"skill_id": [
|
| 369 |
+
4
|
| 370 |
+
],
|
| 371 |
+
"skill_description": [
|
| 372 |
+
"place in"
|
| 373 |
+
],
|
| 374 |
+
"object_id": [
|
| 375 |
+
[
|
| 376 |
+
"chocolate_chip_cookie_207",
|
| 377 |
+
"packing_box_210"
|
| 378 |
+
]
|
| 379 |
+
],
|
| 380 |
+
"manipulating_object_id": [
|
| 381 |
+
"chocolate_chip_cookie_207"
|
| 382 |
+
],
|
| 383 |
+
"spatial_prefix": [],
|
| 384 |
+
"frame_duration": [
|
| 385 |
+
5092,
|
| 386 |
+
5601
|
| 387 |
+
],
|
| 388 |
+
"mp_ef": [],
|
| 389 |
+
"skill_type": [
|
| 390 |
+
"uncoordinated"
|
| 391 |
+
]
|
| 392 |
+
},
|
| 393 |
+
{
|
| 394 |
+
"skill_idx": 14,
|
| 395 |
+
"skill_id": [
|
| 396 |
+
1
|
| 397 |
+
],
|
| 398 |
+
"skill_description": [
|
| 399 |
+
"move to"
|
| 400 |
+
],
|
| 401 |
+
"object_id": [
|
| 402 |
+
[
|
| 403 |
+
"fridge_dszchb_0"
|
| 404 |
+
]
|
| 405 |
+
],
|
| 406 |
+
"manipulating_object_id": [],
|
| 407 |
+
"spatial_prefix": [],
|
| 408 |
+
"frame_duration": [
|
| 409 |
+
5601,
|
| 410 |
+
6514
|
| 411 |
+
],
|
| 412 |
+
"mp_ef": [],
|
| 413 |
+
"skill_type": [
|
| 414 |
+
"navigation"
|
| 415 |
+
]
|
| 416 |
+
},
|
| 417 |
+
{
|
| 418 |
+
"skill_idx": 15,
|
| 419 |
+
"skill_id": [
|
| 420 |
+
10
|
| 421 |
+
],
|
| 422 |
+
"skill_description": [
|
| 423 |
+
"open door"
|
| 424 |
+
],
|
| 425 |
+
"object_id": [
|
| 426 |
+
[
|
| 427 |
+
"fridge_dszchb_0"
|
| 428 |
+
]
|
| 429 |
+
],
|
| 430 |
+
"manipulating_object_id": [],
|
| 431 |
+
"spatial_prefix": [],
|
| 432 |
+
"frame_duration": [
|
| 433 |
+
6514,
|
| 434 |
+
7469
|
| 435 |
+
],
|
| 436 |
+
"mp_ef": [],
|
| 437 |
+
"skill_type": [
|
| 438 |
+
"coordinated"
|
| 439 |
+
]
|
| 440 |
+
},
|
| 441 |
+
{
|
| 442 |
+
"skill_idx": 16,
|
| 443 |
+
"skill_id": [
|
| 444 |
+
2
|
| 445 |
+
],
|
| 446 |
+
"skill_description": [
|
| 447 |
+
"pick up from"
|
| 448 |
+
],
|
| 449 |
+
"object_id": [
|
| 450 |
+
[
|
| 451 |
+
"bottle_of_tea_208",
|
| 452 |
+
"fridge_dszchb_0"
|
| 453 |
+
]
|
| 454 |
+
],
|
| 455 |
+
"manipulating_object_id": [
|
| 456 |
+
"bottle_of_tea_208"
|
| 457 |
+
],
|
| 458 |
+
"spatial_prefix": [
|
| 459 |
+
[
|
| 460 |
+
"",
|
| 461 |
+
"middle_level"
|
| 462 |
+
]
|
| 463 |
+
],
|
| 464 |
+
"frame_duration": [
|
| 465 |
+
7469,
|
| 466 |
+
7893
|
| 467 |
+
],
|
| 468 |
+
"mp_ef": [],
|
| 469 |
+
"skill_type": [
|
| 470 |
+
"uncoordinated"
|
| 471 |
+
]
|
| 472 |
+
},
|
| 473 |
+
{
|
| 474 |
+
"skill_idx": 17,
|
| 475 |
+
"skill_id": [
|
| 476 |
+
12
|
| 477 |
+
],
|
| 478 |
+
"skill_description": [
|
| 479 |
+
"close door"
|
| 480 |
+
],
|
| 481 |
+
"object_id": [
|
| 482 |
+
[
|
| 483 |
+
"fridge_dszchb_0"
|
| 484 |
+
]
|
| 485 |
+
],
|
| 486 |
+
"manipulating_object_id": [],
|
| 487 |
+
"spatial_prefix": [],
|
| 488 |
+
"frame_duration": [
|
| 489 |
+
7894,
|
| 490 |
+
8735
|
| 491 |
+
],
|
| 492 |
+
"mp_ef": [],
|
| 493 |
+
"skill_type": [
|
| 494 |
+
"uncoordinated"
|
| 495 |
+
]
|
| 496 |
+
},
|
| 497 |
+
{
|
| 498 |
+
"skill_idx": 18,
|
| 499 |
+
"skill_id": [
|
| 500 |
+
1
|
| 501 |
+
],
|
| 502 |
+
"skill_description": [
|
| 503 |
+
"move to"
|
| 504 |
+
],
|
| 505 |
+
"object_id": [
|
| 506 |
+
[
|
| 507 |
+
"packing_box_210"
|
| 508 |
+
]
|
| 509 |
+
],
|
| 510 |
+
"manipulating_object_id": [],
|
| 511 |
+
"spatial_prefix": [],
|
| 512 |
+
"frame_duration": [
|
| 513 |
+
8736,
|
| 514 |
+
9010
|
| 515 |
+
],
|
| 516 |
+
"mp_ef": [],
|
| 517 |
+
"skill_type": [
|
| 518 |
+
"navigation"
|
| 519 |
+
]
|
| 520 |
+
},
|
| 521 |
+
{
|
| 522 |
+
"skill_idx": 19,
|
| 523 |
+
"skill_id": [
|
| 524 |
+
4
|
| 525 |
+
],
|
| 526 |
+
"skill_description": [
|
| 527 |
+
"place in"
|
| 528 |
+
],
|
| 529 |
+
"object_id": [
|
| 530 |
+
[
|
| 531 |
+
"bottle_of_tea_208",
|
| 532 |
+
"packing_box_210"
|
| 533 |
+
]
|
| 534 |
+
],
|
| 535 |
+
"manipulating_object_id": [
|
| 536 |
+
"bottle_of_tea_208"
|
| 537 |
+
],
|
| 538 |
+
"spatial_prefix": [],
|
| 539 |
+
"frame_duration": [
|
| 540 |
+
9010,
|
| 541 |
+
9540
|
| 542 |
+
],
|
| 543 |
+
"mp_ef": [],
|
| 544 |
+
"skill_type": [
|
| 545 |
+
"uncoordinated"
|
| 546 |
+
]
|
| 547 |
+
}
|
| 548 |
+
],
|
| 549 |
+
"primitive_annotation": [
|
| 550 |
+
{
|
| 551 |
+
"primitive_idx": 0,
|
| 552 |
+
"primitive_id": [
|
| 553 |
+
2,
|
| 554 |
+
91
|
| 555 |
+
],
|
| 556 |
+
"primitive_description": [
|
| 557 |
+
"pick up from",
|
| 558 |
+
"place on next to"
|
| 559 |
+
],
|
| 560 |
+
"object_id": [
|
| 561 |
+
[
|
| 562 |
+
"packing_box_210",
|
| 563 |
+
"countertop_kelker_0"
|
| 564 |
+
],
|
| 565 |
+
[
|
| 566 |
+
"packing_box_210",
|
| 567 |
+
"burner_mjvqii_0",
|
| 568 |
+
"chopping_board_211"
|
| 569 |
+
]
|
| 570 |
+
],
|
| 571 |
+
"manipulating_object_id": [
|
| 572 |
+
"packing_box_210",
|
| 573 |
+
"packing_box_210"
|
| 574 |
+
],
|
| 575 |
+
"spatial_prefix": [
|
| 576 |
+
[],
|
| 577 |
+
[
|
| 578 |
+
[],
|
| 579 |
+
[],
|
| 580 |
+
[
|
| 581 |
+
"left"
|
| 582 |
+
]
|
| 583 |
+
]
|
| 584 |
+
],
|
| 585 |
+
"frame_duration": [
|
| 586 |
+
30,
|
| 587 |
+
1194
|
| 588 |
+
],
|
| 589 |
+
"skill_idxes": [
|
| 590 |
+
0,
|
| 591 |
+
1,
|
| 592 |
+
2,
|
| 593 |
+
3
|
| 594 |
+
]
|
| 595 |
+
},
|
| 596 |
+
{
|
| 597 |
+
"primitive_idx": 1,
|
| 598 |
+
"primitive_id": [
|
| 599 |
+
2,
|
| 600 |
+
4
|
| 601 |
+
],
|
| 602 |
+
"primitive_description": [
|
| 603 |
+
"pick up from",
|
| 604 |
+
"place in"
|
| 605 |
+
],
|
| 606 |
+
"object_id": [
|
| 607 |
+
[
|
| 608 |
+
[
|
| 609 |
+
"half_apple_213",
|
| 610 |
+
"half_apple_212"
|
| 611 |
+
],
|
| 612 |
+
"chopping_board_211"
|
| 613 |
+
],
|
| 614 |
+
[
|
| 615 |
+
[
|
| 616 |
+
"half_apple_212",
|
| 617 |
+
"half_apple_213"
|
| 618 |
+
],
|
| 619 |
+
"packing_box_210"
|
| 620 |
+
]
|
| 621 |
+
],
|
| 622 |
+
"manipulating_object_id": [
|
| 623 |
+
[
|
| 624 |
+
"half_apple_213",
|
| 625 |
+
"half_apple_212"
|
| 626 |
+
],
|
| 627 |
+
[
|
| 628 |
+
"half_apple_212",
|
| 629 |
+
"half_apple_213"
|
| 630 |
+
]
|
| 631 |
+
],
|
| 632 |
+
"spatial_prefix": [],
|
| 633 |
+
"frame_duration": [
|
| 634 |
+
1194,
|
| 635 |
+
3034
|
| 636 |
+
],
|
| 637 |
+
"skill_idxes": [
|
| 638 |
+
4,
|
| 639 |
+
5,
|
| 640 |
+
6,
|
| 641 |
+
7,
|
| 642 |
+
8
|
| 643 |
+
]
|
| 644 |
+
},
|
| 645 |
+
{
|
| 646 |
+
"primitive_idx": 2,
|
| 647 |
+
"primitive_id": [
|
| 648 |
+
2,
|
| 649 |
+
4
|
| 650 |
+
],
|
| 651 |
+
"primitive_description": [
|
| 652 |
+
"pick up from",
|
| 653 |
+
"place in"
|
| 654 |
+
],
|
| 655 |
+
"object_id": [
|
| 656 |
+
[
|
| 657 |
+
"club_sandwich_209",
|
| 658 |
+
"chopping_board_211"
|
| 659 |
+
],
|
| 660 |
+
[
|
| 661 |
+
"club_sandwich_209",
|
| 662 |
+
"packing_box_210"
|
| 663 |
+
]
|
| 664 |
+
],
|
| 665 |
+
"manipulating_object_id": [
|
| 666 |
+
"club_sandwich_209",
|
| 667 |
+
"club_sandwich_209"
|
| 668 |
+
],
|
| 669 |
+
"spatial_prefix": [],
|
| 670 |
+
"frame_duration": [
|
| 671 |
+
3034,
|
| 672 |
+
4445
|
| 673 |
+
],
|
| 674 |
+
"skill_idxes": [
|
| 675 |
+
9,
|
| 676 |
+
10
|
| 677 |
+
]
|
| 678 |
+
},
|
| 679 |
+
{
|
| 680 |
+
"primitive_idx": 3,
|
| 681 |
+
"primitive_id": [
|
| 682 |
+
2,
|
| 683 |
+
4
|
| 684 |
+
],
|
| 685 |
+
"primitive_description": [
|
| 686 |
+
"pick up from",
|
| 687 |
+
"place in"
|
| 688 |
+
],
|
| 689 |
+
"object_id": [
|
| 690 |
+
[
|
| 691 |
+
"chocolate_chip_cookie_207",
|
| 692 |
+
"chopping_board_211"
|
| 693 |
+
],
|
| 694 |
+
[
|
| 695 |
+
"chocolate_chip_cookie_207",
|
| 696 |
+
"packing_box_210"
|
| 697 |
+
]
|
| 698 |
+
],
|
| 699 |
+
"manipulating_object_id": [
|
| 700 |
+
"chocolate_chip_cookie_207",
|
| 701 |
+
"chocolate_chip_cookie_207"
|
| 702 |
+
],
|
| 703 |
+
"spatial_prefix": [],
|
| 704 |
+
"frame_duration": [
|
| 705 |
+
4445,
|
| 706 |
+
5601
|
| 707 |
+
],
|
| 708 |
+
"skill_idxes": [
|
| 709 |
+
11,
|
| 710 |
+
12,
|
| 711 |
+
13
|
| 712 |
+
]
|
| 713 |
+
},
|
| 714 |
+
{
|
| 715 |
+
"primitive_idx": 4,
|
| 716 |
+
"primitive_id": [],
|
| 717 |
+
"primitive_description": [],
|
| 718 |
+
"object_id": [],
|
| 719 |
+
"manipulating_object_id": [],
|
| 720 |
+
"spatial_prefix": [],
|
| 721 |
+
"frame_duration": [
|
| 722 |
+
5601,
|
| 723 |
+
9010
|
| 724 |
+
],
|
| 725 |
+
"skill_idxes": [
|
| 726 |
+
14,
|
| 727 |
+
15,
|
| 728 |
+
18
|
| 729 |
+
]
|
| 730 |
+
},
|
| 731 |
+
{
|
| 732 |
+
"primitive_idx": 5,
|
| 733 |
+
"primitive_id": [
|
| 734 |
+
2
|
| 735 |
+
],
|
| 736 |
+
"primitive_description": [
|
| 737 |
+
"pick up from"
|
| 738 |
+
],
|
| 739 |
+
"object_id": [
|
| 740 |
+
[
|
| 741 |
+
"bottle_of_tea_208",
|
| 742 |
+
"fridge_dszchb_0"
|
| 743 |
+
]
|
| 744 |
+
],
|
| 745 |
+
"manipulating_object_id": [
|
| 746 |
+
"bottle_of_tea_208"
|
| 747 |
+
],
|
| 748 |
+
"spatial_prefix": [
|
| 749 |
+
[
|
| 750 |
+
[],
|
| 751 |
+
[
|
| 752 |
+
"middle_level"
|
| 753 |
+
]
|
| 754 |
+
]
|
| 755 |
+
],
|
| 756 |
+
"frame_duration": [
|
| 757 |
+
7469,
|
| 758 |
+
7893
|
| 759 |
+
],
|
| 760 |
+
"skill_idxes": [
|
| 761 |
+
16
|
| 762 |
+
]
|
| 763 |
+
},
|
| 764 |
+
{
|
| 765 |
+
"primitive_idx": 6,
|
| 766 |
+
"primitive_id": [
|
| 767 |
+
12
|
| 768 |
+
],
|
| 769 |
+
"primitive_description": [
|
| 770 |
+
"close door"
|
| 771 |
+
],
|
| 772 |
+
"object_id": [
|
| 773 |
+
[
|
| 774 |
+
"fridge_dszchb_0"
|
| 775 |
+
]
|
| 776 |
+
],
|
| 777 |
+
"manipulating_object_id": [],
|
| 778 |
+
"spatial_prefix": [],
|
| 779 |
+
"frame_duration": [
|
| 780 |
+
7894,
|
| 781 |
+
8735
|
| 782 |
+
],
|
| 783 |
+
"skill_idxes": [
|
| 784 |
+
17
|
| 785 |
+
]
|
| 786 |
+
},
|
| 787 |
+
{
|
| 788 |
+
"primitive_idx": 7,
|
| 789 |
+
"primitive_id": [
|
| 790 |
+
4
|
| 791 |
+
],
|
| 792 |
+
"primitive_description": [
|
| 793 |
+
"place in"
|
| 794 |
+
],
|
| 795 |
+
"object_id": [
|
| 796 |
+
[
|
| 797 |
+
"bottle_of_tea_208",
|
| 798 |
+
"packing_box_210"
|
| 799 |
+
]
|
| 800 |
+
],
|
| 801 |
+
"manipulating_object_id": [
|
| 802 |
+
"bottle_of_tea_208"
|
| 803 |
+
],
|
| 804 |
+
"spatial_prefix": [],
|
| 805 |
+
"frame_duration": [
|
| 806 |
+
9010,
|
| 807 |
+
9540
|
| 808 |
+
],
|
| 809 |
+
"skill_idxes": [
|
| 810 |
+
19
|
| 811 |
+
]
|
| 812 |
+
}
|
| 813 |
+
]
|
| 814 |
+
}
|
annotations/episode_00000011.json
ADDED
|
@@ -0,0 +1,781 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7928,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
72,
|
| 8 |
+
8000
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
72,
|
| 29 |
+
401
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
401,
|
| 56 |
+
677
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
677,
|
| 80 |
+
1015
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"burner_mjvqii_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
1015,
|
| 114 |
+
1134
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"club_sandwich_209"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
1134,
|
| 138 |
+
1205
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
2
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"pick up from"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"club_sandwich_209",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"club_sandwich_209"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [
|
| 164 |
+
1205,
|
| 165 |
+
1476
|
| 166 |
+
],
|
| 167 |
+
"mp_ef": [],
|
| 168 |
+
"skill_type": [
|
| 169 |
+
"uncoordinated"
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"skill_idx": 6,
|
| 174 |
+
"skill_id": [
|
| 175 |
+
4
|
| 176 |
+
],
|
| 177 |
+
"skill_description": [
|
| 178 |
+
"place in"
|
| 179 |
+
],
|
| 180 |
+
"object_id": [
|
| 181 |
+
[
|
| 182 |
+
"club_sandwich_209",
|
| 183 |
+
"packing_box_210"
|
| 184 |
+
]
|
| 185 |
+
],
|
| 186 |
+
"manipulating_object_id": [
|
| 187 |
+
"club_sandwich_209"
|
| 188 |
+
],
|
| 189 |
+
"spatial_prefix": [],
|
| 190 |
+
"frame_duration": [
|
| 191 |
+
1476,
|
| 192 |
+
1862
|
| 193 |
+
],
|
| 194 |
+
"mp_ef": [],
|
| 195 |
+
"skill_type": [
|
| 196 |
+
"uncoordinated"
|
| 197 |
+
]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"skill_idx": 7,
|
| 201 |
+
"skill_id": [
|
| 202 |
+
2
|
| 203 |
+
],
|
| 204 |
+
"skill_description": [
|
| 205 |
+
"pick up from"
|
| 206 |
+
],
|
| 207 |
+
"object_id": [
|
| 208 |
+
[
|
| 209 |
+
"chocolate_chip_cookie_207",
|
| 210 |
+
"chopping_board_211"
|
| 211 |
+
]
|
| 212 |
+
],
|
| 213 |
+
"manipulating_object_id": [
|
| 214 |
+
"chocolate_chip_cookie_207"
|
| 215 |
+
],
|
| 216 |
+
"spatial_prefix": [],
|
| 217 |
+
"frame_duration": [
|
| 218 |
+
1862,
|
| 219 |
+
2202
|
| 220 |
+
],
|
| 221 |
+
"mp_ef": [],
|
| 222 |
+
"skill_type": [
|
| 223 |
+
"uncoordinated"
|
| 224 |
+
]
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"skill_idx": 8,
|
| 228 |
+
"skill_id": [
|
| 229 |
+
4
|
| 230 |
+
],
|
| 231 |
+
"skill_description": [
|
| 232 |
+
"place in"
|
| 233 |
+
],
|
| 234 |
+
"object_id": [
|
| 235 |
+
[
|
| 236 |
+
"chocolate_chip_cookie_207",
|
| 237 |
+
"packing_box_210"
|
| 238 |
+
]
|
| 239 |
+
],
|
| 240 |
+
"manipulating_object_id": [
|
| 241 |
+
"chocolate_chip_cookie_207"
|
| 242 |
+
],
|
| 243 |
+
"spatial_prefix": [],
|
| 244 |
+
"frame_duration": [
|
| 245 |
+
2202,
|
| 246 |
+
2403
|
| 247 |
+
],
|
| 248 |
+
"mp_ef": [],
|
| 249 |
+
"skill_type": [
|
| 250 |
+
"uncoordinated"
|
| 251 |
+
]
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"skill_idx": 9,
|
| 255 |
+
"skill_id": [
|
| 256 |
+
2
|
| 257 |
+
],
|
| 258 |
+
"skill_description": [
|
| 259 |
+
"pick up from"
|
| 260 |
+
],
|
| 261 |
+
"object_id": [
|
| 262 |
+
[
|
| 263 |
+
"half_apple_212",
|
| 264 |
+
"chopping_board_211"
|
| 265 |
+
]
|
| 266 |
+
],
|
| 267 |
+
"manipulating_object_id": [
|
| 268 |
+
"half_apple_212"
|
| 269 |
+
],
|
| 270 |
+
"spatial_prefix": [],
|
| 271 |
+
"frame_duration": [
|
| 272 |
+
2403,
|
| 273 |
+
2873
|
| 274 |
+
],
|
| 275 |
+
"mp_ef": [],
|
| 276 |
+
"skill_type": [
|
| 277 |
+
"uncoordinated"
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"skill_idx": 10,
|
| 282 |
+
"skill_id": [
|
| 283 |
+
4
|
| 284 |
+
],
|
| 285 |
+
"skill_description": [
|
| 286 |
+
"place in"
|
| 287 |
+
],
|
| 288 |
+
"object_id": [
|
| 289 |
+
[
|
| 290 |
+
"half_apple_212",
|
| 291 |
+
"packing_box_210"
|
| 292 |
+
]
|
| 293 |
+
],
|
| 294 |
+
"manipulating_object_id": [
|
| 295 |
+
"half_apple_212"
|
| 296 |
+
],
|
| 297 |
+
"spatial_prefix": [],
|
| 298 |
+
"frame_duration": [
|
| 299 |
+
2873,
|
| 300 |
+
3095
|
| 301 |
+
],
|
| 302 |
+
"mp_ef": [],
|
| 303 |
+
"skill_type": [
|
| 304 |
+
"uncoordinated"
|
| 305 |
+
]
|
| 306 |
+
},
|
| 307 |
+
{
|
| 308 |
+
"skill_idx": 11,
|
| 309 |
+
"skill_id": [
|
| 310 |
+
2
|
| 311 |
+
],
|
| 312 |
+
"skill_description": [
|
| 313 |
+
"pick up from"
|
| 314 |
+
],
|
| 315 |
+
"object_id": [
|
| 316 |
+
[
|
| 317 |
+
"half_apple_213",
|
| 318 |
+
"chopping_board_211"
|
| 319 |
+
]
|
| 320 |
+
],
|
| 321 |
+
"manipulating_object_id": [
|
| 322 |
+
"half_apple_213"
|
| 323 |
+
],
|
| 324 |
+
"spatial_prefix": [],
|
| 325 |
+
"frame_duration": [
|
| 326 |
+
3095,
|
| 327 |
+
3313
|
| 328 |
+
],
|
| 329 |
+
"mp_ef": [],
|
| 330 |
+
"skill_type": [
|
| 331 |
+
"uncoordinated"
|
| 332 |
+
]
|
| 333 |
+
},
|
| 334 |
+
{
|
| 335 |
+
"skill_idx": 12,
|
| 336 |
+
"skill_id": [
|
| 337 |
+
4
|
| 338 |
+
],
|
| 339 |
+
"skill_description": [
|
| 340 |
+
"place in"
|
| 341 |
+
],
|
| 342 |
+
"object_id": [
|
| 343 |
+
[
|
| 344 |
+
"half_apple_213",
|
| 345 |
+
"packing_box_210"
|
| 346 |
+
]
|
| 347 |
+
],
|
| 348 |
+
"manipulating_object_id": [
|
| 349 |
+
"half_apple_213"
|
| 350 |
+
],
|
| 351 |
+
"spatial_prefix": [],
|
| 352 |
+
"frame_duration": [
|
| 353 |
+
3313,
|
| 354 |
+
3725
|
| 355 |
+
],
|
| 356 |
+
"mp_ef": [],
|
| 357 |
+
"skill_type": [
|
| 358 |
+
"uncoordinated"
|
| 359 |
+
]
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"skill_idx": 13,
|
| 363 |
+
"skill_id": [
|
| 364 |
+
1
|
| 365 |
+
],
|
| 366 |
+
"skill_description": [
|
| 367 |
+
"move to"
|
| 368 |
+
],
|
| 369 |
+
"object_id": [
|
| 370 |
+
[
|
| 371 |
+
"fridge_dszchb_0"
|
| 372 |
+
]
|
| 373 |
+
],
|
| 374 |
+
"manipulating_object_id": [],
|
| 375 |
+
"spatial_prefix": [],
|
| 376 |
+
"frame_duration": [
|
| 377 |
+
3725,
|
| 378 |
+
4711
|
| 379 |
+
],
|
| 380 |
+
"mp_ef": [],
|
| 381 |
+
"skill_type": [
|
| 382 |
+
"navigation"
|
| 383 |
+
]
|
| 384 |
+
},
|
| 385 |
+
{
|
| 386 |
+
"skill_idx": 14,
|
| 387 |
+
"skill_id": [
|
| 388 |
+
10
|
| 389 |
+
],
|
| 390 |
+
"skill_description": [
|
| 391 |
+
"open door"
|
| 392 |
+
],
|
| 393 |
+
"object_id": [
|
| 394 |
+
[
|
| 395 |
+
"fridge_dszchb_0"
|
| 396 |
+
]
|
| 397 |
+
],
|
| 398 |
+
"manipulating_object_id": [],
|
| 399 |
+
"spatial_prefix": [],
|
| 400 |
+
"frame_duration": [
|
| 401 |
+
4711,
|
| 402 |
+
5468
|
| 403 |
+
],
|
| 404 |
+
"mp_ef": [],
|
| 405 |
+
"skill_type": [
|
| 406 |
+
"uncoordinated"
|
| 407 |
+
]
|
| 408 |
+
},
|
| 409 |
+
{
|
| 410 |
+
"skill_idx": 15,
|
| 411 |
+
"skill_id": [
|
| 412 |
+
2
|
| 413 |
+
],
|
| 414 |
+
"skill_description": [
|
| 415 |
+
"pick up from"
|
| 416 |
+
],
|
| 417 |
+
"object_id": [
|
| 418 |
+
[
|
| 419 |
+
"bottle_of_tea_208",
|
| 420 |
+
"fridge_dszchb_0"
|
| 421 |
+
]
|
| 422 |
+
],
|
| 423 |
+
"manipulating_object_id": [
|
| 424 |
+
"bottle_of_tea_208"
|
| 425 |
+
],
|
| 426 |
+
"spatial_prefix": [
|
| 427 |
+
[
|
| 428 |
+
"",
|
| 429 |
+
"low_level"
|
| 430 |
+
]
|
| 431 |
+
],
|
| 432 |
+
"frame_duration": [
|
| 433 |
+
5468,
|
| 434 |
+
6451
|
| 435 |
+
],
|
| 436 |
+
"mp_ef": [],
|
| 437 |
+
"skill_type": [
|
| 438 |
+
"uncoordinated"
|
| 439 |
+
]
|
| 440 |
+
},
|
| 441 |
+
{
|
| 442 |
+
"skill_idx": 16,
|
| 443 |
+
"skill_id": [
|
| 444 |
+
12
|
| 445 |
+
],
|
| 446 |
+
"skill_description": [
|
| 447 |
+
"close door"
|
| 448 |
+
],
|
| 449 |
+
"object_id": [
|
| 450 |
+
[
|
| 451 |
+
"fridge_dszchb_0"
|
| 452 |
+
]
|
| 453 |
+
],
|
| 454 |
+
"manipulating_object_id": [],
|
| 455 |
+
"spatial_prefix": [],
|
| 456 |
+
"frame_duration": [
|
| 457 |
+
6451,
|
| 458 |
+
6833
|
| 459 |
+
],
|
| 460 |
+
"mp_ef": [],
|
| 461 |
+
"skill_type": [
|
| 462 |
+
"uncoordinated"
|
| 463 |
+
]
|
| 464 |
+
},
|
| 465 |
+
{
|
| 466 |
+
"skill_idx": 17,
|
| 467 |
+
"skill_id": [
|
| 468 |
+
1
|
| 469 |
+
],
|
| 470 |
+
"skill_description": [
|
| 471 |
+
"move to"
|
| 472 |
+
],
|
| 473 |
+
"object_id": [
|
| 474 |
+
[
|
| 475 |
+
"packing_box_210"
|
| 476 |
+
]
|
| 477 |
+
],
|
| 478 |
+
"manipulating_object_id": [],
|
| 479 |
+
"spatial_prefix": [],
|
| 480 |
+
"frame_duration": [
|
| 481 |
+
6833,
|
| 482 |
+
7308
|
| 483 |
+
],
|
| 484 |
+
"mp_ef": [],
|
| 485 |
+
"skill_type": [
|
| 486 |
+
"navigation"
|
| 487 |
+
]
|
| 488 |
+
},
|
| 489 |
+
{
|
| 490 |
+
"skill_idx": 18,
|
| 491 |
+
"skill_id": [
|
| 492 |
+
4
|
| 493 |
+
],
|
| 494 |
+
"skill_description": [
|
| 495 |
+
"place in"
|
| 496 |
+
],
|
| 497 |
+
"object_id": [
|
| 498 |
+
[
|
| 499 |
+
"bottle_of_tea_208",
|
| 500 |
+
"packing_box_210"
|
| 501 |
+
]
|
| 502 |
+
],
|
| 503 |
+
"manipulating_object_id": [
|
| 504 |
+
"bottle_of_tea_208"
|
| 505 |
+
],
|
| 506 |
+
"spatial_prefix": [],
|
| 507 |
+
"frame_duration": [
|
| 508 |
+
7308,
|
| 509 |
+
8000
|
| 510 |
+
],
|
| 511 |
+
"mp_ef": [],
|
| 512 |
+
"skill_type": [
|
| 513 |
+
"uncoordinated"
|
| 514 |
+
]
|
| 515 |
+
}
|
| 516 |
+
],
|
| 517 |
+
"primitive_annotation": [
|
| 518 |
+
{
|
| 519 |
+
"primitive_idx": 0,
|
| 520 |
+
"primitive_id": [
|
| 521 |
+
2,
|
| 522 |
+
91
|
| 523 |
+
],
|
| 524 |
+
"primitive_description": [
|
| 525 |
+
"pick up from",
|
| 526 |
+
"place on next to"
|
| 527 |
+
],
|
| 528 |
+
"object_id": [
|
| 529 |
+
[
|
| 530 |
+
"packing_box_210",
|
| 531 |
+
"countertop_kelker_0"
|
| 532 |
+
],
|
| 533 |
+
[
|
| 534 |
+
"packing_box_210",
|
| 535 |
+
"burner_mjvqii_0",
|
| 536 |
+
"chopping_board_211"
|
| 537 |
+
]
|
| 538 |
+
],
|
| 539 |
+
"manipulating_object_id": [
|
| 540 |
+
"packing_box_210",
|
| 541 |
+
"packing_box_210"
|
| 542 |
+
],
|
| 543 |
+
"spatial_prefix": [
|
| 544 |
+
[],
|
| 545 |
+
[
|
| 546 |
+
[],
|
| 547 |
+
[],
|
| 548 |
+
[
|
| 549 |
+
"left"
|
| 550 |
+
]
|
| 551 |
+
]
|
| 552 |
+
],
|
| 553 |
+
"frame_duration": [
|
| 554 |
+
72,
|
| 555 |
+
1134
|
| 556 |
+
],
|
| 557 |
+
"skill_idxes": [
|
| 558 |
+
0,
|
| 559 |
+
1,
|
| 560 |
+
2,
|
| 561 |
+
3
|
| 562 |
+
]
|
| 563 |
+
},
|
| 564 |
+
{
|
| 565 |
+
"primitive_idx": 1,
|
| 566 |
+
"primitive_id": [
|
| 567 |
+
2,
|
| 568 |
+
4
|
| 569 |
+
],
|
| 570 |
+
"primitive_description": [
|
| 571 |
+
"pick up from",
|
| 572 |
+
"place in"
|
| 573 |
+
],
|
| 574 |
+
"object_id": [
|
| 575 |
+
[
|
| 576 |
+
"club_sandwich_209",
|
| 577 |
+
"chopping_board_211"
|
| 578 |
+
],
|
| 579 |
+
[
|
| 580 |
+
"club_sandwich_209",
|
| 581 |
+
"packing_box_210"
|
| 582 |
+
]
|
| 583 |
+
],
|
| 584 |
+
"manipulating_object_id": [
|
| 585 |
+
"club_sandwich_209",
|
| 586 |
+
"club_sandwich_209"
|
| 587 |
+
],
|
| 588 |
+
"spatial_prefix": [],
|
| 589 |
+
"frame_duration": [
|
| 590 |
+
1134,
|
| 591 |
+
1862
|
| 592 |
+
],
|
| 593 |
+
"skill_idxes": [
|
| 594 |
+
4,
|
| 595 |
+
5,
|
| 596 |
+
6
|
| 597 |
+
]
|
| 598 |
+
},
|
| 599 |
+
{
|
| 600 |
+
"primitive_idx": 2,
|
| 601 |
+
"primitive_id": [
|
| 602 |
+
2,
|
| 603 |
+
4
|
| 604 |
+
],
|
| 605 |
+
"primitive_description": [
|
| 606 |
+
"pick up from",
|
| 607 |
+
"place in"
|
| 608 |
+
],
|
| 609 |
+
"object_id": [
|
| 610 |
+
[
|
| 611 |
+
"chocolate_chip_cookie_207",
|
| 612 |
+
"chopping_board_211"
|
| 613 |
+
],
|
| 614 |
+
[
|
| 615 |
+
"chocolate_chip_cookie_207",
|
| 616 |
+
"packing_box_210"
|
| 617 |
+
]
|
| 618 |
+
],
|
| 619 |
+
"manipulating_object_id": [
|
| 620 |
+
"chocolate_chip_cookie_207",
|
| 621 |
+
"chocolate_chip_cookie_207"
|
| 622 |
+
],
|
| 623 |
+
"spatial_prefix": [],
|
| 624 |
+
"frame_duration": [
|
| 625 |
+
1862,
|
| 626 |
+
2403
|
| 627 |
+
],
|
| 628 |
+
"skill_idxes": [
|
| 629 |
+
7,
|
| 630 |
+
8
|
| 631 |
+
]
|
| 632 |
+
},
|
| 633 |
+
{
|
| 634 |
+
"primitive_idx": 3,
|
| 635 |
+
"primitive_id": [
|
| 636 |
+
2,
|
| 637 |
+
4
|
| 638 |
+
],
|
| 639 |
+
"primitive_description": [
|
| 640 |
+
"pick up from",
|
| 641 |
+
"place in"
|
| 642 |
+
],
|
| 643 |
+
"object_id": [
|
| 644 |
+
[
|
| 645 |
+
[
|
| 646 |
+
"half_apple_212",
|
| 647 |
+
"half_apple_213"
|
| 648 |
+
],
|
| 649 |
+
"chopping_board_211"
|
| 650 |
+
],
|
| 651 |
+
[
|
| 652 |
+
[
|
| 653 |
+
"half_apple_212",
|
| 654 |
+
"half_apple_213"
|
| 655 |
+
],
|
| 656 |
+
"packing_box_210"
|
| 657 |
+
]
|
| 658 |
+
],
|
| 659 |
+
"manipulating_object_id": [
|
| 660 |
+
[
|
| 661 |
+
"half_apple_212",
|
| 662 |
+
"half_apple_213"
|
| 663 |
+
],
|
| 664 |
+
[
|
| 665 |
+
"half_apple_212",
|
| 666 |
+
"half_apple_213"
|
| 667 |
+
]
|
| 668 |
+
],
|
| 669 |
+
"spatial_prefix": [],
|
| 670 |
+
"frame_duration": [
|
| 671 |
+
2403,
|
| 672 |
+
3725
|
| 673 |
+
],
|
| 674 |
+
"skill_idxes": [
|
| 675 |
+
9,
|
| 676 |
+
10,
|
| 677 |
+
11,
|
| 678 |
+
12
|
| 679 |
+
]
|
| 680 |
+
},
|
| 681 |
+
{
|
| 682 |
+
"primitive_idx": 4,
|
| 683 |
+
"primitive_id": [],
|
| 684 |
+
"primitive_description": [],
|
| 685 |
+
"object_id": [],
|
| 686 |
+
"manipulating_object_id": [],
|
| 687 |
+
"spatial_prefix": [],
|
| 688 |
+
"frame_duration": [
|
| 689 |
+
3725,
|
| 690 |
+
7308
|
| 691 |
+
],
|
| 692 |
+
"skill_idxes": [
|
| 693 |
+
13,
|
| 694 |
+
14,
|
| 695 |
+
17
|
| 696 |
+
]
|
| 697 |
+
},
|
| 698 |
+
{
|
| 699 |
+
"primitive_idx": 5,
|
| 700 |
+
"primitive_id": [
|
| 701 |
+
2
|
| 702 |
+
],
|
| 703 |
+
"primitive_description": [
|
| 704 |
+
"pick up from"
|
| 705 |
+
],
|
| 706 |
+
"object_id": [
|
| 707 |
+
[
|
| 708 |
+
"bottle_of_tea_208",
|
| 709 |
+
"fridge_dszchb_0"
|
| 710 |
+
]
|
| 711 |
+
],
|
| 712 |
+
"manipulating_object_id": [
|
| 713 |
+
"bottle_of_tea_208"
|
| 714 |
+
],
|
| 715 |
+
"spatial_prefix": [
|
| 716 |
+
[
|
| 717 |
+
[],
|
| 718 |
+
[
|
| 719 |
+
"low_level"
|
| 720 |
+
]
|
| 721 |
+
]
|
| 722 |
+
],
|
| 723 |
+
"frame_duration": [
|
| 724 |
+
5468,
|
| 725 |
+
6451
|
| 726 |
+
],
|
| 727 |
+
"skill_idxes": [
|
| 728 |
+
15
|
| 729 |
+
]
|
| 730 |
+
},
|
| 731 |
+
{
|
| 732 |
+
"primitive_idx": 6,
|
| 733 |
+
"primitive_id": [
|
| 734 |
+
12
|
| 735 |
+
],
|
| 736 |
+
"primitive_description": [
|
| 737 |
+
"close door"
|
| 738 |
+
],
|
| 739 |
+
"object_id": [
|
| 740 |
+
[
|
| 741 |
+
"fridge_dszchb_0"
|
| 742 |
+
]
|
| 743 |
+
],
|
| 744 |
+
"manipulating_object_id": [],
|
| 745 |
+
"spatial_prefix": [],
|
| 746 |
+
"frame_duration": [
|
| 747 |
+
6451,
|
| 748 |
+
6833
|
| 749 |
+
],
|
| 750 |
+
"skill_idxes": [
|
| 751 |
+
16
|
| 752 |
+
]
|
| 753 |
+
},
|
| 754 |
+
{
|
| 755 |
+
"primitive_idx": 7,
|
| 756 |
+
"primitive_id": [
|
| 757 |
+
4
|
| 758 |
+
],
|
| 759 |
+
"primitive_description": [
|
| 760 |
+
"place in"
|
| 761 |
+
],
|
| 762 |
+
"object_id": [
|
| 763 |
+
[
|
| 764 |
+
"bottle_of_tea_208",
|
| 765 |
+
"packing_box_210"
|
| 766 |
+
]
|
| 767 |
+
],
|
| 768 |
+
"manipulating_object_id": [
|
| 769 |
+
"bottle_of_tea_208"
|
| 770 |
+
],
|
| 771 |
+
"spatial_prefix": [],
|
| 772 |
+
"frame_duration": [
|
| 773 |
+
7308,
|
| 774 |
+
8000
|
| 775 |
+
],
|
| 776 |
+
"skill_idxes": [
|
| 777 |
+
18
|
| 778 |
+
]
|
| 779 |
+
}
|
| 780 |
+
]
|
| 781 |
+
}
|
annotations/episode_00000014.json
ADDED
|
@@ -0,0 +1,889 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9510,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
9510
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
354
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
355,
|
| 56 |
+
524
|
| 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 |
+
"chopping_board_211"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
524,
|
| 80 |
+
766
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"right"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
766,
|
| 114 |
+
842
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
2
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"pick up from"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"half_apple_213",
|
| 132 |
+
"chopping_board_211"
|
| 133 |
+
]
|
| 134 |
+
],
|
| 135 |
+
"manipulating_object_id": [
|
| 136 |
+
"half_apple_213"
|
| 137 |
+
],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
842,
|
| 141 |
+
1434
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": [],
|
| 144 |
+
"skill_type": [
|
| 145 |
+
"uncoordinated"
|
| 146 |
+
]
|
| 147 |
+
},
|
| 148 |
+
{
|
| 149 |
+
"skill_idx": 5,
|
| 150 |
+
"skill_id": [
|
| 151 |
+
2
|
| 152 |
+
],
|
| 153 |
+
"skill_description": [
|
| 154 |
+
"pick up from"
|
| 155 |
+
],
|
| 156 |
+
"object_id": [
|
| 157 |
+
[
|
| 158 |
+
"half_apple_212",
|
| 159 |
+
"chopping_board_211"
|
| 160 |
+
]
|
| 161 |
+
],
|
| 162 |
+
"manipulating_object_id": [
|
| 163 |
+
"half_apple_212"
|
| 164 |
+
],
|
| 165 |
+
"spatial_prefix": [],
|
| 166 |
+
"frame_duration": [
|
| 167 |
+
1434,
|
| 168 |
+
1869
|
| 169 |
+
],
|
| 170 |
+
"mp_ef": [],
|
| 171 |
+
"skill_type": [
|
| 172 |
+
"uncoordinated"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
{
|
| 176 |
+
"skill_idx": 6,
|
| 177 |
+
"skill_id": [
|
| 178 |
+
4
|
| 179 |
+
],
|
| 180 |
+
"skill_description": [
|
| 181 |
+
"place in"
|
| 182 |
+
],
|
| 183 |
+
"object_id": [
|
| 184 |
+
[
|
| 185 |
+
"half_apple_213",
|
| 186 |
+
"packing_box_210"
|
| 187 |
+
]
|
| 188 |
+
],
|
| 189 |
+
"manipulating_object_id": [
|
| 190 |
+
"half_apple_213"
|
| 191 |
+
],
|
| 192 |
+
"spatial_prefix": [],
|
| 193 |
+
"frame_duration": [
|
| 194 |
+
1869,
|
| 195 |
+
2019
|
| 196 |
+
],
|
| 197 |
+
"mp_ef": [],
|
| 198 |
+
"skill_type": [
|
| 199 |
+
"uncoordinated"
|
| 200 |
+
]
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 7,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
4
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"place in"
|
| 209 |
+
],
|
| 210 |
+
"object_id": [
|
| 211 |
+
[
|
| 212 |
+
"half_apple_212",
|
| 213 |
+
"packing_box_210"
|
| 214 |
+
]
|
| 215 |
+
],
|
| 216 |
+
"manipulating_object_id": [
|
| 217 |
+
"half_apple_212"
|
| 218 |
+
],
|
| 219 |
+
"spatial_prefix": [],
|
| 220 |
+
"frame_duration": [
|
| 221 |
+
2019,
|
| 222 |
+
2181
|
| 223 |
+
],
|
| 224 |
+
"mp_ef": [],
|
| 225 |
+
"skill_type": [
|
| 226 |
+
"uncoordinated"
|
| 227 |
+
]
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"skill_idx": 8,
|
| 231 |
+
"skill_id": [
|
| 232 |
+
1
|
| 233 |
+
],
|
| 234 |
+
"skill_description": [
|
| 235 |
+
"move to"
|
| 236 |
+
],
|
| 237 |
+
"object_id": [
|
| 238 |
+
[
|
| 239 |
+
"chocolate_chip_cookie_207"
|
| 240 |
+
]
|
| 241 |
+
],
|
| 242 |
+
"manipulating_object_id": [],
|
| 243 |
+
"spatial_prefix": [],
|
| 244 |
+
"frame_duration": [
|
| 245 |
+
2181,
|
| 246 |
+
2463
|
| 247 |
+
],
|
| 248 |
+
"mp_ef": [],
|
| 249 |
+
"skill_type": [
|
| 250 |
+
"navigation"
|
| 251 |
+
]
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"skill_idx": 9,
|
| 255 |
+
"skill_id": [
|
| 256 |
+
90
|
| 257 |
+
],
|
| 258 |
+
"skill_description": [
|
| 259 |
+
"push to"
|
| 260 |
+
],
|
| 261 |
+
"object_id": [
|
| 262 |
+
[
|
| 263 |
+
"chocolate_chip_cookie_207",
|
| 264 |
+
"chopping_board_211"
|
| 265 |
+
]
|
| 266 |
+
],
|
| 267 |
+
"manipulating_object_id": [
|
| 268 |
+
"chocolate_chip_cookie_207"
|
| 269 |
+
],
|
| 270 |
+
"spatial_prefix": [
|
| 271 |
+
[
|
| 272 |
+
"",
|
| 273 |
+
"to_the_edge_of"
|
| 274 |
+
]
|
| 275 |
+
],
|
| 276 |
+
"frame_duration": [
|
| 277 |
+
2463,
|
| 278 |
+
2852
|
| 279 |
+
],
|
| 280 |
+
"mp_ef": [],
|
| 281 |
+
"skill_type": [
|
| 282 |
+
"uncoordinated"
|
| 283 |
+
]
|
| 284 |
+
},
|
| 285 |
+
{
|
| 286 |
+
"skill_idx": 10,
|
| 287 |
+
"skill_id": [
|
| 288 |
+
2
|
| 289 |
+
],
|
| 290 |
+
"skill_description": [
|
| 291 |
+
"pick up from"
|
| 292 |
+
],
|
| 293 |
+
"object_id": [
|
| 294 |
+
[
|
| 295 |
+
"chocolate_chip_cookie_207",
|
| 296 |
+
"chopping_board_211"
|
| 297 |
+
]
|
| 298 |
+
],
|
| 299 |
+
"manipulating_object_id": [
|
| 300 |
+
"chocolate_chip_cookie_207"
|
| 301 |
+
],
|
| 302 |
+
"spatial_prefix": [],
|
| 303 |
+
"frame_duration": [
|
| 304 |
+
2852,
|
| 305 |
+
2989
|
| 306 |
+
],
|
| 307 |
+
"mp_ef": [],
|
| 308 |
+
"skill_type": [
|
| 309 |
+
"uncoordinated"
|
| 310 |
+
]
|
| 311 |
+
},
|
| 312 |
+
{
|
| 313 |
+
"skill_idx": 11,
|
| 314 |
+
"skill_id": [
|
| 315 |
+
1
|
| 316 |
+
],
|
| 317 |
+
"skill_description": [
|
| 318 |
+
"move to"
|
| 319 |
+
],
|
| 320 |
+
"object_id": [
|
| 321 |
+
[
|
| 322 |
+
"packing_box_210"
|
| 323 |
+
]
|
| 324 |
+
],
|
| 325 |
+
"manipulating_object_id": [],
|
| 326 |
+
"spatial_prefix": [],
|
| 327 |
+
"frame_duration": [
|
| 328 |
+
2989,
|
| 329 |
+
3117
|
| 330 |
+
],
|
| 331 |
+
"mp_ef": [],
|
| 332 |
+
"skill_type": [
|
| 333 |
+
"navigation"
|
| 334 |
+
]
|
| 335 |
+
},
|
| 336 |
+
{
|
| 337 |
+
"skill_idx": 12,
|
| 338 |
+
"skill_id": [
|
| 339 |
+
4
|
| 340 |
+
],
|
| 341 |
+
"skill_description": [
|
| 342 |
+
"place in"
|
| 343 |
+
],
|
| 344 |
+
"object_id": [
|
| 345 |
+
[
|
| 346 |
+
"chocolate_chip_cookie_207",
|
| 347 |
+
"packing_box_210"
|
| 348 |
+
]
|
| 349 |
+
],
|
| 350 |
+
"manipulating_object_id": [
|
| 351 |
+
"chocolate_chip_cookie_207"
|
| 352 |
+
],
|
| 353 |
+
"spatial_prefix": [],
|
| 354 |
+
"frame_duration": [
|
| 355 |
+
3117,
|
| 356 |
+
3402
|
| 357 |
+
],
|
| 358 |
+
"mp_ef": [],
|
| 359 |
+
"skill_type": [
|
| 360 |
+
"uncoordinated"
|
| 361 |
+
]
|
| 362 |
+
},
|
| 363 |
+
{
|
| 364 |
+
"skill_idx": 13,
|
| 365 |
+
"skill_id": [
|
| 366 |
+
1
|
| 367 |
+
],
|
| 368 |
+
"skill_description": [
|
| 369 |
+
"move to"
|
| 370 |
+
],
|
| 371 |
+
"object_id": [
|
| 372 |
+
[
|
| 373 |
+
"club_sandwich_209"
|
| 374 |
+
]
|
| 375 |
+
],
|
| 376 |
+
"manipulating_object_id": [],
|
| 377 |
+
"spatial_prefix": [],
|
| 378 |
+
"frame_duration": [
|
| 379 |
+
3402,
|
| 380 |
+
3587
|
| 381 |
+
],
|
| 382 |
+
"mp_ef": [],
|
| 383 |
+
"skill_type": [
|
| 384 |
+
"navigation"
|
| 385 |
+
]
|
| 386 |
+
},
|
| 387 |
+
{
|
| 388 |
+
"skill_idx": 14,
|
| 389 |
+
"skill_id": [
|
| 390 |
+
2
|
| 391 |
+
],
|
| 392 |
+
"skill_description": [
|
| 393 |
+
"pick up from"
|
| 394 |
+
],
|
| 395 |
+
"object_id": [
|
| 396 |
+
[
|
| 397 |
+
"club_sandwich_209",
|
| 398 |
+
"chopping_board_211"
|
| 399 |
+
]
|
| 400 |
+
],
|
| 401 |
+
"manipulating_object_id": [
|
| 402 |
+
"club_sandwich_209"
|
| 403 |
+
],
|
| 404 |
+
"spatial_prefix": [],
|
| 405 |
+
"frame_duration": [
|
| 406 |
+
3587,
|
| 407 |
+
4424
|
| 408 |
+
],
|
| 409 |
+
"mp_ef": [],
|
| 410 |
+
"skill_type": [
|
| 411 |
+
"coordinated"
|
| 412 |
+
]
|
| 413 |
+
},
|
| 414 |
+
{
|
| 415 |
+
"skill_idx": 15,
|
| 416 |
+
"skill_id": [
|
| 417 |
+
1
|
| 418 |
+
],
|
| 419 |
+
"skill_description": [
|
| 420 |
+
"move to"
|
| 421 |
+
],
|
| 422 |
+
"object_id": [
|
| 423 |
+
[
|
| 424 |
+
"packing_box_210"
|
| 425 |
+
]
|
| 426 |
+
],
|
| 427 |
+
"manipulating_object_id": [],
|
| 428 |
+
"spatial_prefix": [],
|
| 429 |
+
"frame_duration": [
|
| 430 |
+
4424,
|
| 431 |
+
4658
|
| 432 |
+
],
|
| 433 |
+
"mp_ef": [],
|
| 434 |
+
"skill_type": [
|
| 435 |
+
"navigation"
|
| 436 |
+
]
|
| 437 |
+
},
|
| 438 |
+
{
|
| 439 |
+
"skill_idx": 16,
|
| 440 |
+
"skill_id": [
|
| 441 |
+
4
|
| 442 |
+
],
|
| 443 |
+
"skill_description": [
|
| 444 |
+
"place in"
|
| 445 |
+
],
|
| 446 |
+
"object_id": [
|
| 447 |
+
[
|
| 448 |
+
"club_sandwich_209",
|
| 449 |
+
"packing_box_210"
|
| 450 |
+
]
|
| 451 |
+
],
|
| 452 |
+
"manipulating_object_id": [
|
| 453 |
+
"club_sandwich_209"
|
| 454 |
+
],
|
| 455 |
+
"spatial_prefix": [],
|
| 456 |
+
"frame_duration": [
|
| 457 |
+
4658,
|
| 458 |
+
4959
|
| 459 |
+
],
|
| 460 |
+
"mp_ef": [],
|
| 461 |
+
"skill_type": [
|
| 462 |
+
"uncoordinated"
|
| 463 |
+
]
|
| 464 |
+
},
|
| 465 |
+
{
|
| 466 |
+
"skill_idx": 17,
|
| 467 |
+
"skill_id": [
|
| 468 |
+
1
|
| 469 |
+
],
|
| 470 |
+
"skill_description": [
|
| 471 |
+
"move to"
|
| 472 |
+
],
|
| 473 |
+
"object_id": [
|
| 474 |
+
[
|
| 475 |
+
"fridge_dszchb_0"
|
| 476 |
+
]
|
| 477 |
+
],
|
| 478 |
+
"manipulating_object_id": [],
|
| 479 |
+
"spatial_prefix": [],
|
| 480 |
+
"frame_duration": [
|
| 481 |
+
4959,
|
| 482 |
+
5623
|
| 483 |
+
],
|
| 484 |
+
"mp_ef": [],
|
| 485 |
+
"skill_type": [
|
| 486 |
+
"navigation"
|
| 487 |
+
]
|
| 488 |
+
},
|
| 489 |
+
{
|
| 490 |
+
"skill_idx": 18,
|
| 491 |
+
"skill_id": [
|
| 492 |
+
10
|
| 493 |
+
],
|
| 494 |
+
"skill_description": [
|
| 495 |
+
"open door"
|
| 496 |
+
],
|
| 497 |
+
"object_id": [
|
| 498 |
+
[
|
| 499 |
+
"fridge_dszchb_0"
|
| 500 |
+
]
|
| 501 |
+
],
|
| 502 |
+
"manipulating_object_id": [],
|
| 503 |
+
"spatial_prefix": [],
|
| 504 |
+
"frame_duration": [
|
| 505 |
+
5623,
|
| 506 |
+
7188
|
| 507 |
+
],
|
| 508 |
+
"mp_ef": [],
|
| 509 |
+
"skill_type": [
|
| 510 |
+
"coordinated"
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
+
{
|
| 514 |
+
"skill_idx": 19,
|
| 515 |
+
"skill_id": [
|
| 516 |
+
2
|
| 517 |
+
],
|
| 518 |
+
"skill_description": [
|
| 519 |
+
"pick up from"
|
| 520 |
+
],
|
| 521 |
+
"object_id": [
|
| 522 |
+
[
|
| 523 |
+
"bottle_of_tea_208",
|
| 524 |
+
"fridge_dszchb_0"
|
| 525 |
+
]
|
| 526 |
+
],
|
| 527 |
+
"manipulating_object_id": [
|
| 528 |
+
"bottle_of_tea_208"
|
| 529 |
+
],
|
| 530 |
+
"spatial_prefix": [
|
| 531 |
+
[
|
| 532 |
+
"",
|
| 533 |
+
"middle_level"
|
| 534 |
+
]
|
| 535 |
+
],
|
| 536 |
+
"frame_duration": [
|
| 537 |
+
7188,
|
| 538 |
+
7779
|
| 539 |
+
],
|
| 540 |
+
"mp_ef": [],
|
| 541 |
+
"skill_type": [
|
| 542 |
+
"uncoordinated"
|
| 543 |
+
]
|
| 544 |
+
},
|
| 545 |
+
{
|
| 546 |
+
"skill_idx": 20,
|
| 547 |
+
"skill_id": [
|
| 548 |
+
12
|
| 549 |
+
],
|
| 550 |
+
"skill_description": [
|
| 551 |
+
"close door"
|
| 552 |
+
],
|
| 553 |
+
"object_id": [
|
| 554 |
+
[
|
| 555 |
+
"fridge_dszchb_0"
|
| 556 |
+
]
|
| 557 |
+
],
|
| 558 |
+
"manipulating_object_id": [],
|
| 559 |
+
"spatial_prefix": [],
|
| 560 |
+
"frame_duration": [
|
| 561 |
+
7779,
|
| 562 |
+
8743
|
| 563 |
+
],
|
| 564 |
+
"mp_ef": [],
|
| 565 |
+
"skill_type": [
|
| 566 |
+
"uncoordinated"
|
| 567 |
+
]
|
| 568 |
+
},
|
| 569 |
+
{
|
| 570 |
+
"skill_idx": 21,
|
| 571 |
+
"skill_id": [
|
| 572 |
+
1
|
| 573 |
+
],
|
| 574 |
+
"skill_description": [
|
| 575 |
+
"move to"
|
| 576 |
+
],
|
| 577 |
+
"object_id": [
|
| 578 |
+
[
|
| 579 |
+
"packing_box_210"
|
| 580 |
+
]
|
| 581 |
+
],
|
| 582 |
+
"manipulating_object_id": [],
|
| 583 |
+
"spatial_prefix": [],
|
| 584 |
+
"frame_duration": [
|
| 585 |
+
8743,
|
| 586 |
+
9058
|
| 587 |
+
],
|
| 588 |
+
"mp_ef": [],
|
| 589 |
+
"skill_type": [
|
| 590 |
+
"navigation"
|
| 591 |
+
]
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"skill_idx": 22,
|
| 595 |
+
"skill_id": [
|
| 596 |
+
4
|
| 597 |
+
],
|
| 598 |
+
"skill_description": [
|
| 599 |
+
"place in"
|
| 600 |
+
],
|
| 601 |
+
"object_id": [
|
| 602 |
+
[
|
| 603 |
+
"bottle_of_tea_208",
|
| 604 |
+
"packing_box_210"
|
| 605 |
+
]
|
| 606 |
+
],
|
| 607 |
+
"manipulating_object_id": [
|
| 608 |
+
"bottle_of_tea_208"
|
| 609 |
+
],
|
| 610 |
+
"spatial_prefix": [],
|
| 611 |
+
"frame_duration": [
|
| 612 |
+
9058,
|
| 613 |
+
9510
|
| 614 |
+
],
|
| 615 |
+
"mp_ef": [],
|
| 616 |
+
"skill_type": [
|
| 617 |
+
"uncoordinated"
|
| 618 |
+
]
|
| 619 |
+
}
|
| 620 |
+
],
|
| 621 |
+
"primitive_annotation": [
|
| 622 |
+
{
|
| 623 |
+
"primitive_idx": 0,
|
| 624 |
+
"primitive_id": [
|
| 625 |
+
2,
|
| 626 |
+
91
|
| 627 |
+
],
|
| 628 |
+
"primitive_description": [
|
| 629 |
+
"pick up from",
|
| 630 |
+
"place on next to"
|
| 631 |
+
],
|
| 632 |
+
"object_id": [
|
| 633 |
+
[
|
| 634 |
+
"packing_box_210",
|
| 635 |
+
"countertop_kelker_0"
|
| 636 |
+
],
|
| 637 |
+
[
|
| 638 |
+
"packing_box_210",
|
| 639 |
+
"countertop_kelker_0",
|
| 640 |
+
"chopping_board_211"
|
| 641 |
+
]
|
| 642 |
+
],
|
| 643 |
+
"manipulating_object_id": [
|
| 644 |
+
"packing_box_210",
|
| 645 |
+
"packing_box_210"
|
| 646 |
+
],
|
| 647 |
+
"spatial_prefix": [
|
| 648 |
+
[],
|
| 649 |
+
[
|
| 650 |
+
[],
|
| 651 |
+
[],
|
| 652 |
+
[
|
| 653 |
+
"right"
|
| 654 |
+
]
|
| 655 |
+
]
|
| 656 |
+
],
|
| 657 |
+
"frame_duration": [
|
| 658 |
+
0,
|
| 659 |
+
842
|
| 660 |
+
],
|
| 661 |
+
"skill_idxes": [
|
| 662 |
+
0,
|
| 663 |
+
1,
|
| 664 |
+
2,
|
| 665 |
+
3
|
| 666 |
+
]
|
| 667 |
+
},
|
| 668 |
+
{
|
| 669 |
+
"primitive_idx": 1,
|
| 670 |
+
"primitive_id": [
|
| 671 |
+
2,
|
| 672 |
+
4
|
| 673 |
+
],
|
| 674 |
+
"primitive_description": [
|
| 675 |
+
"pick up from",
|
| 676 |
+
"place in"
|
| 677 |
+
],
|
| 678 |
+
"object_id": [
|
| 679 |
+
[
|
| 680 |
+
[
|
| 681 |
+
"half_apple_213",
|
| 682 |
+
"half_apple_212"
|
| 683 |
+
],
|
| 684 |
+
"chopping_board_211"
|
| 685 |
+
],
|
| 686 |
+
[
|
| 687 |
+
[
|
| 688 |
+
"half_apple_213",
|
| 689 |
+
"half_apple_212"
|
| 690 |
+
],
|
| 691 |
+
"packing_box_210"
|
| 692 |
+
]
|
| 693 |
+
],
|
| 694 |
+
"manipulating_object_id": [
|
| 695 |
+
[
|
| 696 |
+
"half_apple_213",
|
| 697 |
+
"half_apple_212"
|
| 698 |
+
],
|
| 699 |
+
[
|
| 700 |
+
"half_apple_213",
|
| 701 |
+
"half_apple_212"
|
| 702 |
+
]
|
| 703 |
+
],
|
| 704 |
+
"spatial_prefix": [],
|
| 705 |
+
"frame_duration": [
|
| 706 |
+
842,
|
| 707 |
+
2181
|
| 708 |
+
],
|
| 709 |
+
"skill_idxes": [
|
| 710 |
+
4,
|
| 711 |
+
5,
|
| 712 |
+
6,
|
| 713 |
+
7
|
| 714 |
+
]
|
| 715 |
+
},
|
| 716 |
+
{
|
| 717 |
+
"primitive_idx": 2,
|
| 718 |
+
"primitive_id": [
|
| 719 |
+
2,
|
| 720 |
+
4
|
| 721 |
+
],
|
| 722 |
+
"primitive_description": [
|
| 723 |
+
"pick up from",
|
| 724 |
+
"place in"
|
| 725 |
+
],
|
| 726 |
+
"object_id": [
|
| 727 |
+
[
|
| 728 |
+
"chocolate_chip_cookie_207",
|
| 729 |
+
"chopping_board_211"
|
| 730 |
+
],
|
| 731 |
+
[
|
| 732 |
+
"chocolate_chip_cookie_207",
|
| 733 |
+
"packing_box_210"
|
| 734 |
+
]
|
| 735 |
+
],
|
| 736 |
+
"manipulating_object_id": [
|
| 737 |
+
"chocolate_chip_cookie_207",
|
| 738 |
+
"chocolate_chip_cookie_207"
|
| 739 |
+
],
|
| 740 |
+
"spatial_prefix": [],
|
| 741 |
+
"frame_duration": [
|
| 742 |
+
2181,
|
| 743 |
+
3402
|
| 744 |
+
],
|
| 745 |
+
"skill_idxes": [
|
| 746 |
+
8,
|
| 747 |
+
9,
|
| 748 |
+
10,
|
| 749 |
+
11,
|
| 750 |
+
12
|
| 751 |
+
]
|
| 752 |
+
},
|
| 753 |
+
{
|
| 754 |
+
"primitive_idx": 3,
|
| 755 |
+
"primitive_id": [
|
| 756 |
+
2,
|
| 757 |
+
4
|
| 758 |
+
],
|
| 759 |
+
"primitive_description": [
|
| 760 |
+
"pick up from",
|
| 761 |
+
"place in"
|
| 762 |
+
],
|
| 763 |
+
"object_id": [
|
| 764 |
+
[
|
| 765 |
+
"club_sandwich_209",
|
| 766 |
+
"chopping_board_211"
|
| 767 |
+
],
|
| 768 |
+
[
|
| 769 |
+
"club_sandwich_209",
|
| 770 |
+
"packing_box_210"
|
| 771 |
+
]
|
| 772 |
+
],
|
| 773 |
+
"manipulating_object_id": [
|
| 774 |
+
"club_sandwich_209",
|
| 775 |
+
"club_sandwich_209"
|
| 776 |
+
],
|
| 777 |
+
"spatial_prefix": [],
|
| 778 |
+
"frame_duration": [
|
| 779 |
+
3402,
|
| 780 |
+
4959
|
| 781 |
+
],
|
| 782 |
+
"skill_idxes": [
|
| 783 |
+
13,
|
| 784 |
+
14,
|
| 785 |
+
15,
|
| 786 |
+
16
|
| 787 |
+
]
|
| 788 |
+
},
|
| 789 |
+
{
|
| 790 |
+
"primitive_idx": 4,
|
| 791 |
+
"primitive_id": [],
|
| 792 |
+
"primitive_description": [],
|
| 793 |
+
"object_id": [],
|
| 794 |
+
"manipulating_object_id": [],
|
| 795 |
+
"spatial_prefix": [],
|
| 796 |
+
"frame_duration": [
|
| 797 |
+
4959,
|
| 798 |
+
9058
|
| 799 |
+
],
|
| 800 |
+
"skill_idxes": [
|
| 801 |
+
17,
|
| 802 |
+
18,
|
| 803 |
+
21
|
| 804 |
+
]
|
| 805 |
+
},
|
| 806 |
+
{
|
| 807 |
+
"primitive_idx": 5,
|
| 808 |
+
"primitive_id": [
|
| 809 |
+
2
|
| 810 |
+
],
|
| 811 |
+
"primitive_description": [
|
| 812 |
+
"pick up from"
|
| 813 |
+
],
|
| 814 |
+
"object_id": [
|
| 815 |
+
[
|
| 816 |
+
"bottle_of_tea_208",
|
| 817 |
+
"fridge_dszchb_0"
|
| 818 |
+
]
|
| 819 |
+
],
|
| 820 |
+
"manipulating_object_id": [
|
| 821 |
+
"bottle_of_tea_208"
|
| 822 |
+
],
|
| 823 |
+
"spatial_prefix": [
|
| 824 |
+
[
|
| 825 |
+
[],
|
| 826 |
+
[
|
| 827 |
+
"middle_level"
|
| 828 |
+
]
|
| 829 |
+
]
|
| 830 |
+
],
|
| 831 |
+
"frame_duration": [
|
| 832 |
+
7188,
|
| 833 |
+
7779
|
| 834 |
+
],
|
| 835 |
+
"skill_idxes": [
|
| 836 |
+
19
|
| 837 |
+
]
|
| 838 |
+
},
|
| 839 |
+
{
|
| 840 |
+
"primitive_idx": 6,
|
| 841 |
+
"primitive_id": [
|
| 842 |
+
12
|
| 843 |
+
],
|
| 844 |
+
"primitive_description": [
|
| 845 |
+
"close door"
|
| 846 |
+
],
|
| 847 |
+
"object_id": [
|
| 848 |
+
[
|
| 849 |
+
"fridge_dszchb_0"
|
| 850 |
+
]
|
| 851 |
+
],
|
| 852 |
+
"manipulating_object_id": [],
|
| 853 |
+
"spatial_prefix": [],
|
| 854 |
+
"frame_duration": [
|
| 855 |
+
7779,
|
| 856 |
+
8743
|
| 857 |
+
],
|
| 858 |
+
"skill_idxes": [
|
| 859 |
+
20
|
| 860 |
+
]
|
| 861 |
+
},
|
| 862 |
+
{
|
| 863 |
+
"primitive_idx": 7,
|
| 864 |
+
"primitive_id": [
|
| 865 |
+
4
|
| 866 |
+
],
|
| 867 |
+
"primitive_description": [
|
| 868 |
+
"place in"
|
| 869 |
+
],
|
| 870 |
+
"object_id": [
|
| 871 |
+
[
|
| 872 |
+
"bottle_of_tea_208",
|
| 873 |
+
"packing_box_210"
|
| 874 |
+
]
|
| 875 |
+
],
|
| 876 |
+
"manipulating_object_id": [
|
| 877 |
+
"bottle_of_tea_208"
|
| 878 |
+
],
|
| 879 |
+
"spatial_prefix": [],
|
| 880 |
+
"frame_duration": [
|
| 881 |
+
9058,
|
| 882 |
+
9510
|
| 883 |
+
],
|
| 884 |
+
"skill_idxes": [
|
| 885 |
+
22
|
| 886 |
+
]
|
| 887 |
+
}
|
| 888 |
+
]
|
| 889 |
+
}
|
annotations/episode_00000024.json
ADDED
|
@@ -0,0 +1,914 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7691,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
36,
|
| 8 |
+
7727
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
36,
|
| 29 |
+
357
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
357,
|
| 56 |
+
871
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
872,
|
| 80 |
+
1003
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"burner_mjvqii_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
1004,
|
| 114 |
+
1165
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"half_apple_212"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
1165,
|
| 138 |
+
1328
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
2
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"pick up from"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"half_apple_212",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"half_apple_212"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [
|
| 164 |
+
1329,
|
| 165 |
+
1524
|
| 166 |
+
],
|
| 167 |
+
"mp_ef": [],
|
| 168 |
+
"skill_type": [
|
| 169 |
+
"uncoordinated"
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"skill_idx": 6,
|
| 174 |
+
"skill_id": [
|
| 175 |
+
2
|
| 176 |
+
],
|
| 177 |
+
"skill_description": [
|
| 178 |
+
"pick up from"
|
| 179 |
+
],
|
| 180 |
+
"object_id": [
|
| 181 |
+
[
|
| 182 |
+
"half_apple_213",
|
| 183 |
+
"chopping_board_211"
|
| 184 |
+
]
|
| 185 |
+
],
|
| 186 |
+
"manipulating_object_id": [
|
| 187 |
+
"half_apple_213"
|
| 188 |
+
],
|
| 189 |
+
"spatial_prefix": [],
|
| 190 |
+
"frame_duration": [
|
| 191 |
+
1524,
|
| 192 |
+
1992
|
| 193 |
+
],
|
| 194 |
+
"mp_ef": [],
|
| 195 |
+
"skill_type": [
|
| 196 |
+
"uncoordinated"
|
| 197 |
+
]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"skill_idx": 7,
|
| 201 |
+
"skill_id": [
|
| 202 |
+
1
|
| 203 |
+
],
|
| 204 |
+
"skill_description": [
|
| 205 |
+
"move to"
|
| 206 |
+
],
|
| 207 |
+
"object_id": [
|
| 208 |
+
[
|
| 209 |
+
"packing_box_210"
|
| 210 |
+
]
|
| 211 |
+
],
|
| 212 |
+
"manipulating_object_id": [],
|
| 213 |
+
"spatial_prefix": [],
|
| 214 |
+
"frame_duration": [
|
| 215 |
+
1992,
|
| 216 |
+
2031
|
| 217 |
+
],
|
| 218 |
+
"mp_ef": [],
|
| 219 |
+
"skill_type": [
|
| 220 |
+
"navigation"
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"skill_idx": 8,
|
| 225 |
+
"skill_id": [
|
| 226 |
+
4
|
| 227 |
+
],
|
| 228 |
+
"skill_description": [
|
| 229 |
+
"place in"
|
| 230 |
+
],
|
| 231 |
+
"object_id": [
|
| 232 |
+
[
|
| 233 |
+
"half_apple_213",
|
| 234 |
+
"packing_box_210"
|
| 235 |
+
]
|
| 236 |
+
],
|
| 237 |
+
"manipulating_object_id": [
|
| 238 |
+
"half_apple_213"
|
| 239 |
+
],
|
| 240 |
+
"spatial_prefix": [],
|
| 241 |
+
"frame_duration": [
|
| 242 |
+
2031,
|
| 243 |
+
2153
|
| 244 |
+
],
|
| 245 |
+
"mp_ef": [],
|
| 246 |
+
"skill_type": [
|
| 247 |
+
"uncoordinated"
|
| 248 |
+
]
|
| 249 |
+
},
|
| 250 |
+
{
|
| 251 |
+
"skill_idx": 9,
|
| 252 |
+
"skill_id": [
|
| 253 |
+
4
|
| 254 |
+
],
|
| 255 |
+
"skill_description": [
|
| 256 |
+
"place in"
|
| 257 |
+
],
|
| 258 |
+
"object_id": [
|
| 259 |
+
[
|
| 260 |
+
"half_apple_212",
|
| 261 |
+
"packing_box_210"
|
| 262 |
+
]
|
| 263 |
+
],
|
| 264 |
+
"manipulating_object_id": [
|
| 265 |
+
"half_apple_212"
|
| 266 |
+
],
|
| 267 |
+
"spatial_prefix": [],
|
| 268 |
+
"frame_duration": [
|
| 269 |
+
2153,
|
| 270 |
+
2351
|
| 271 |
+
],
|
| 272 |
+
"mp_ef": [],
|
| 273 |
+
"skill_type": [
|
| 274 |
+
"uncoordinated"
|
| 275 |
+
]
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"skill_idx": 10,
|
| 279 |
+
"skill_id": [
|
| 280 |
+
1
|
| 281 |
+
],
|
| 282 |
+
"skill_description": [
|
| 283 |
+
"move to"
|
| 284 |
+
],
|
| 285 |
+
"object_id": [
|
| 286 |
+
[
|
| 287 |
+
"club_sandwich_209"
|
| 288 |
+
]
|
| 289 |
+
],
|
| 290 |
+
"manipulating_object_id": [],
|
| 291 |
+
"spatial_prefix": [],
|
| 292 |
+
"frame_duration": [
|
| 293 |
+
2351,
|
| 294 |
+
2530
|
| 295 |
+
],
|
| 296 |
+
"mp_ef": [],
|
| 297 |
+
"skill_type": [
|
| 298 |
+
"navigation"
|
| 299 |
+
]
|
| 300 |
+
},
|
| 301 |
+
{
|
| 302 |
+
"skill_idx": 11,
|
| 303 |
+
"skill_id": [
|
| 304 |
+
2
|
| 305 |
+
],
|
| 306 |
+
"skill_description": [
|
| 307 |
+
"pick up from"
|
| 308 |
+
],
|
| 309 |
+
"object_id": [
|
| 310 |
+
[
|
| 311 |
+
"club_sandwich_209",
|
| 312 |
+
"chopping_board_211"
|
| 313 |
+
]
|
| 314 |
+
],
|
| 315 |
+
"manipulating_object_id": [
|
| 316 |
+
"club_sandwich_209"
|
| 317 |
+
],
|
| 318 |
+
"spatial_prefix": [],
|
| 319 |
+
"frame_duration": [
|
| 320 |
+
2530,
|
| 321 |
+
2756
|
| 322 |
+
],
|
| 323 |
+
"mp_ef": [],
|
| 324 |
+
"skill_type": [
|
| 325 |
+
"uncoordinated"
|
| 326 |
+
]
|
| 327 |
+
},
|
| 328 |
+
{
|
| 329 |
+
"skill_idx": 12,
|
| 330 |
+
"skill_id": [
|
| 331 |
+
1
|
| 332 |
+
],
|
| 333 |
+
"skill_description": [
|
| 334 |
+
"move to"
|
| 335 |
+
],
|
| 336 |
+
"object_id": [
|
| 337 |
+
[
|
| 338 |
+
"packing_box_210"
|
| 339 |
+
]
|
| 340 |
+
],
|
| 341 |
+
"manipulating_object_id": [],
|
| 342 |
+
"spatial_prefix": [],
|
| 343 |
+
"frame_duration": [
|
| 344 |
+
2757,
|
| 345 |
+
2893
|
| 346 |
+
],
|
| 347 |
+
"mp_ef": [],
|
| 348 |
+
"skill_type": [
|
| 349 |
+
"navigation"
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"skill_idx": 13,
|
| 354 |
+
"skill_id": [
|
| 355 |
+
4
|
| 356 |
+
],
|
| 357 |
+
"skill_description": [
|
| 358 |
+
"place in"
|
| 359 |
+
],
|
| 360 |
+
"object_id": [
|
| 361 |
+
[
|
| 362 |
+
"club_sandwich_209",
|
| 363 |
+
"packing_box_210"
|
| 364 |
+
]
|
| 365 |
+
],
|
| 366 |
+
"manipulating_object_id": [
|
| 367 |
+
"club_sandwich_209"
|
| 368 |
+
],
|
| 369 |
+
"spatial_prefix": [],
|
| 370 |
+
"frame_duration": [
|
| 371 |
+
2893,
|
| 372 |
+
3119
|
| 373 |
+
],
|
| 374 |
+
"mp_ef": [],
|
| 375 |
+
"skill_type": [
|
| 376 |
+
"uncoordinated"
|
| 377 |
+
]
|
| 378 |
+
},
|
| 379 |
+
{
|
| 380 |
+
"skill_idx": 14,
|
| 381 |
+
"skill_id": [
|
| 382 |
+
1
|
| 383 |
+
],
|
| 384 |
+
"skill_description": [
|
| 385 |
+
"move to"
|
| 386 |
+
],
|
| 387 |
+
"object_id": [
|
| 388 |
+
[
|
| 389 |
+
"chocolate_chip_cookie_207"
|
| 390 |
+
]
|
| 391 |
+
],
|
| 392 |
+
"manipulating_object_id": [],
|
| 393 |
+
"spatial_prefix": [],
|
| 394 |
+
"frame_duration": [
|
| 395 |
+
3119,
|
| 396 |
+
3180
|
| 397 |
+
],
|
| 398 |
+
"mp_ef": [],
|
| 399 |
+
"skill_type": [
|
| 400 |
+
"navigation"
|
| 401 |
+
]
|
| 402 |
+
},
|
| 403 |
+
{
|
| 404 |
+
"skill_idx": 15,
|
| 405 |
+
"skill_id": [
|
| 406 |
+
90
|
| 407 |
+
],
|
| 408 |
+
"skill_description": [
|
| 409 |
+
"push to"
|
| 410 |
+
],
|
| 411 |
+
"object_id": [
|
| 412 |
+
[
|
| 413 |
+
"chocolate_chip_cookie_207",
|
| 414 |
+
"chopping_board_211"
|
| 415 |
+
]
|
| 416 |
+
],
|
| 417 |
+
"manipulating_object_id": [
|
| 418 |
+
"chocolate_chip_cookie_207"
|
| 419 |
+
],
|
| 420 |
+
"spatial_prefix": [
|
| 421 |
+
[
|
| 422 |
+
"",
|
| 423 |
+
"to_the_edge_of"
|
| 424 |
+
]
|
| 425 |
+
],
|
| 426 |
+
"frame_duration": [
|
| 427 |
+
3180,
|
| 428 |
+
3609
|
| 429 |
+
],
|
| 430 |
+
"mp_ef": [],
|
| 431 |
+
"skill_type": [
|
| 432 |
+
"uncoordinated"
|
| 433 |
+
]
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"skill_idx": 16,
|
| 437 |
+
"skill_id": [
|
| 438 |
+
2
|
| 439 |
+
],
|
| 440 |
+
"skill_description": [
|
| 441 |
+
"pick up from"
|
| 442 |
+
],
|
| 443 |
+
"object_id": [
|
| 444 |
+
[
|
| 445 |
+
"chocolate_chip_cookie_207",
|
| 446 |
+
"chopping_board_211"
|
| 447 |
+
]
|
| 448 |
+
],
|
| 449 |
+
"manipulating_object_id": [
|
| 450 |
+
"chocolate_chip_cookie_207"
|
| 451 |
+
],
|
| 452 |
+
"spatial_prefix": [],
|
| 453 |
+
"frame_duration": [
|
| 454 |
+
3609,
|
| 455 |
+
3732
|
| 456 |
+
],
|
| 457 |
+
"mp_ef": [],
|
| 458 |
+
"skill_type": [
|
| 459 |
+
"uncoordinated"
|
| 460 |
+
]
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"skill_idx": 17,
|
| 464 |
+
"skill_id": [
|
| 465 |
+
4
|
| 466 |
+
],
|
| 467 |
+
"skill_description": [
|
| 468 |
+
"place in"
|
| 469 |
+
],
|
| 470 |
+
"object_id": [
|
| 471 |
+
[
|
| 472 |
+
"chocolate_chip_cookie_207",
|
| 473 |
+
"packing_box_210"
|
| 474 |
+
]
|
| 475 |
+
],
|
| 476 |
+
"manipulating_object_id": [
|
| 477 |
+
"chocolate_chip_cookie_207"
|
| 478 |
+
],
|
| 479 |
+
"spatial_prefix": [],
|
| 480 |
+
"frame_duration": [
|
| 481 |
+
3732,
|
| 482 |
+
4044
|
| 483 |
+
],
|
| 484 |
+
"mp_ef": [],
|
| 485 |
+
"skill_type": [
|
| 486 |
+
"uncoordinated"
|
| 487 |
+
]
|
| 488 |
+
},
|
| 489 |
+
{
|
| 490 |
+
"skill_idx": 18,
|
| 491 |
+
"skill_id": [
|
| 492 |
+
1
|
| 493 |
+
],
|
| 494 |
+
"skill_description": [
|
| 495 |
+
"move to"
|
| 496 |
+
],
|
| 497 |
+
"object_id": [
|
| 498 |
+
[
|
| 499 |
+
"fridge_dszchb_0"
|
| 500 |
+
]
|
| 501 |
+
],
|
| 502 |
+
"manipulating_object_id": [],
|
| 503 |
+
"spatial_prefix": [],
|
| 504 |
+
"frame_duration": [
|
| 505 |
+
4044,
|
| 506 |
+
4740
|
| 507 |
+
],
|
| 508 |
+
"mp_ef": [],
|
| 509 |
+
"skill_type": [
|
| 510 |
+
"navigation"
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
+
{
|
| 514 |
+
"skill_idx": 19,
|
| 515 |
+
"skill_id": [
|
| 516 |
+
10
|
| 517 |
+
],
|
| 518 |
+
"skill_description": [
|
| 519 |
+
"open door"
|
| 520 |
+
],
|
| 521 |
+
"object_id": [
|
| 522 |
+
[
|
| 523 |
+
"fridge_dszchb_0"
|
| 524 |
+
]
|
| 525 |
+
],
|
| 526 |
+
"manipulating_object_id": [],
|
| 527 |
+
"spatial_prefix": [],
|
| 528 |
+
"frame_duration": [
|
| 529 |
+
4740,
|
| 530 |
+
5593
|
| 531 |
+
],
|
| 532 |
+
"mp_ef": [],
|
| 533 |
+
"skill_type": [
|
| 534 |
+
"coordinated"
|
| 535 |
+
]
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"skill_idx": 20,
|
| 539 |
+
"skill_id": [
|
| 540 |
+
2
|
| 541 |
+
],
|
| 542 |
+
"skill_description": [
|
| 543 |
+
"pick up from"
|
| 544 |
+
],
|
| 545 |
+
"object_id": [
|
| 546 |
+
[
|
| 547 |
+
"bottle_of_tea_208",
|
| 548 |
+
"fridge_dszchb_0"
|
| 549 |
+
]
|
| 550 |
+
],
|
| 551 |
+
"manipulating_object_id": [
|
| 552 |
+
"bottle_of_tea_208"
|
| 553 |
+
],
|
| 554 |
+
"spatial_prefix": [
|
| 555 |
+
[
|
| 556 |
+
"",
|
| 557 |
+
"low_level"
|
| 558 |
+
]
|
| 559 |
+
],
|
| 560 |
+
"frame_duration": [
|
| 561 |
+
5593,
|
| 562 |
+
6163
|
| 563 |
+
],
|
| 564 |
+
"mp_ef": [],
|
| 565 |
+
"skill_type": [
|
| 566 |
+
"uncoordinated"
|
| 567 |
+
]
|
| 568 |
+
},
|
| 569 |
+
{
|
| 570 |
+
"skill_idx": 21,
|
| 571 |
+
"skill_id": [
|
| 572 |
+
12
|
| 573 |
+
],
|
| 574 |
+
"skill_description": [
|
| 575 |
+
"close door"
|
| 576 |
+
],
|
| 577 |
+
"object_id": [
|
| 578 |
+
[
|
| 579 |
+
"fridge_dszchb_0"
|
| 580 |
+
]
|
| 581 |
+
],
|
| 582 |
+
"manipulating_object_id": [],
|
| 583 |
+
"spatial_prefix": [],
|
| 584 |
+
"frame_duration": [
|
| 585 |
+
6163,
|
| 586 |
+
7015
|
| 587 |
+
],
|
| 588 |
+
"mp_ef": [],
|
| 589 |
+
"skill_type": [
|
| 590 |
+
"uncoordinated"
|
| 591 |
+
]
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"skill_idx": 22,
|
| 595 |
+
"skill_id": [
|
| 596 |
+
1
|
| 597 |
+
],
|
| 598 |
+
"skill_description": [
|
| 599 |
+
"move to"
|
| 600 |
+
],
|
| 601 |
+
"object_id": [
|
| 602 |
+
[
|
| 603 |
+
"packing_box_210"
|
| 604 |
+
]
|
| 605 |
+
],
|
| 606 |
+
"manipulating_object_id": [],
|
| 607 |
+
"spatial_prefix": [],
|
| 608 |
+
"frame_duration": [
|
| 609 |
+
7015,
|
| 610 |
+
7327
|
| 611 |
+
],
|
| 612 |
+
"mp_ef": [],
|
| 613 |
+
"skill_type": [
|
| 614 |
+
"navigation"
|
| 615 |
+
]
|
| 616 |
+
},
|
| 617 |
+
{
|
| 618 |
+
"skill_idx": 23,
|
| 619 |
+
"skill_id": [
|
| 620 |
+
4
|
| 621 |
+
],
|
| 622 |
+
"skill_description": [
|
| 623 |
+
"place in"
|
| 624 |
+
],
|
| 625 |
+
"object_id": [
|
| 626 |
+
[
|
| 627 |
+
"bottle_of_tea_208",
|
| 628 |
+
"packing_box_210"
|
| 629 |
+
]
|
| 630 |
+
],
|
| 631 |
+
"manipulating_object_id": [
|
| 632 |
+
"bottle_of_tea_208"
|
| 633 |
+
],
|
| 634 |
+
"spatial_prefix": [],
|
| 635 |
+
"frame_duration": [
|
| 636 |
+
7336,
|
| 637 |
+
7727
|
| 638 |
+
],
|
| 639 |
+
"mp_ef": [],
|
| 640 |
+
"skill_type": [
|
| 641 |
+
"uncoordinated"
|
| 642 |
+
]
|
| 643 |
+
}
|
| 644 |
+
],
|
| 645 |
+
"primitive_annotation": [
|
| 646 |
+
{
|
| 647 |
+
"primitive_idx": 0,
|
| 648 |
+
"primitive_id": [
|
| 649 |
+
2,
|
| 650 |
+
91
|
| 651 |
+
],
|
| 652 |
+
"primitive_description": [
|
| 653 |
+
"pick up from",
|
| 654 |
+
"place on next to"
|
| 655 |
+
],
|
| 656 |
+
"object_id": [
|
| 657 |
+
[
|
| 658 |
+
"packing_box_210",
|
| 659 |
+
"countertop_kelker_0"
|
| 660 |
+
],
|
| 661 |
+
[
|
| 662 |
+
"packing_box_210",
|
| 663 |
+
"burner_mjvqii_0",
|
| 664 |
+
"chopping_board_211"
|
| 665 |
+
]
|
| 666 |
+
],
|
| 667 |
+
"manipulating_object_id": [
|
| 668 |
+
"packing_box_210",
|
| 669 |
+
"packing_box_210"
|
| 670 |
+
],
|
| 671 |
+
"spatial_prefix": [
|
| 672 |
+
[],
|
| 673 |
+
[
|
| 674 |
+
[],
|
| 675 |
+
[],
|
| 676 |
+
[
|
| 677 |
+
"left"
|
| 678 |
+
]
|
| 679 |
+
]
|
| 680 |
+
],
|
| 681 |
+
"frame_duration": [
|
| 682 |
+
36,
|
| 683 |
+
1165
|
| 684 |
+
],
|
| 685 |
+
"skill_idxes": [
|
| 686 |
+
0,
|
| 687 |
+
1,
|
| 688 |
+
2,
|
| 689 |
+
3
|
| 690 |
+
]
|
| 691 |
+
},
|
| 692 |
+
{
|
| 693 |
+
"primitive_idx": 1,
|
| 694 |
+
"primitive_id": [
|
| 695 |
+
2,
|
| 696 |
+
4
|
| 697 |
+
],
|
| 698 |
+
"primitive_description": [
|
| 699 |
+
"pick up from",
|
| 700 |
+
"place in"
|
| 701 |
+
],
|
| 702 |
+
"object_id": [
|
| 703 |
+
[
|
| 704 |
+
[
|
| 705 |
+
"half_apple_212",
|
| 706 |
+
"half_apple_213"
|
| 707 |
+
],
|
| 708 |
+
"chopping_board_211"
|
| 709 |
+
],
|
| 710 |
+
[
|
| 711 |
+
[
|
| 712 |
+
"half_apple_213",
|
| 713 |
+
"half_apple_212"
|
| 714 |
+
],
|
| 715 |
+
"packing_box_210"
|
| 716 |
+
]
|
| 717 |
+
],
|
| 718 |
+
"manipulating_object_id": [
|
| 719 |
+
[
|
| 720 |
+
"half_apple_212",
|
| 721 |
+
"half_apple_213"
|
| 722 |
+
],
|
| 723 |
+
[
|
| 724 |
+
"half_apple_213",
|
| 725 |
+
"half_apple_212"
|
| 726 |
+
]
|
| 727 |
+
],
|
| 728 |
+
"spatial_prefix": [],
|
| 729 |
+
"frame_duration": [
|
| 730 |
+
1165,
|
| 731 |
+
2351
|
| 732 |
+
],
|
| 733 |
+
"skill_idxes": [
|
| 734 |
+
4,
|
| 735 |
+
5,
|
| 736 |
+
6,
|
| 737 |
+
7,
|
| 738 |
+
8,
|
| 739 |
+
9
|
| 740 |
+
]
|
| 741 |
+
},
|
| 742 |
+
{
|
| 743 |
+
"primitive_idx": 2,
|
| 744 |
+
"primitive_id": [
|
| 745 |
+
2,
|
| 746 |
+
4
|
| 747 |
+
],
|
| 748 |
+
"primitive_description": [
|
| 749 |
+
"pick up from",
|
| 750 |
+
"place in"
|
| 751 |
+
],
|
| 752 |
+
"object_id": [
|
| 753 |
+
[
|
| 754 |
+
"club_sandwich_209",
|
| 755 |
+
"chopping_board_211"
|
| 756 |
+
],
|
| 757 |
+
[
|
| 758 |
+
"club_sandwich_209",
|
| 759 |
+
"packing_box_210"
|
| 760 |
+
]
|
| 761 |
+
],
|
| 762 |
+
"manipulating_object_id": [
|
| 763 |
+
"club_sandwich_209",
|
| 764 |
+
"club_sandwich_209"
|
| 765 |
+
],
|
| 766 |
+
"spatial_prefix": [],
|
| 767 |
+
"frame_duration": [
|
| 768 |
+
2351,
|
| 769 |
+
3119
|
| 770 |
+
],
|
| 771 |
+
"skill_idxes": [
|
| 772 |
+
10,
|
| 773 |
+
11,
|
| 774 |
+
12,
|
| 775 |
+
13
|
| 776 |
+
]
|
| 777 |
+
},
|
| 778 |
+
{
|
| 779 |
+
"primitive_idx": 3,
|
| 780 |
+
"primitive_id": [
|
| 781 |
+
2,
|
| 782 |
+
4
|
| 783 |
+
],
|
| 784 |
+
"primitive_description": [
|
| 785 |
+
"pick up from",
|
| 786 |
+
"place in"
|
| 787 |
+
],
|
| 788 |
+
"object_id": [
|
| 789 |
+
[
|
| 790 |
+
"chocolate_chip_cookie_207",
|
| 791 |
+
"chopping_board_211"
|
| 792 |
+
],
|
| 793 |
+
[
|
| 794 |
+
"chocolate_chip_cookie_207",
|
| 795 |
+
"packing_box_210"
|
| 796 |
+
]
|
| 797 |
+
],
|
| 798 |
+
"manipulating_object_id": [
|
| 799 |
+
"chocolate_chip_cookie_207",
|
| 800 |
+
"chocolate_chip_cookie_207"
|
| 801 |
+
],
|
| 802 |
+
"spatial_prefix": [],
|
| 803 |
+
"frame_duration": [
|
| 804 |
+
3119,
|
| 805 |
+
4044
|
| 806 |
+
],
|
| 807 |
+
"skill_idxes": [
|
| 808 |
+
14,
|
| 809 |
+
15,
|
| 810 |
+
16,
|
| 811 |
+
17
|
| 812 |
+
]
|
| 813 |
+
},
|
| 814 |
+
{
|
| 815 |
+
"primitive_idx": 4,
|
| 816 |
+
"primitive_id": [],
|
| 817 |
+
"primitive_description": [],
|
| 818 |
+
"object_id": [],
|
| 819 |
+
"manipulating_object_id": [],
|
| 820 |
+
"spatial_prefix": [],
|
| 821 |
+
"frame_duration": [
|
| 822 |
+
4044,
|
| 823 |
+
7327
|
| 824 |
+
],
|
| 825 |
+
"skill_idxes": [
|
| 826 |
+
18,
|
| 827 |
+
19,
|
| 828 |
+
22
|
| 829 |
+
]
|
| 830 |
+
},
|
| 831 |
+
{
|
| 832 |
+
"primitive_idx": 5,
|
| 833 |
+
"primitive_id": [
|
| 834 |
+
2
|
| 835 |
+
],
|
| 836 |
+
"primitive_description": [
|
| 837 |
+
"pick up from"
|
| 838 |
+
],
|
| 839 |
+
"object_id": [
|
| 840 |
+
[
|
| 841 |
+
"bottle_of_tea_208",
|
| 842 |
+
"fridge_dszchb_0"
|
| 843 |
+
]
|
| 844 |
+
],
|
| 845 |
+
"manipulating_object_id": [
|
| 846 |
+
"bottle_of_tea_208"
|
| 847 |
+
],
|
| 848 |
+
"spatial_prefix": [
|
| 849 |
+
[
|
| 850 |
+
[],
|
| 851 |
+
[
|
| 852 |
+
"low_level"
|
| 853 |
+
]
|
| 854 |
+
]
|
| 855 |
+
],
|
| 856 |
+
"frame_duration": [
|
| 857 |
+
5593,
|
| 858 |
+
6163
|
| 859 |
+
],
|
| 860 |
+
"skill_idxes": [
|
| 861 |
+
20
|
| 862 |
+
]
|
| 863 |
+
},
|
| 864 |
+
{
|
| 865 |
+
"primitive_idx": 6,
|
| 866 |
+
"primitive_id": [
|
| 867 |
+
12
|
| 868 |
+
],
|
| 869 |
+
"primitive_description": [
|
| 870 |
+
"close door"
|
| 871 |
+
],
|
| 872 |
+
"object_id": [
|
| 873 |
+
[
|
| 874 |
+
"fridge_dszchb_0"
|
| 875 |
+
]
|
| 876 |
+
],
|
| 877 |
+
"manipulating_object_id": [],
|
| 878 |
+
"spatial_prefix": [],
|
| 879 |
+
"frame_duration": [
|
| 880 |
+
6163,
|
| 881 |
+
7015
|
| 882 |
+
],
|
| 883 |
+
"skill_idxes": [
|
| 884 |
+
21
|
| 885 |
+
]
|
| 886 |
+
},
|
| 887 |
+
{
|
| 888 |
+
"primitive_idx": 7,
|
| 889 |
+
"primitive_id": [
|
| 890 |
+
4
|
| 891 |
+
],
|
| 892 |
+
"primitive_description": [
|
| 893 |
+
"place in"
|
| 894 |
+
],
|
| 895 |
+
"object_id": [
|
| 896 |
+
[
|
| 897 |
+
"bottle_of_tea_208",
|
| 898 |
+
"packing_box_210"
|
| 899 |
+
]
|
| 900 |
+
],
|
| 901 |
+
"manipulating_object_id": [
|
| 902 |
+
"bottle_of_tea_208"
|
| 903 |
+
],
|
| 904 |
+
"spatial_prefix": [],
|
| 905 |
+
"frame_duration": [
|
| 906 |
+
7336,
|
| 907 |
+
7727
|
| 908 |
+
],
|
| 909 |
+
"skill_idxes": [
|
| 910 |
+
23
|
| 911 |
+
]
|
| 912 |
+
}
|
| 913 |
+
]
|
| 914 |
+
}
|
annotations/episode_00000060.json
ADDED
|
@@ -0,0 +1,939 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14373,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
33,
|
| 8 |
+
14406
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
33,
|
| 29 |
+
862
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
862,
|
| 56 |
+
1855
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
1855,
|
| 80 |
+
2343
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"burner_mjvqii_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
2343,
|
| 114 |
+
2508
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
2508,
|
| 138 |
+
2926
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
90
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"push to"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"chocolate_chip_cookie_207",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"chocolate_chip_cookie_207"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [
|
| 163 |
+
[
|
| 164 |
+
"",
|
| 165 |
+
"to_the_edge_of"
|
| 166 |
+
]
|
| 167 |
+
],
|
| 168 |
+
"frame_duration": [
|
| 169 |
+
2926,
|
| 170 |
+
3570
|
| 171 |
+
],
|
| 172 |
+
"mp_ef": [],
|
| 173 |
+
"skill_type": [
|
| 174 |
+
"uncoordinated"
|
| 175 |
+
]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 6,
|
| 179 |
+
"skill_id": [
|
| 180 |
+
2
|
| 181 |
+
],
|
| 182 |
+
"skill_description": [
|
| 183 |
+
"pick up from"
|
| 184 |
+
],
|
| 185 |
+
"object_id": [
|
| 186 |
+
[
|
| 187 |
+
"chocolate_chip_cookie_207",
|
| 188 |
+
"chopping_board_211"
|
| 189 |
+
]
|
| 190 |
+
],
|
| 191 |
+
"manipulating_object_id": [
|
| 192 |
+
"chocolate_chip_cookie_207"
|
| 193 |
+
],
|
| 194 |
+
"spatial_prefix": [],
|
| 195 |
+
"frame_duration": [
|
| 196 |
+
3571,
|
| 197 |
+
3849
|
| 198 |
+
],
|
| 199 |
+
"mp_ef": [],
|
| 200 |
+
"skill_type": [
|
| 201 |
+
"uncoordinated"
|
| 202 |
+
]
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"skill_idx": 7,
|
| 206 |
+
"skill_id": [
|
| 207 |
+
1
|
| 208 |
+
],
|
| 209 |
+
"skill_description": [
|
| 210 |
+
"move to"
|
| 211 |
+
],
|
| 212 |
+
"object_id": [
|
| 213 |
+
[
|
| 214 |
+
"packing_box_210"
|
| 215 |
+
]
|
| 216 |
+
],
|
| 217 |
+
"manipulating_object_id": [],
|
| 218 |
+
"spatial_prefix": [],
|
| 219 |
+
"frame_duration": [
|
| 220 |
+
3849,
|
| 221 |
+
4153
|
| 222 |
+
],
|
| 223 |
+
"mp_ef": [],
|
| 224 |
+
"skill_type": [
|
| 225 |
+
"navigation"
|
| 226 |
+
]
|
| 227 |
+
},
|
| 228 |
+
{
|
| 229 |
+
"skill_idx": 8,
|
| 230 |
+
"skill_id": [
|
| 231 |
+
4
|
| 232 |
+
],
|
| 233 |
+
"skill_description": [
|
| 234 |
+
"place in"
|
| 235 |
+
],
|
| 236 |
+
"object_id": [
|
| 237 |
+
[
|
| 238 |
+
"chocolate_chip_cookie_207",
|
| 239 |
+
"packing_box_210"
|
| 240 |
+
]
|
| 241 |
+
],
|
| 242 |
+
"manipulating_object_id": [
|
| 243 |
+
"chocolate_chip_cookie_207"
|
| 244 |
+
],
|
| 245 |
+
"spatial_prefix": [],
|
| 246 |
+
"frame_duration": [
|
| 247 |
+
4153,
|
| 248 |
+
4398
|
| 249 |
+
],
|
| 250 |
+
"mp_ef": [],
|
| 251 |
+
"skill_type": [
|
| 252 |
+
"uncoordinated"
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"skill_idx": 9,
|
| 257 |
+
"skill_id": [
|
| 258 |
+
1
|
| 259 |
+
],
|
| 260 |
+
"skill_description": [
|
| 261 |
+
"move to"
|
| 262 |
+
],
|
| 263 |
+
"object_id": [
|
| 264 |
+
[
|
| 265 |
+
"half_apple_213"
|
| 266 |
+
]
|
| 267 |
+
],
|
| 268 |
+
"manipulating_object_id": [],
|
| 269 |
+
"spatial_prefix": [],
|
| 270 |
+
"frame_duration": [
|
| 271 |
+
4398,
|
| 272 |
+
4616
|
| 273 |
+
],
|
| 274 |
+
"mp_ef": [],
|
| 275 |
+
"skill_type": [
|
| 276 |
+
"navigation"
|
| 277 |
+
]
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"skill_idx": 10,
|
| 281 |
+
"skill_id": [
|
| 282 |
+
2
|
| 283 |
+
],
|
| 284 |
+
"skill_description": [
|
| 285 |
+
"pick up from"
|
| 286 |
+
],
|
| 287 |
+
"object_id": [
|
| 288 |
+
[
|
| 289 |
+
"half_apple_213",
|
| 290 |
+
"chopping_board_211"
|
| 291 |
+
]
|
| 292 |
+
],
|
| 293 |
+
"manipulating_object_id": [
|
| 294 |
+
"half_apple_213"
|
| 295 |
+
],
|
| 296 |
+
"spatial_prefix": [],
|
| 297 |
+
"frame_duration": [
|
| 298 |
+
4616,
|
| 299 |
+
5095
|
| 300 |
+
],
|
| 301 |
+
"mp_ef": [],
|
| 302 |
+
"skill_type": [
|
| 303 |
+
"uncoordinated"
|
| 304 |
+
]
|
| 305 |
+
},
|
| 306 |
+
{
|
| 307 |
+
"skill_idx": 11,
|
| 308 |
+
"skill_id": [
|
| 309 |
+
2
|
| 310 |
+
],
|
| 311 |
+
"skill_description": [
|
| 312 |
+
"pick up from"
|
| 313 |
+
],
|
| 314 |
+
"object_id": [
|
| 315 |
+
[
|
| 316 |
+
"half_apple_212",
|
| 317 |
+
"chopping_board_211"
|
| 318 |
+
]
|
| 319 |
+
],
|
| 320 |
+
"manipulating_object_id": [
|
| 321 |
+
"half_apple_212"
|
| 322 |
+
],
|
| 323 |
+
"spatial_prefix": [],
|
| 324 |
+
"frame_duration": [
|
| 325 |
+
5095,
|
| 326 |
+
5774
|
| 327 |
+
],
|
| 328 |
+
"mp_ef": [],
|
| 329 |
+
"skill_type": [
|
| 330 |
+
"uncoordinated"
|
| 331 |
+
]
|
| 332 |
+
},
|
| 333 |
+
{
|
| 334 |
+
"skill_idx": 12,
|
| 335 |
+
"skill_id": [
|
| 336 |
+
1
|
| 337 |
+
],
|
| 338 |
+
"skill_description": [
|
| 339 |
+
"move to"
|
| 340 |
+
],
|
| 341 |
+
"object_id": [
|
| 342 |
+
[
|
| 343 |
+
"packing_box_210"
|
| 344 |
+
]
|
| 345 |
+
],
|
| 346 |
+
"manipulating_object_id": [],
|
| 347 |
+
"spatial_prefix": [],
|
| 348 |
+
"frame_duration": [
|
| 349 |
+
5774,
|
| 350 |
+
5948
|
| 351 |
+
],
|
| 352 |
+
"mp_ef": [],
|
| 353 |
+
"skill_type": [
|
| 354 |
+
"navigation"
|
| 355 |
+
]
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"skill_idx": 13,
|
| 359 |
+
"skill_id": [
|
| 360 |
+
4
|
| 361 |
+
],
|
| 362 |
+
"skill_description": [
|
| 363 |
+
"place in"
|
| 364 |
+
],
|
| 365 |
+
"object_id": [
|
| 366 |
+
[
|
| 367 |
+
"half_apple_212",
|
| 368 |
+
"packing_box_210"
|
| 369 |
+
]
|
| 370 |
+
],
|
| 371 |
+
"manipulating_object_id": [
|
| 372 |
+
"half_apple_212"
|
| 373 |
+
],
|
| 374 |
+
"spatial_prefix": [],
|
| 375 |
+
"frame_duration": [
|
| 376 |
+
5948,
|
| 377 |
+
6572
|
| 378 |
+
],
|
| 379 |
+
"mp_ef": [],
|
| 380 |
+
"skill_type": [
|
| 381 |
+
"uncoordinated"
|
| 382 |
+
]
|
| 383 |
+
},
|
| 384 |
+
{
|
| 385 |
+
"skill_idx": 14,
|
| 386 |
+
"skill_id": [
|
| 387 |
+
4
|
| 388 |
+
],
|
| 389 |
+
"skill_description": [
|
| 390 |
+
"place in"
|
| 391 |
+
],
|
| 392 |
+
"object_id": [
|
| 393 |
+
[
|
| 394 |
+
"half_apple_213",
|
| 395 |
+
"packing_box_210"
|
| 396 |
+
]
|
| 397 |
+
],
|
| 398 |
+
"manipulating_object_id": [
|
| 399 |
+
"half_apple_213"
|
| 400 |
+
],
|
| 401 |
+
"spatial_prefix": [],
|
| 402 |
+
"frame_duration": [
|
| 403 |
+
6572,
|
| 404 |
+
7106
|
| 405 |
+
],
|
| 406 |
+
"mp_ef": [],
|
| 407 |
+
"skill_type": [
|
| 408 |
+
"uncoordinated"
|
| 409 |
+
]
|
| 410 |
+
},
|
| 411 |
+
{
|
| 412 |
+
"skill_idx": 15,
|
| 413 |
+
"skill_id": [
|
| 414 |
+
1
|
| 415 |
+
],
|
| 416 |
+
"skill_description": [
|
| 417 |
+
"move to"
|
| 418 |
+
],
|
| 419 |
+
"object_id": [
|
| 420 |
+
[
|
| 421 |
+
"club_sandwich_209"
|
| 422 |
+
]
|
| 423 |
+
],
|
| 424 |
+
"manipulating_object_id": [],
|
| 425 |
+
"spatial_prefix": [],
|
| 426 |
+
"frame_duration": [
|
| 427 |
+
7106,
|
| 428 |
+
7465
|
| 429 |
+
],
|
| 430 |
+
"mp_ef": [],
|
| 431 |
+
"skill_type": [
|
| 432 |
+
"navigation"
|
| 433 |
+
]
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"skill_idx": 16,
|
| 437 |
+
"skill_id": [
|
| 438 |
+
2
|
| 439 |
+
],
|
| 440 |
+
"skill_description": [
|
| 441 |
+
"pick up from"
|
| 442 |
+
],
|
| 443 |
+
"object_id": [
|
| 444 |
+
[
|
| 445 |
+
"club_sandwich_209",
|
| 446 |
+
"chopping_board_211"
|
| 447 |
+
]
|
| 448 |
+
],
|
| 449 |
+
"manipulating_object_id": [
|
| 450 |
+
"club_sandwich_209"
|
| 451 |
+
],
|
| 452 |
+
"spatial_prefix": [],
|
| 453 |
+
"frame_duration": [
|
| 454 |
+
7466,
|
| 455 |
+
8024
|
| 456 |
+
],
|
| 457 |
+
"mp_ef": [],
|
| 458 |
+
"skill_type": [
|
| 459 |
+
"uncoordinated"
|
| 460 |
+
]
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"skill_idx": 17,
|
| 464 |
+
"skill_id": [
|
| 465 |
+
1
|
| 466 |
+
],
|
| 467 |
+
"skill_description": [
|
| 468 |
+
"move to"
|
| 469 |
+
],
|
| 470 |
+
"object_id": [
|
| 471 |
+
[
|
| 472 |
+
"packing_box_210"
|
| 473 |
+
]
|
| 474 |
+
],
|
| 475 |
+
"manipulating_object_id": [],
|
| 476 |
+
"spatial_prefix": [],
|
| 477 |
+
"frame_duration": [
|
| 478 |
+
8024,
|
| 479 |
+
8448
|
| 480 |
+
],
|
| 481 |
+
"mp_ef": [],
|
| 482 |
+
"skill_type": [
|
| 483 |
+
"navigation"
|
| 484 |
+
]
|
| 485 |
+
},
|
| 486 |
+
{
|
| 487 |
+
"skill_idx": 18,
|
| 488 |
+
"skill_id": [
|
| 489 |
+
4
|
| 490 |
+
],
|
| 491 |
+
"skill_description": [
|
| 492 |
+
"place in"
|
| 493 |
+
],
|
| 494 |
+
"object_id": [
|
| 495 |
+
[
|
| 496 |
+
"club_sandwich_209",
|
| 497 |
+
"packing_box_210"
|
| 498 |
+
]
|
| 499 |
+
],
|
| 500 |
+
"manipulating_object_id": [
|
| 501 |
+
"club_sandwich_209"
|
| 502 |
+
],
|
| 503 |
+
"spatial_prefix": [],
|
| 504 |
+
"frame_duration": [
|
| 505 |
+
8448,
|
| 506 |
+
8699
|
| 507 |
+
],
|
| 508 |
+
"mp_ef": [],
|
| 509 |
+
"skill_type": [
|
| 510 |
+
"uncoordinated"
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
+
{
|
| 514 |
+
"skill_idx": 19,
|
| 515 |
+
"skill_id": [
|
| 516 |
+
1
|
| 517 |
+
],
|
| 518 |
+
"skill_description": [
|
| 519 |
+
"move to"
|
| 520 |
+
],
|
| 521 |
+
"object_id": [
|
| 522 |
+
[
|
| 523 |
+
"fridge_dszchb_0"
|
| 524 |
+
]
|
| 525 |
+
],
|
| 526 |
+
"manipulating_object_id": [],
|
| 527 |
+
"spatial_prefix": [],
|
| 528 |
+
"frame_duration": [
|
| 529 |
+
8699,
|
| 530 |
+
9969
|
| 531 |
+
],
|
| 532 |
+
"mp_ef": [],
|
| 533 |
+
"skill_type": [
|
| 534 |
+
"navigation"
|
| 535 |
+
]
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"skill_idx": 20,
|
| 539 |
+
"skill_id": [
|
| 540 |
+
10
|
| 541 |
+
],
|
| 542 |
+
"skill_description": [
|
| 543 |
+
"open door"
|
| 544 |
+
],
|
| 545 |
+
"object_id": [
|
| 546 |
+
[
|
| 547 |
+
"fridge_dszchb_0"
|
| 548 |
+
]
|
| 549 |
+
],
|
| 550 |
+
"manipulating_object_id": [],
|
| 551 |
+
"spatial_prefix": [],
|
| 552 |
+
"frame_duration": [
|
| 553 |
+
9969,
|
| 554 |
+
11862
|
| 555 |
+
],
|
| 556 |
+
"mp_ef": [],
|
| 557 |
+
"skill_type": [
|
| 558 |
+
"coordinated"
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
{
|
| 562 |
+
"skill_idx": 21,
|
| 563 |
+
"skill_id": [
|
| 564 |
+
2
|
| 565 |
+
],
|
| 566 |
+
"skill_description": [
|
| 567 |
+
"pick up from"
|
| 568 |
+
],
|
| 569 |
+
"object_id": [
|
| 570 |
+
[
|
| 571 |
+
"bottle_of_tea_208",
|
| 572 |
+
"fridge_dszchb_0"
|
| 573 |
+
]
|
| 574 |
+
],
|
| 575 |
+
"manipulating_object_id": [
|
| 576 |
+
"bottle_of_tea_208"
|
| 577 |
+
],
|
| 578 |
+
"spatial_prefix": [
|
| 579 |
+
[
|
| 580 |
+
"",
|
| 581 |
+
"middle_level"
|
| 582 |
+
]
|
| 583 |
+
],
|
| 584 |
+
"frame_duration": [
|
| 585 |
+
11862,
|
| 586 |
+
12378
|
| 587 |
+
],
|
| 588 |
+
"mp_ef": [],
|
| 589 |
+
"skill_type": [
|
| 590 |
+
"uncoordinated"
|
| 591 |
+
]
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"skill_idx": 22,
|
| 595 |
+
"skill_id": [
|
| 596 |
+
12
|
| 597 |
+
],
|
| 598 |
+
"skill_description": [
|
| 599 |
+
"close door"
|
| 600 |
+
],
|
| 601 |
+
"object_id": [
|
| 602 |
+
[
|
| 603 |
+
"fridge_dszchb_0"
|
| 604 |
+
]
|
| 605 |
+
],
|
| 606 |
+
"manipulating_object_id": [],
|
| 607 |
+
"spatial_prefix": [],
|
| 608 |
+
"frame_duration": [
|
| 609 |
+
12378,
|
| 610 |
+
13145
|
| 611 |
+
],
|
| 612 |
+
"mp_ef": [],
|
| 613 |
+
"skill_type": [
|
| 614 |
+
"uncoordinated"
|
| 615 |
+
]
|
| 616 |
+
},
|
| 617 |
+
{
|
| 618 |
+
"skill_idx": 23,
|
| 619 |
+
"skill_id": [
|
| 620 |
+
1
|
| 621 |
+
],
|
| 622 |
+
"skill_description": [
|
| 623 |
+
"move to"
|
| 624 |
+
],
|
| 625 |
+
"object_id": [
|
| 626 |
+
[
|
| 627 |
+
"packing_box_210"
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
"manipulating_object_id": [],
|
| 631 |
+
"spatial_prefix": [],
|
| 632 |
+
"frame_duration": [
|
| 633 |
+
13145,
|
| 634 |
+
13601
|
| 635 |
+
],
|
| 636 |
+
"mp_ef": [],
|
| 637 |
+
"skill_type": [
|
| 638 |
+
"navigation"
|
| 639 |
+
]
|
| 640 |
+
},
|
| 641 |
+
{
|
| 642 |
+
"skill_idx": 24,
|
| 643 |
+
"skill_id": [
|
| 644 |
+
4
|
| 645 |
+
],
|
| 646 |
+
"skill_description": [
|
| 647 |
+
"place in"
|
| 648 |
+
],
|
| 649 |
+
"object_id": [
|
| 650 |
+
[
|
| 651 |
+
"bottle_of_tea_208",
|
| 652 |
+
"packing_box_210"
|
| 653 |
+
]
|
| 654 |
+
],
|
| 655 |
+
"manipulating_object_id": [
|
| 656 |
+
"bottle_of_tea_208"
|
| 657 |
+
],
|
| 658 |
+
"spatial_prefix": [],
|
| 659 |
+
"frame_duration": [
|
| 660 |
+
13602,
|
| 661 |
+
14406
|
| 662 |
+
],
|
| 663 |
+
"mp_ef": [],
|
| 664 |
+
"skill_type": [
|
| 665 |
+
"uncoordinated"
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
],
|
| 669 |
+
"primitive_annotation": [
|
| 670 |
+
{
|
| 671 |
+
"primitive_idx": 0,
|
| 672 |
+
"primitive_id": [
|
| 673 |
+
2,
|
| 674 |
+
91
|
| 675 |
+
],
|
| 676 |
+
"primitive_description": [
|
| 677 |
+
"pick up from",
|
| 678 |
+
"place on next to"
|
| 679 |
+
],
|
| 680 |
+
"object_id": [
|
| 681 |
+
[
|
| 682 |
+
"packing_box_210",
|
| 683 |
+
"countertop_kelker_0"
|
| 684 |
+
],
|
| 685 |
+
[
|
| 686 |
+
"packing_box_210",
|
| 687 |
+
"burner_mjvqii_0",
|
| 688 |
+
"chopping_board_211"
|
| 689 |
+
]
|
| 690 |
+
],
|
| 691 |
+
"manipulating_object_id": [
|
| 692 |
+
"packing_box_210",
|
| 693 |
+
"packing_box_210"
|
| 694 |
+
],
|
| 695 |
+
"spatial_prefix": [
|
| 696 |
+
[],
|
| 697 |
+
[
|
| 698 |
+
[],
|
| 699 |
+
[],
|
| 700 |
+
[
|
| 701 |
+
"left"
|
| 702 |
+
]
|
| 703 |
+
]
|
| 704 |
+
],
|
| 705 |
+
"frame_duration": [
|
| 706 |
+
33,
|
| 707 |
+
2508
|
| 708 |
+
],
|
| 709 |
+
"skill_idxes": [
|
| 710 |
+
0,
|
| 711 |
+
1,
|
| 712 |
+
2,
|
| 713 |
+
3
|
| 714 |
+
]
|
| 715 |
+
},
|
| 716 |
+
{
|
| 717 |
+
"primitive_idx": 1,
|
| 718 |
+
"primitive_id": [
|
| 719 |
+
2,
|
| 720 |
+
4
|
| 721 |
+
],
|
| 722 |
+
"primitive_description": [
|
| 723 |
+
"pick up from",
|
| 724 |
+
"place in"
|
| 725 |
+
],
|
| 726 |
+
"object_id": [
|
| 727 |
+
[
|
| 728 |
+
"chocolate_chip_cookie_207",
|
| 729 |
+
"chopping_board_211"
|
| 730 |
+
],
|
| 731 |
+
[
|
| 732 |
+
"chocolate_chip_cookie_207",
|
| 733 |
+
"packing_box_210"
|
| 734 |
+
]
|
| 735 |
+
],
|
| 736 |
+
"manipulating_object_id": [
|
| 737 |
+
"chocolate_chip_cookie_207",
|
| 738 |
+
"chocolate_chip_cookie_207"
|
| 739 |
+
],
|
| 740 |
+
"spatial_prefix": [],
|
| 741 |
+
"frame_duration": [
|
| 742 |
+
2508,
|
| 743 |
+
4398
|
| 744 |
+
],
|
| 745 |
+
"skill_idxes": [
|
| 746 |
+
4,
|
| 747 |
+
5,
|
| 748 |
+
6,
|
| 749 |
+
7,
|
| 750 |
+
8
|
| 751 |
+
]
|
| 752 |
+
},
|
| 753 |
+
{
|
| 754 |
+
"primitive_idx": 2,
|
| 755 |
+
"primitive_id": [
|
| 756 |
+
2,
|
| 757 |
+
4
|
| 758 |
+
],
|
| 759 |
+
"primitive_description": [
|
| 760 |
+
"pick up from",
|
| 761 |
+
"place in"
|
| 762 |
+
],
|
| 763 |
+
"object_id": [
|
| 764 |
+
[
|
| 765 |
+
[
|
| 766 |
+
"half_apple_213",
|
| 767 |
+
"half_apple_212"
|
| 768 |
+
],
|
| 769 |
+
"chopping_board_211"
|
| 770 |
+
],
|
| 771 |
+
[
|
| 772 |
+
[
|
| 773 |
+
"half_apple_212",
|
| 774 |
+
"half_apple_213"
|
| 775 |
+
],
|
| 776 |
+
"packing_box_210"
|
| 777 |
+
]
|
| 778 |
+
],
|
| 779 |
+
"manipulating_object_id": [
|
| 780 |
+
[
|
| 781 |
+
"half_apple_213",
|
| 782 |
+
"half_apple_212"
|
| 783 |
+
],
|
| 784 |
+
[
|
| 785 |
+
"half_apple_212",
|
| 786 |
+
"half_apple_213"
|
| 787 |
+
]
|
| 788 |
+
],
|
| 789 |
+
"spatial_prefix": [],
|
| 790 |
+
"frame_duration": [
|
| 791 |
+
4398,
|
| 792 |
+
7106
|
| 793 |
+
],
|
| 794 |
+
"skill_idxes": [
|
| 795 |
+
9,
|
| 796 |
+
10,
|
| 797 |
+
11,
|
| 798 |
+
12,
|
| 799 |
+
13,
|
| 800 |
+
14
|
| 801 |
+
]
|
| 802 |
+
},
|
| 803 |
+
{
|
| 804 |
+
"primitive_idx": 3,
|
| 805 |
+
"primitive_id": [
|
| 806 |
+
2,
|
| 807 |
+
4
|
| 808 |
+
],
|
| 809 |
+
"primitive_description": [
|
| 810 |
+
"pick up from",
|
| 811 |
+
"place in"
|
| 812 |
+
],
|
| 813 |
+
"object_id": [
|
| 814 |
+
[
|
| 815 |
+
"club_sandwich_209",
|
| 816 |
+
"chopping_board_211"
|
| 817 |
+
],
|
| 818 |
+
[
|
| 819 |
+
"club_sandwich_209",
|
| 820 |
+
"packing_box_210"
|
| 821 |
+
]
|
| 822 |
+
],
|
| 823 |
+
"manipulating_object_id": [
|
| 824 |
+
"club_sandwich_209",
|
| 825 |
+
"club_sandwich_209"
|
| 826 |
+
],
|
| 827 |
+
"spatial_prefix": [],
|
| 828 |
+
"frame_duration": [
|
| 829 |
+
7106,
|
| 830 |
+
8699
|
| 831 |
+
],
|
| 832 |
+
"skill_idxes": [
|
| 833 |
+
15,
|
| 834 |
+
16,
|
| 835 |
+
17,
|
| 836 |
+
18
|
| 837 |
+
]
|
| 838 |
+
},
|
| 839 |
+
{
|
| 840 |
+
"primitive_idx": 4,
|
| 841 |
+
"primitive_id": [],
|
| 842 |
+
"primitive_description": [],
|
| 843 |
+
"object_id": [],
|
| 844 |
+
"manipulating_object_id": [],
|
| 845 |
+
"spatial_prefix": [],
|
| 846 |
+
"frame_duration": [
|
| 847 |
+
8699,
|
| 848 |
+
13601
|
| 849 |
+
],
|
| 850 |
+
"skill_idxes": [
|
| 851 |
+
19,
|
| 852 |
+
20,
|
| 853 |
+
23
|
| 854 |
+
]
|
| 855 |
+
},
|
| 856 |
+
{
|
| 857 |
+
"primitive_idx": 5,
|
| 858 |
+
"primitive_id": [
|
| 859 |
+
2
|
| 860 |
+
],
|
| 861 |
+
"primitive_description": [
|
| 862 |
+
"pick up from"
|
| 863 |
+
],
|
| 864 |
+
"object_id": [
|
| 865 |
+
[
|
| 866 |
+
"bottle_of_tea_208",
|
| 867 |
+
"fridge_dszchb_0"
|
| 868 |
+
]
|
| 869 |
+
],
|
| 870 |
+
"manipulating_object_id": [
|
| 871 |
+
"bottle_of_tea_208"
|
| 872 |
+
],
|
| 873 |
+
"spatial_prefix": [
|
| 874 |
+
[
|
| 875 |
+
[],
|
| 876 |
+
[
|
| 877 |
+
"middle_level"
|
| 878 |
+
]
|
| 879 |
+
]
|
| 880 |
+
],
|
| 881 |
+
"frame_duration": [
|
| 882 |
+
11862,
|
| 883 |
+
12378
|
| 884 |
+
],
|
| 885 |
+
"skill_idxes": [
|
| 886 |
+
21
|
| 887 |
+
]
|
| 888 |
+
},
|
| 889 |
+
{
|
| 890 |
+
"primitive_idx": 6,
|
| 891 |
+
"primitive_id": [
|
| 892 |
+
12
|
| 893 |
+
],
|
| 894 |
+
"primitive_description": [
|
| 895 |
+
"close door"
|
| 896 |
+
],
|
| 897 |
+
"object_id": [
|
| 898 |
+
[
|
| 899 |
+
"fridge_dszchb_0"
|
| 900 |
+
]
|
| 901 |
+
],
|
| 902 |
+
"manipulating_object_id": [],
|
| 903 |
+
"spatial_prefix": [],
|
| 904 |
+
"frame_duration": [
|
| 905 |
+
12378,
|
| 906 |
+
13145
|
| 907 |
+
],
|
| 908 |
+
"skill_idxes": [
|
| 909 |
+
22
|
| 910 |
+
]
|
| 911 |
+
},
|
| 912 |
+
{
|
| 913 |
+
"primitive_idx": 7,
|
| 914 |
+
"primitive_id": [
|
| 915 |
+
4
|
| 916 |
+
],
|
| 917 |
+
"primitive_description": [
|
| 918 |
+
"place in"
|
| 919 |
+
],
|
| 920 |
+
"object_id": [
|
| 921 |
+
[
|
| 922 |
+
"bottle_of_tea_208",
|
| 923 |
+
"packing_box_210"
|
| 924 |
+
]
|
| 925 |
+
],
|
| 926 |
+
"manipulating_object_id": [
|
| 927 |
+
"bottle_of_tea_208"
|
| 928 |
+
],
|
| 929 |
+
"spatial_prefix": [],
|
| 930 |
+
"frame_duration": [
|
| 931 |
+
13602,
|
| 932 |
+
14406
|
| 933 |
+
],
|
| 934 |
+
"skill_idxes": [
|
| 935 |
+
24
|
| 936 |
+
]
|
| 937 |
+
}
|
| 938 |
+
]
|
| 939 |
+
}
|
annotations/episode_00000071.json
ADDED
|
@@ -0,0 +1,939 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7350,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
7350
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
283
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
283,
|
| 56 |
+
633
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
633,
|
| 80 |
+
735
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"burner_mjvqii_0"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
735,
|
| 114 |
+
824
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
825,
|
| 138 |
+
960
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
90
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"push to"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"chocolate_chip_cookie_207",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"chocolate_chip_cookie_207"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [
|
| 163 |
+
[
|
| 164 |
+
"",
|
| 165 |
+
"to_the_edge_of"
|
| 166 |
+
]
|
| 167 |
+
],
|
| 168 |
+
"frame_duration": [
|
| 169 |
+
960,
|
| 170 |
+
1332
|
| 171 |
+
],
|
| 172 |
+
"mp_ef": [],
|
| 173 |
+
"skill_type": [
|
| 174 |
+
"uncoordinated"
|
| 175 |
+
]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 6,
|
| 179 |
+
"skill_id": [
|
| 180 |
+
2
|
| 181 |
+
],
|
| 182 |
+
"skill_description": [
|
| 183 |
+
"pick up from"
|
| 184 |
+
],
|
| 185 |
+
"object_id": [
|
| 186 |
+
[
|
| 187 |
+
"chocolate_chip_cookie_207",
|
| 188 |
+
"chopping_board_211"
|
| 189 |
+
]
|
| 190 |
+
],
|
| 191 |
+
"manipulating_object_id": [
|
| 192 |
+
"chocolate_chip_cookie_207"
|
| 193 |
+
],
|
| 194 |
+
"spatial_prefix": [],
|
| 195 |
+
"frame_duration": [
|
| 196 |
+
1333,
|
| 197 |
+
1613
|
| 198 |
+
],
|
| 199 |
+
"mp_ef": [],
|
| 200 |
+
"skill_type": [
|
| 201 |
+
"uncoordinated"
|
| 202 |
+
]
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"skill_idx": 7,
|
| 206 |
+
"skill_id": [
|
| 207 |
+
1
|
| 208 |
+
],
|
| 209 |
+
"skill_description": [
|
| 210 |
+
"move to"
|
| 211 |
+
],
|
| 212 |
+
"object_id": [
|
| 213 |
+
[
|
| 214 |
+
"packing_box_210"
|
| 215 |
+
]
|
| 216 |
+
],
|
| 217 |
+
"manipulating_object_id": [],
|
| 218 |
+
"spatial_prefix": [],
|
| 219 |
+
"frame_duration": [
|
| 220 |
+
1614,
|
| 221 |
+
1714
|
| 222 |
+
],
|
| 223 |
+
"mp_ef": [],
|
| 224 |
+
"skill_type": [
|
| 225 |
+
"navigation"
|
| 226 |
+
]
|
| 227 |
+
},
|
| 228 |
+
{
|
| 229 |
+
"skill_idx": 8,
|
| 230 |
+
"skill_id": [
|
| 231 |
+
4
|
| 232 |
+
],
|
| 233 |
+
"skill_description": [
|
| 234 |
+
"place in"
|
| 235 |
+
],
|
| 236 |
+
"object_id": [
|
| 237 |
+
[
|
| 238 |
+
"chocolate_chip_cookie_207",
|
| 239 |
+
"packing_box_210"
|
| 240 |
+
]
|
| 241 |
+
],
|
| 242 |
+
"manipulating_object_id": [
|
| 243 |
+
"chocolate_chip_cookie_207"
|
| 244 |
+
],
|
| 245 |
+
"spatial_prefix": [],
|
| 246 |
+
"frame_duration": [
|
| 247 |
+
1715,
|
| 248 |
+
1947
|
| 249 |
+
],
|
| 250 |
+
"mp_ef": [],
|
| 251 |
+
"skill_type": [
|
| 252 |
+
"uncoordinated"
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"skill_idx": 9,
|
| 257 |
+
"skill_id": [
|
| 258 |
+
1
|
| 259 |
+
],
|
| 260 |
+
"skill_description": [
|
| 261 |
+
"move to"
|
| 262 |
+
],
|
| 263 |
+
"object_id": [
|
| 264 |
+
[
|
| 265 |
+
"half_apple_213"
|
| 266 |
+
]
|
| 267 |
+
],
|
| 268 |
+
"manipulating_object_id": [],
|
| 269 |
+
"spatial_prefix": [],
|
| 270 |
+
"frame_duration": [
|
| 271 |
+
1947,
|
| 272 |
+
1992
|
| 273 |
+
],
|
| 274 |
+
"mp_ef": [],
|
| 275 |
+
"skill_type": [
|
| 276 |
+
"navigation"
|
| 277 |
+
]
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"skill_idx": 10,
|
| 281 |
+
"skill_id": [
|
| 282 |
+
2
|
| 283 |
+
],
|
| 284 |
+
"skill_description": [
|
| 285 |
+
"pick up from"
|
| 286 |
+
],
|
| 287 |
+
"object_id": [
|
| 288 |
+
[
|
| 289 |
+
"half_apple_213",
|
| 290 |
+
"chopping_board_211"
|
| 291 |
+
]
|
| 292 |
+
],
|
| 293 |
+
"manipulating_object_id": [
|
| 294 |
+
"half_apple_213"
|
| 295 |
+
],
|
| 296 |
+
"spatial_prefix": [],
|
| 297 |
+
"frame_duration": [
|
| 298 |
+
1992,
|
| 299 |
+
2425
|
| 300 |
+
],
|
| 301 |
+
"mp_ef": [],
|
| 302 |
+
"skill_type": [
|
| 303 |
+
"uncoordinated"
|
| 304 |
+
]
|
| 305 |
+
},
|
| 306 |
+
{
|
| 307 |
+
"skill_idx": 11,
|
| 308 |
+
"skill_id": [
|
| 309 |
+
2
|
| 310 |
+
],
|
| 311 |
+
"skill_description": [
|
| 312 |
+
"pick up from"
|
| 313 |
+
],
|
| 314 |
+
"object_id": [
|
| 315 |
+
[
|
| 316 |
+
"half_apple_212",
|
| 317 |
+
"chopping_board_211"
|
| 318 |
+
]
|
| 319 |
+
],
|
| 320 |
+
"manipulating_object_id": [
|
| 321 |
+
"half_apple_212"
|
| 322 |
+
],
|
| 323 |
+
"spatial_prefix": [],
|
| 324 |
+
"frame_duration": [
|
| 325 |
+
2425,
|
| 326 |
+
2722
|
| 327 |
+
],
|
| 328 |
+
"mp_ef": [],
|
| 329 |
+
"skill_type": [
|
| 330 |
+
"uncoordinated"
|
| 331 |
+
]
|
| 332 |
+
},
|
| 333 |
+
{
|
| 334 |
+
"skill_idx": 12,
|
| 335 |
+
"skill_id": [
|
| 336 |
+
1
|
| 337 |
+
],
|
| 338 |
+
"skill_description": [
|
| 339 |
+
"move to"
|
| 340 |
+
],
|
| 341 |
+
"object_id": [
|
| 342 |
+
[
|
| 343 |
+
"packing_box_210"
|
| 344 |
+
]
|
| 345 |
+
],
|
| 346 |
+
"manipulating_object_id": [],
|
| 347 |
+
"spatial_prefix": [],
|
| 348 |
+
"frame_duration": [
|
| 349 |
+
2722,
|
| 350 |
+
2806
|
| 351 |
+
],
|
| 352 |
+
"mp_ef": [],
|
| 353 |
+
"skill_type": [
|
| 354 |
+
"navigation"
|
| 355 |
+
]
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"skill_idx": 13,
|
| 359 |
+
"skill_id": [
|
| 360 |
+
4
|
| 361 |
+
],
|
| 362 |
+
"skill_description": [
|
| 363 |
+
"place in"
|
| 364 |
+
],
|
| 365 |
+
"object_id": [
|
| 366 |
+
[
|
| 367 |
+
"half_apple_212",
|
| 368 |
+
"packing_box_210"
|
| 369 |
+
]
|
| 370 |
+
],
|
| 371 |
+
"manipulating_object_id": [
|
| 372 |
+
"half_apple_212"
|
| 373 |
+
],
|
| 374 |
+
"spatial_prefix": [],
|
| 375 |
+
"frame_duration": [
|
| 376 |
+
2806,
|
| 377 |
+
2954
|
| 378 |
+
],
|
| 379 |
+
"mp_ef": [],
|
| 380 |
+
"skill_type": [
|
| 381 |
+
"uncoordinated"
|
| 382 |
+
]
|
| 383 |
+
},
|
| 384 |
+
{
|
| 385 |
+
"skill_idx": 14,
|
| 386 |
+
"skill_id": [
|
| 387 |
+
4
|
| 388 |
+
],
|
| 389 |
+
"skill_description": [
|
| 390 |
+
"place in"
|
| 391 |
+
],
|
| 392 |
+
"object_id": [
|
| 393 |
+
[
|
| 394 |
+
"half_apple_213",
|
| 395 |
+
"packing_box_210"
|
| 396 |
+
]
|
| 397 |
+
],
|
| 398 |
+
"manipulating_object_id": [
|
| 399 |
+
"half_apple_213"
|
| 400 |
+
],
|
| 401 |
+
"spatial_prefix": [],
|
| 402 |
+
"frame_duration": [
|
| 403 |
+
2954,
|
| 404 |
+
3150
|
| 405 |
+
],
|
| 406 |
+
"mp_ef": [],
|
| 407 |
+
"skill_type": [
|
| 408 |
+
"uncoordinated"
|
| 409 |
+
]
|
| 410 |
+
},
|
| 411 |
+
{
|
| 412 |
+
"skill_idx": 15,
|
| 413 |
+
"skill_id": [
|
| 414 |
+
1
|
| 415 |
+
],
|
| 416 |
+
"skill_description": [
|
| 417 |
+
"move to"
|
| 418 |
+
],
|
| 419 |
+
"object_id": [
|
| 420 |
+
[
|
| 421 |
+
"club_sandwich_209"
|
| 422 |
+
]
|
| 423 |
+
],
|
| 424 |
+
"manipulating_object_id": [],
|
| 425 |
+
"spatial_prefix": [],
|
| 426 |
+
"frame_duration": [
|
| 427 |
+
3150,
|
| 428 |
+
3172
|
| 429 |
+
],
|
| 430 |
+
"mp_ef": [],
|
| 431 |
+
"skill_type": [
|
| 432 |
+
"navigation"
|
| 433 |
+
]
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"skill_idx": 16,
|
| 437 |
+
"skill_id": [
|
| 438 |
+
2
|
| 439 |
+
],
|
| 440 |
+
"skill_description": [
|
| 441 |
+
"pick up from"
|
| 442 |
+
],
|
| 443 |
+
"object_id": [
|
| 444 |
+
[
|
| 445 |
+
"club_sandwich_209",
|
| 446 |
+
"chopping_board_211"
|
| 447 |
+
]
|
| 448 |
+
],
|
| 449 |
+
"manipulating_object_id": [
|
| 450 |
+
"club_sandwich_209"
|
| 451 |
+
],
|
| 452 |
+
"spatial_prefix": [],
|
| 453 |
+
"frame_duration": [
|
| 454 |
+
3172,
|
| 455 |
+
3748
|
| 456 |
+
],
|
| 457 |
+
"mp_ef": [],
|
| 458 |
+
"skill_type": [
|
| 459 |
+
"coordinated"
|
| 460 |
+
]
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"skill_idx": 17,
|
| 464 |
+
"skill_id": [
|
| 465 |
+
1
|
| 466 |
+
],
|
| 467 |
+
"skill_description": [
|
| 468 |
+
"move to"
|
| 469 |
+
],
|
| 470 |
+
"object_id": [
|
| 471 |
+
[
|
| 472 |
+
"packing_box_210"
|
| 473 |
+
]
|
| 474 |
+
],
|
| 475 |
+
"manipulating_object_id": [],
|
| 476 |
+
"spatial_prefix": [],
|
| 477 |
+
"frame_duration": [
|
| 478 |
+
3748,
|
| 479 |
+
3807
|
| 480 |
+
],
|
| 481 |
+
"mp_ef": [],
|
| 482 |
+
"skill_type": [
|
| 483 |
+
"navigation"
|
| 484 |
+
]
|
| 485 |
+
},
|
| 486 |
+
{
|
| 487 |
+
"skill_idx": 18,
|
| 488 |
+
"skill_id": [
|
| 489 |
+
4
|
| 490 |
+
],
|
| 491 |
+
"skill_description": [
|
| 492 |
+
"place in"
|
| 493 |
+
],
|
| 494 |
+
"object_id": [
|
| 495 |
+
[
|
| 496 |
+
"club_sandwich_209",
|
| 497 |
+
"packing_box_210"
|
| 498 |
+
]
|
| 499 |
+
],
|
| 500 |
+
"manipulating_object_id": [
|
| 501 |
+
"club_sandwich_209"
|
| 502 |
+
],
|
| 503 |
+
"spatial_prefix": [],
|
| 504 |
+
"frame_duration": [
|
| 505 |
+
3807,
|
| 506 |
+
4009
|
| 507 |
+
],
|
| 508 |
+
"mp_ef": [],
|
| 509 |
+
"skill_type": [
|
| 510 |
+
"uncoordinated"
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
+
{
|
| 514 |
+
"skill_idx": 19,
|
| 515 |
+
"skill_id": [
|
| 516 |
+
1
|
| 517 |
+
],
|
| 518 |
+
"skill_description": [
|
| 519 |
+
"move to"
|
| 520 |
+
],
|
| 521 |
+
"object_id": [
|
| 522 |
+
[
|
| 523 |
+
"fridge_dszchb_0"
|
| 524 |
+
]
|
| 525 |
+
],
|
| 526 |
+
"manipulating_object_id": [],
|
| 527 |
+
"spatial_prefix": [],
|
| 528 |
+
"frame_duration": [
|
| 529 |
+
4009,
|
| 530 |
+
4731
|
| 531 |
+
],
|
| 532 |
+
"mp_ef": [],
|
| 533 |
+
"skill_type": [
|
| 534 |
+
"navigation"
|
| 535 |
+
]
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"skill_idx": 20,
|
| 539 |
+
"skill_id": [
|
| 540 |
+
10
|
| 541 |
+
],
|
| 542 |
+
"skill_description": [
|
| 543 |
+
"open door"
|
| 544 |
+
],
|
| 545 |
+
"object_id": [
|
| 546 |
+
[
|
| 547 |
+
"fridge_dszchb_0"
|
| 548 |
+
]
|
| 549 |
+
],
|
| 550 |
+
"manipulating_object_id": [],
|
| 551 |
+
"spatial_prefix": [],
|
| 552 |
+
"frame_duration": [
|
| 553 |
+
4731,
|
| 554 |
+
5540
|
| 555 |
+
],
|
| 556 |
+
"mp_ef": [],
|
| 557 |
+
"skill_type": [
|
| 558 |
+
"coordinated"
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
{
|
| 562 |
+
"skill_idx": 21,
|
| 563 |
+
"skill_id": [
|
| 564 |
+
2
|
| 565 |
+
],
|
| 566 |
+
"skill_description": [
|
| 567 |
+
"pick up from"
|
| 568 |
+
],
|
| 569 |
+
"object_id": [
|
| 570 |
+
[
|
| 571 |
+
"bottle_of_tea_208",
|
| 572 |
+
"fridge_dszchb_0"
|
| 573 |
+
]
|
| 574 |
+
],
|
| 575 |
+
"manipulating_object_id": [
|
| 576 |
+
"bottle_of_tea_208"
|
| 577 |
+
],
|
| 578 |
+
"spatial_prefix": [
|
| 579 |
+
[
|
| 580 |
+
"",
|
| 581 |
+
"low_level"
|
| 582 |
+
]
|
| 583 |
+
],
|
| 584 |
+
"frame_duration": [
|
| 585 |
+
5540,
|
| 586 |
+
6204
|
| 587 |
+
],
|
| 588 |
+
"mp_ef": [],
|
| 589 |
+
"skill_type": [
|
| 590 |
+
"uncoordinated"
|
| 591 |
+
]
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"skill_idx": 22,
|
| 595 |
+
"skill_id": [
|
| 596 |
+
12
|
| 597 |
+
],
|
| 598 |
+
"skill_description": [
|
| 599 |
+
"close door"
|
| 600 |
+
],
|
| 601 |
+
"object_id": [
|
| 602 |
+
[
|
| 603 |
+
"fridge_dszchb_0"
|
| 604 |
+
]
|
| 605 |
+
],
|
| 606 |
+
"manipulating_object_id": [],
|
| 607 |
+
"spatial_prefix": [],
|
| 608 |
+
"frame_duration": [
|
| 609 |
+
6204,
|
| 610 |
+
6463
|
| 611 |
+
],
|
| 612 |
+
"mp_ef": [],
|
| 613 |
+
"skill_type": [
|
| 614 |
+
"uncoordinated"
|
| 615 |
+
]
|
| 616 |
+
},
|
| 617 |
+
{
|
| 618 |
+
"skill_idx": 23,
|
| 619 |
+
"skill_id": [
|
| 620 |
+
1
|
| 621 |
+
],
|
| 622 |
+
"skill_description": [
|
| 623 |
+
"move to"
|
| 624 |
+
],
|
| 625 |
+
"object_id": [
|
| 626 |
+
[
|
| 627 |
+
"packing_box_210"
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
"manipulating_object_id": [],
|
| 631 |
+
"spatial_prefix": [],
|
| 632 |
+
"frame_duration": [
|
| 633 |
+
6463,
|
| 634 |
+
7035
|
| 635 |
+
],
|
| 636 |
+
"mp_ef": [],
|
| 637 |
+
"skill_type": [
|
| 638 |
+
"navigation"
|
| 639 |
+
]
|
| 640 |
+
},
|
| 641 |
+
{
|
| 642 |
+
"skill_idx": 24,
|
| 643 |
+
"skill_id": [
|
| 644 |
+
4
|
| 645 |
+
],
|
| 646 |
+
"skill_description": [
|
| 647 |
+
"place in"
|
| 648 |
+
],
|
| 649 |
+
"object_id": [
|
| 650 |
+
[
|
| 651 |
+
"bottle_of_tea_208",
|
| 652 |
+
"packing_box_210"
|
| 653 |
+
]
|
| 654 |
+
],
|
| 655 |
+
"manipulating_object_id": [
|
| 656 |
+
"bottle_of_tea_208"
|
| 657 |
+
],
|
| 658 |
+
"spatial_prefix": [],
|
| 659 |
+
"frame_duration": [
|
| 660 |
+
7035,
|
| 661 |
+
7350
|
| 662 |
+
],
|
| 663 |
+
"mp_ef": [],
|
| 664 |
+
"skill_type": [
|
| 665 |
+
"uncoordinated"
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
],
|
| 669 |
+
"primitive_annotation": [
|
| 670 |
+
{
|
| 671 |
+
"primitive_idx": 0,
|
| 672 |
+
"primitive_id": [
|
| 673 |
+
2,
|
| 674 |
+
91
|
| 675 |
+
],
|
| 676 |
+
"primitive_description": [
|
| 677 |
+
"pick up from",
|
| 678 |
+
"place on next to"
|
| 679 |
+
],
|
| 680 |
+
"object_id": [
|
| 681 |
+
[
|
| 682 |
+
"packing_box_210",
|
| 683 |
+
"countertop_kelker_0"
|
| 684 |
+
],
|
| 685 |
+
[
|
| 686 |
+
"packing_box_210",
|
| 687 |
+
"countertop_kelker_0",
|
| 688 |
+
"burner_mjvqii_0"
|
| 689 |
+
]
|
| 690 |
+
],
|
| 691 |
+
"manipulating_object_id": [
|
| 692 |
+
"packing_box_210",
|
| 693 |
+
"packing_box_210"
|
| 694 |
+
],
|
| 695 |
+
"spatial_prefix": [
|
| 696 |
+
[],
|
| 697 |
+
[
|
| 698 |
+
[],
|
| 699 |
+
[],
|
| 700 |
+
[
|
| 701 |
+
"left"
|
| 702 |
+
]
|
| 703 |
+
]
|
| 704 |
+
],
|
| 705 |
+
"frame_duration": [
|
| 706 |
+
0,
|
| 707 |
+
824
|
| 708 |
+
],
|
| 709 |
+
"skill_idxes": [
|
| 710 |
+
0,
|
| 711 |
+
1,
|
| 712 |
+
2,
|
| 713 |
+
3
|
| 714 |
+
]
|
| 715 |
+
},
|
| 716 |
+
{
|
| 717 |
+
"primitive_idx": 1,
|
| 718 |
+
"primitive_id": [
|
| 719 |
+
2,
|
| 720 |
+
4
|
| 721 |
+
],
|
| 722 |
+
"primitive_description": [
|
| 723 |
+
"pick up from",
|
| 724 |
+
"place in"
|
| 725 |
+
],
|
| 726 |
+
"object_id": [
|
| 727 |
+
[
|
| 728 |
+
"chocolate_chip_cookie_207",
|
| 729 |
+
"chopping_board_211"
|
| 730 |
+
],
|
| 731 |
+
[
|
| 732 |
+
"chocolate_chip_cookie_207",
|
| 733 |
+
"packing_box_210"
|
| 734 |
+
]
|
| 735 |
+
],
|
| 736 |
+
"manipulating_object_id": [
|
| 737 |
+
"chocolate_chip_cookie_207",
|
| 738 |
+
"chocolate_chip_cookie_207"
|
| 739 |
+
],
|
| 740 |
+
"spatial_prefix": [],
|
| 741 |
+
"frame_duration": [
|
| 742 |
+
825,
|
| 743 |
+
1947
|
| 744 |
+
],
|
| 745 |
+
"skill_idxes": [
|
| 746 |
+
4,
|
| 747 |
+
5,
|
| 748 |
+
6,
|
| 749 |
+
7,
|
| 750 |
+
8
|
| 751 |
+
]
|
| 752 |
+
},
|
| 753 |
+
{
|
| 754 |
+
"primitive_idx": 2,
|
| 755 |
+
"primitive_id": [
|
| 756 |
+
2,
|
| 757 |
+
4
|
| 758 |
+
],
|
| 759 |
+
"primitive_description": [
|
| 760 |
+
"pick up from",
|
| 761 |
+
"place in"
|
| 762 |
+
],
|
| 763 |
+
"object_id": [
|
| 764 |
+
[
|
| 765 |
+
[
|
| 766 |
+
"half_apple_213",
|
| 767 |
+
"half_apple_212"
|
| 768 |
+
],
|
| 769 |
+
"chopping_board_211"
|
| 770 |
+
],
|
| 771 |
+
[
|
| 772 |
+
[
|
| 773 |
+
"half_apple_212",
|
| 774 |
+
"half_apple_213"
|
| 775 |
+
],
|
| 776 |
+
"packing_box_210"
|
| 777 |
+
]
|
| 778 |
+
],
|
| 779 |
+
"manipulating_object_id": [
|
| 780 |
+
[
|
| 781 |
+
"half_apple_213",
|
| 782 |
+
"half_apple_212"
|
| 783 |
+
],
|
| 784 |
+
[
|
| 785 |
+
"half_apple_212",
|
| 786 |
+
"half_apple_213"
|
| 787 |
+
]
|
| 788 |
+
],
|
| 789 |
+
"spatial_prefix": [],
|
| 790 |
+
"frame_duration": [
|
| 791 |
+
1947,
|
| 792 |
+
3150
|
| 793 |
+
],
|
| 794 |
+
"skill_idxes": [
|
| 795 |
+
9,
|
| 796 |
+
10,
|
| 797 |
+
11,
|
| 798 |
+
12,
|
| 799 |
+
13,
|
| 800 |
+
14
|
| 801 |
+
]
|
| 802 |
+
},
|
| 803 |
+
{
|
| 804 |
+
"primitive_idx": 3,
|
| 805 |
+
"primitive_id": [
|
| 806 |
+
2,
|
| 807 |
+
4
|
| 808 |
+
],
|
| 809 |
+
"primitive_description": [
|
| 810 |
+
"pick up from",
|
| 811 |
+
"place in"
|
| 812 |
+
],
|
| 813 |
+
"object_id": [
|
| 814 |
+
[
|
| 815 |
+
"club_sandwich_209",
|
| 816 |
+
"chopping_board_211"
|
| 817 |
+
],
|
| 818 |
+
[
|
| 819 |
+
"club_sandwich_209",
|
| 820 |
+
"packing_box_210"
|
| 821 |
+
]
|
| 822 |
+
],
|
| 823 |
+
"manipulating_object_id": [
|
| 824 |
+
"club_sandwich_209",
|
| 825 |
+
"club_sandwich_209"
|
| 826 |
+
],
|
| 827 |
+
"spatial_prefix": [],
|
| 828 |
+
"frame_duration": [
|
| 829 |
+
3150,
|
| 830 |
+
4009
|
| 831 |
+
],
|
| 832 |
+
"skill_idxes": [
|
| 833 |
+
15,
|
| 834 |
+
16,
|
| 835 |
+
17,
|
| 836 |
+
18
|
| 837 |
+
]
|
| 838 |
+
},
|
| 839 |
+
{
|
| 840 |
+
"primitive_idx": 4,
|
| 841 |
+
"primitive_id": [],
|
| 842 |
+
"primitive_description": [],
|
| 843 |
+
"object_id": [],
|
| 844 |
+
"manipulating_object_id": [],
|
| 845 |
+
"spatial_prefix": [],
|
| 846 |
+
"frame_duration": [
|
| 847 |
+
4009,
|
| 848 |
+
7035
|
| 849 |
+
],
|
| 850 |
+
"skill_idxes": [
|
| 851 |
+
19,
|
| 852 |
+
20,
|
| 853 |
+
23
|
| 854 |
+
]
|
| 855 |
+
},
|
| 856 |
+
{
|
| 857 |
+
"primitive_idx": 5,
|
| 858 |
+
"primitive_id": [
|
| 859 |
+
2
|
| 860 |
+
],
|
| 861 |
+
"primitive_description": [
|
| 862 |
+
"pick up from"
|
| 863 |
+
],
|
| 864 |
+
"object_id": [
|
| 865 |
+
[
|
| 866 |
+
"bottle_of_tea_208",
|
| 867 |
+
"fridge_dszchb_0"
|
| 868 |
+
]
|
| 869 |
+
],
|
| 870 |
+
"manipulating_object_id": [
|
| 871 |
+
"bottle_of_tea_208"
|
| 872 |
+
],
|
| 873 |
+
"spatial_prefix": [
|
| 874 |
+
[
|
| 875 |
+
[],
|
| 876 |
+
[
|
| 877 |
+
"low_level"
|
| 878 |
+
]
|
| 879 |
+
]
|
| 880 |
+
],
|
| 881 |
+
"frame_duration": [
|
| 882 |
+
5540,
|
| 883 |
+
6204
|
| 884 |
+
],
|
| 885 |
+
"skill_idxes": [
|
| 886 |
+
21
|
| 887 |
+
]
|
| 888 |
+
},
|
| 889 |
+
{
|
| 890 |
+
"primitive_idx": 6,
|
| 891 |
+
"primitive_id": [
|
| 892 |
+
12
|
| 893 |
+
],
|
| 894 |
+
"primitive_description": [
|
| 895 |
+
"close door"
|
| 896 |
+
],
|
| 897 |
+
"object_id": [
|
| 898 |
+
[
|
| 899 |
+
"fridge_dszchb_0"
|
| 900 |
+
]
|
| 901 |
+
],
|
| 902 |
+
"manipulating_object_id": [],
|
| 903 |
+
"spatial_prefix": [],
|
| 904 |
+
"frame_duration": [
|
| 905 |
+
6204,
|
| 906 |
+
6463
|
| 907 |
+
],
|
| 908 |
+
"skill_idxes": [
|
| 909 |
+
22
|
| 910 |
+
]
|
| 911 |
+
},
|
| 912 |
+
{
|
| 913 |
+
"primitive_idx": 7,
|
| 914 |
+
"primitive_id": [
|
| 915 |
+
4
|
| 916 |
+
],
|
| 917 |
+
"primitive_description": [
|
| 918 |
+
"place in"
|
| 919 |
+
],
|
| 920 |
+
"object_id": [
|
| 921 |
+
[
|
| 922 |
+
"bottle_of_tea_208",
|
| 923 |
+
"packing_box_210"
|
| 924 |
+
]
|
| 925 |
+
],
|
| 926 |
+
"manipulating_object_id": [
|
| 927 |
+
"bottle_of_tea_208"
|
| 928 |
+
],
|
| 929 |
+
"spatial_prefix": [],
|
| 930 |
+
"frame_duration": [
|
| 931 |
+
7035,
|
| 932 |
+
7350
|
| 933 |
+
],
|
| 934 |
+
"skill_idxes": [
|
| 935 |
+
24
|
| 936 |
+
]
|
| 937 |
+
}
|
| 938 |
+
]
|
| 939 |
+
}
|
annotations/episode_00000079.json
ADDED
|
@@ -0,0 +1,939 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6798,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
6798
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
145
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
145,
|
| 56 |
+
452
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
452,
|
| 80 |
+
559
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"burner_mjvqii_0"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
559,
|
| 114 |
+
714
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
714,
|
| 138 |
+
881
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
90
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"push to"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"chocolate_chip_cookie_207",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"chocolate_chip_cookie_207"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [
|
| 163 |
+
[
|
| 164 |
+
"",
|
| 165 |
+
"to_the_edge_of"
|
| 166 |
+
]
|
| 167 |
+
],
|
| 168 |
+
"frame_duration": [
|
| 169 |
+
881,
|
| 170 |
+
1143
|
| 171 |
+
],
|
| 172 |
+
"mp_ef": [],
|
| 173 |
+
"skill_type": [
|
| 174 |
+
"uncoordinated"
|
| 175 |
+
]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 6,
|
| 179 |
+
"skill_id": [
|
| 180 |
+
2
|
| 181 |
+
],
|
| 182 |
+
"skill_description": [
|
| 183 |
+
"pick up from"
|
| 184 |
+
],
|
| 185 |
+
"object_id": [
|
| 186 |
+
[
|
| 187 |
+
"chocolate_chip_cookie_207",
|
| 188 |
+
"chopping_board_211"
|
| 189 |
+
]
|
| 190 |
+
],
|
| 191 |
+
"manipulating_object_id": [
|
| 192 |
+
"chocolate_chip_cookie_207"
|
| 193 |
+
],
|
| 194 |
+
"spatial_prefix": [],
|
| 195 |
+
"frame_duration": [
|
| 196 |
+
1143,
|
| 197 |
+
1390
|
| 198 |
+
],
|
| 199 |
+
"mp_ef": [],
|
| 200 |
+
"skill_type": [
|
| 201 |
+
"uncoordinated"
|
| 202 |
+
]
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"skill_idx": 7,
|
| 206 |
+
"skill_id": [
|
| 207 |
+
1
|
| 208 |
+
],
|
| 209 |
+
"skill_description": [
|
| 210 |
+
"move to"
|
| 211 |
+
],
|
| 212 |
+
"object_id": [
|
| 213 |
+
[
|
| 214 |
+
"packing_box_210"
|
| 215 |
+
]
|
| 216 |
+
],
|
| 217 |
+
"manipulating_object_id": [],
|
| 218 |
+
"spatial_prefix": [],
|
| 219 |
+
"frame_duration": [
|
| 220 |
+
1390,
|
| 221 |
+
1494
|
| 222 |
+
],
|
| 223 |
+
"mp_ef": [],
|
| 224 |
+
"skill_type": [
|
| 225 |
+
"navigation"
|
| 226 |
+
]
|
| 227 |
+
},
|
| 228 |
+
{
|
| 229 |
+
"skill_idx": 8,
|
| 230 |
+
"skill_id": [
|
| 231 |
+
4
|
| 232 |
+
],
|
| 233 |
+
"skill_description": [
|
| 234 |
+
"place in"
|
| 235 |
+
],
|
| 236 |
+
"object_id": [
|
| 237 |
+
[
|
| 238 |
+
"chocolate_chip_cookie_207",
|
| 239 |
+
"packing_box_210"
|
| 240 |
+
]
|
| 241 |
+
],
|
| 242 |
+
"manipulating_object_id": [
|
| 243 |
+
"chocolate_chip_cookie_207"
|
| 244 |
+
],
|
| 245 |
+
"spatial_prefix": [],
|
| 246 |
+
"frame_duration": [
|
| 247 |
+
1494,
|
| 248 |
+
1645
|
| 249 |
+
],
|
| 250 |
+
"mp_ef": [],
|
| 251 |
+
"skill_type": [
|
| 252 |
+
"uncoordinated"
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"skill_idx": 9,
|
| 257 |
+
"skill_id": [
|
| 258 |
+
1
|
| 259 |
+
],
|
| 260 |
+
"skill_description": [
|
| 261 |
+
"move to"
|
| 262 |
+
],
|
| 263 |
+
"object_id": [
|
| 264 |
+
[
|
| 265 |
+
"half_apple_213"
|
| 266 |
+
]
|
| 267 |
+
],
|
| 268 |
+
"manipulating_object_id": [],
|
| 269 |
+
"spatial_prefix": [],
|
| 270 |
+
"frame_duration": [
|
| 271 |
+
1646,
|
| 272 |
+
1765
|
| 273 |
+
],
|
| 274 |
+
"mp_ef": [],
|
| 275 |
+
"skill_type": [
|
| 276 |
+
"navigation"
|
| 277 |
+
]
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"skill_idx": 10,
|
| 281 |
+
"skill_id": [
|
| 282 |
+
2
|
| 283 |
+
],
|
| 284 |
+
"skill_description": [
|
| 285 |
+
"pick up from"
|
| 286 |
+
],
|
| 287 |
+
"object_id": [
|
| 288 |
+
[
|
| 289 |
+
"half_apple_213",
|
| 290 |
+
"chopping_board_211"
|
| 291 |
+
]
|
| 292 |
+
],
|
| 293 |
+
"manipulating_object_id": [
|
| 294 |
+
"half_apple_213"
|
| 295 |
+
],
|
| 296 |
+
"spatial_prefix": [],
|
| 297 |
+
"frame_duration": [
|
| 298 |
+
1765,
|
| 299 |
+
2086
|
| 300 |
+
],
|
| 301 |
+
"mp_ef": [],
|
| 302 |
+
"skill_type": [
|
| 303 |
+
"uncoordinated"
|
| 304 |
+
]
|
| 305 |
+
},
|
| 306 |
+
{
|
| 307 |
+
"skill_idx": 11,
|
| 308 |
+
"skill_id": [
|
| 309 |
+
2
|
| 310 |
+
],
|
| 311 |
+
"skill_description": [
|
| 312 |
+
"pick up from"
|
| 313 |
+
],
|
| 314 |
+
"object_id": [
|
| 315 |
+
[
|
| 316 |
+
"half_apple_212",
|
| 317 |
+
"chopping_board_211"
|
| 318 |
+
]
|
| 319 |
+
],
|
| 320 |
+
"manipulating_object_id": [
|
| 321 |
+
"half_apple_212"
|
| 322 |
+
],
|
| 323 |
+
"spatial_prefix": [],
|
| 324 |
+
"frame_duration": [
|
| 325 |
+
2086,
|
| 326 |
+
2375
|
| 327 |
+
],
|
| 328 |
+
"mp_ef": [],
|
| 329 |
+
"skill_type": [
|
| 330 |
+
"uncoordinated"
|
| 331 |
+
]
|
| 332 |
+
},
|
| 333 |
+
{
|
| 334 |
+
"skill_idx": 12,
|
| 335 |
+
"skill_id": [
|
| 336 |
+
1
|
| 337 |
+
],
|
| 338 |
+
"skill_description": [
|
| 339 |
+
"move to"
|
| 340 |
+
],
|
| 341 |
+
"object_id": [
|
| 342 |
+
[
|
| 343 |
+
"packing_box_210"
|
| 344 |
+
]
|
| 345 |
+
],
|
| 346 |
+
"manipulating_object_id": [],
|
| 347 |
+
"spatial_prefix": [],
|
| 348 |
+
"frame_duration": [
|
| 349 |
+
2375,
|
| 350 |
+
2486
|
| 351 |
+
],
|
| 352 |
+
"mp_ef": [],
|
| 353 |
+
"skill_type": [
|
| 354 |
+
"navigation"
|
| 355 |
+
]
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"skill_idx": 13,
|
| 359 |
+
"skill_id": [
|
| 360 |
+
4
|
| 361 |
+
],
|
| 362 |
+
"skill_description": [
|
| 363 |
+
"place in"
|
| 364 |
+
],
|
| 365 |
+
"object_id": [
|
| 366 |
+
[
|
| 367 |
+
"half_apple_212",
|
| 368 |
+
"packing_box_210"
|
| 369 |
+
]
|
| 370 |
+
],
|
| 371 |
+
"manipulating_object_id": [
|
| 372 |
+
"half_apple_212"
|
| 373 |
+
],
|
| 374 |
+
"spatial_prefix": [],
|
| 375 |
+
"frame_duration": [
|
| 376 |
+
2486,
|
| 377 |
+
2706
|
| 378 |
+
],
|
| 379 |
+
"mp_ef": [],
|
| 380 |
+
"skill_type": [
|
| 381 |
+
"uncoordinated"
|
| 382 |
+
]
|
| 383 |
+
},
|
| 384 |
+
{
|
| 385 |
+
"skill_idx": 14,
|
| 386 |
+
"skill_id": [
|
| 387 |
+
4
|
| 388 |
+
],
|
| 389 |
+
"skill_description": [
|
| 390 |
+
"place in"
|
| 391 |
+
],
|
| 392 |
+
"object_id": [
|
| 393 |
+
[
|
| 394 |
+
"half_apple_213",
|
| 395 |
+
"packing_box_210"
|
| 396 |
+
]
|
| 397 |
+
],
|
| 398 |
+
"manipulating_object_id": [
|
| 399 |
+
"half_apple_213"
|
| 400 |
+
],
|
| 401 |
+
"spatial_prefix": [],
|
| 402 |
+
"frame_duration": [
|
| 403 |
+
2706,
|
| 404 |
+
2937
|
| 405 |
+
],
|
| 406 |
+
"mp_ef": [],
|
| 407 |
+
"skill_type": [
|
| 408 |
+
"uncoordinated"
|
| 409 |
+
]
|
| 410 |
+
},
|
| 411 |
+
{
|
| 412 |
+
"skill_idx": 15,
|
| 413 |
+
"skill_id": [
|
| 414 |
+
1
|
| 415 |
+
],
|
| 416 |
+
"skill_description": [
|
| 417 |
+
"move to"
|
| 418 |
+
],
|
| 419 |
+
"object_id": [
|
| 420 |
+
[
|
| 421 |
+
"club_sandwich_209"
|
| 422 |
+
]
|
| 423 |
+
],
|
| 424 |
+
"manipulating_object_id": [],
|
| 425 |
+
"spatial_prefix": [],
|
| 426 |
+
"frame_duration": [
|
| 427 |
+
2937,
|
| 428 |
+
2994
|
| 429 |
+
],
|
| 430 |
+
"mp_ef": [],
|
| 431 |
+
"skill_type": [
|
| 432 |
+
"navigation"
|
| 433 |
+
]
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"skill_idx": 16,
|
| 437 |
+
"skill_id": [
|
| 438 |
+
2
|
| 439 |
+
],
|
| 440 |
+
"skill_description": [
|
| 441 |
+
"pick up from"
|
| 442 |
+
],
|
| 443 |
+
"object_id": [
|
| 444 |
+
[
|
| 445 |
+
"club_sandwich_209",
|
| 446 |
+
"chopping_board_211"
|
| 447 |
+
]
|
| 448 |
+
],
|
| 449 |
+
"manipulating_object_id": [
|
| 450 |
+
"club_sandwich_209"
|
| 451 |
+
],
|
| 452 |
+
"spatial_prefix": [],
|
| 453 |
+
"frame_duration": [
|
| 454 |
+
2994,
|
| 455 |
+
3369
|
| 456 |
+
],
|
| 457 |
+
"mp_ef": [],
|
| 458 |
+
"skill_type": [
|
| 459 |
+
"coordinated"
|
| 460 |
+
]
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"skill_idx": 17,
|
| 464 |
+
"skill_id": [
|
| 465 |
+
1
|
| 466 |
+
],
|
| 467 |
+
"skill_description": [
|
| 468 |
+
"move to"
|
| 469 |
+
],
|
| 470 |
+
"object_id": [
|
| 471 |
+
[
|
| 472 |
+
"packing_box_210"
|
| 473 |
+
]
|
| 474 |
+
],
|
| 475 |
+
"manipulating_object_id": [],
|
| 476 |
+
"spatial_prefix": [],
|
| 477 |
+
"frame_duration": [
|
| 478 |
+
3369,
|
| 479 |
+
3435
|
| 480 |
+
],
|
| 481 |
+
"mp_ef": [],
|
| 482 |
+
"skill_type": [
|
| 483 |
+
"navigation"
|
| 484 |
+
]
|
| 485 |
+
},
|
| 486 |
+
{
|
| 487 |
+
"skill_idx": 18,
|
| 488 |
+
"skill_id": [
|
| 489 |
+
4
|
| 490 |
+
],
|
| 491 |
+
"skill_description": [
|
| 492 |
+
"place in"
|
| 493 |
+
],
|
| 494 |
+
"object_id": [
|
| 495 |
+
[
|
| 496 |
+
"club_sandwich_209",
|
| 497 |
+
"packing_box_210"
|
| 498 |
+
]
|
| 499 |
+
],
|
| 500 |
+
"manipulating_object_id": [
|
| 501 |
+
"club_sandwich_209"
|
| 502 |
+
],
|
| 503 |
+
"spatial_prefix": [],
|
| 504 |
+
"frame_duration": [
|
| 505 |
+
3435,
|
| 506 |
+
3645
|
| 507 |
+
],
|
| 508 |
+
"mp_ef": [],
|
| 509 |
+
"skill_type": [
|
| 510 |
+
"uncoordinated"
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
+
{
|
| 514 |
+
"skill_idx": 19,
|
| 515 |
+
"skill_id": [
|
| 516 |
+
1
|
| 517 |
+
],
|
| 518 |
+
"skill_description": [
|
| 519 |
+
"move to"
|
| 520 |
+
],
|
| 521 |
+
"object_id": [
|
| 522 |
+
[
|
| 523 |
+
"fridge_dszchb_0"
|
| 524 |
+
]
|
| 525 |
+
],
|
| 526 |
+
"manipulating_object_id": [],
|
| 527 |
+
"spatial_prefix": [],
|
| 528 |
+
"frame_duration": [
|
| 529 |
+
3645,
|
| 530 |
+
4446
|
| 531 |
+
],
|
| 532 |
+
"mp_ef": [],
|
| 533 |
+
"skill_type": [
|
| 534 |
+
"navigation"
|
| 535 |
+
]
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"skill_idx": 20,
|
| 539 |
+
"skill_id": [
|
| 540 |
+
10
|
| 541 |
+
],
|
| 542 |
+
"skill_description": [
|
| 543 |
+
"open door"
|
| 544 |
+
],
|
| 545 |
+
"object_id": [
|
| 546 |
+
[
|
| 547 |
+
"fridge_dszchb_0"
|
| 548 |
+
]
|
| 549 |
+
],
|
| 550 |
+
"manipulating_object_id": [],
|
| 551 |
+
"spatial_prefix": [],
|
| 552 |
+
"frame_duration": [
|
| 553 |
+
4446,
|
| 554 |
+
5188
|
| 555 |
+
],
|
| 556 |
+
"mp_ef": [],
|
| 557 |
+
"skill_type": [
|
| 558 |
+
"coordinated"
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
{
|
| 562 |
+
"skill_idx": 21,
|
| 563 |
+
"skill_id": [
|
| 564 |
+
2
|
| 565 |
+
],
|
| 566 |
+
"skill_description": [
|
| 567 |
+
"pick up from"
|
| 568 |
+
],
|
| 569 |
+
"object_id": [
|
| 570 |
+
[
|
| 571 |
+
"bottle_of_tea_208",
|
| 572 |
+
"fridge_dszchb_0"
|
| 573 |
+
]
|
| 574 |
+
],
|
| 575 |
+
"manipulating_object_id": [
|
| 576 |
+
"bottle_of_tea_208"
|
| 577 |
+
],
|
| 578 |
+
"spatial_prefix": [
|
| 579 |
+
[
|
| 580 |
+
"",
|
| 581 |
+
"low_level"
|
| 582 |
+
]
|
| 583 |
+
],
|
| 584 |
+
"frame_duration": [
|
| 585 |
+
5188,
|
| 586 |
+
5668
|
| 587 |
+
],
|
| 588 |
+
"mp_ef": [],
|
| 589 |
+
"skill_type": [
|
| 590 |
+
"uncoordinated"
|
| 591 |
+
]
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"skill_idx": 22,
|
| 595 |
+
"skill_id": [
|
| 596 |
+
12
|
| 597 |
+
],
|
| 598 |
+
"skill_description": [
|
| 599 |
+
"close door"
|
| 600 |
+
],
|
| 601 |
+
"object_id": [
|
| 602 |
+
[
|
| 603 |
+
"fridge_dszchb_0"
|
| 604 |
+
]
|
| 605 |
+
],
|
| 606 |
+
"manipulating_object_id": [],
|
| 607 |
+
"spatial_prefix": [],
|
| 608 |
+
"frame_duration": [
|
| 609 |
+
5668,
|
| 610 |
+
5977
|
| 611 |
+
],
|
| 612 |
+
"mp_ef": [],
|
| 613 |
+
"skill_type": [
|
| 614 |
+
"uncoordinated"
|
| 615 |
+
]
|
| 616 |
+
},
|
| 617 |
+
{
|
| 618 |
+
"skill_idx": 23,
|
| 619 |
+
"skill_id": [
|
| 620 |
+
1
|
| 621 |
+
],
|
| 622 |
+
"skill_description": [
|
| 623 |
+
"move to"
|
| 624 |
+
],
|
| 625 |
+
"object_id": [
|
| 626 |
+
[
|
| 627 |
+
"packing_box_210"
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
"manipulating_object_id": [],
|
| 631 |
+
"spatial_prefix": [],
|
| 632 |
+
"frame_duration": [
|
| 633 |
+
5977,
|
| 634 |
+
6397
|
| 635 |
+
],
|
| 636 |
+
"mp_ef": [],
|
| 637 |
+
"skill_type": [
|
| 638 |
+
"navigation"
|
| 639 |
+
]
|
| 640 |
+
},
|
| 641 |
+
{
|
| 642 |
+
"skill_idx": 24,
|
| 643 |
+
"skill_id": [
|
| 644 |
+
4
|
| 645 |
+
],
|
| 646 |
+
"skill_description": [
|
| 647 |
+
"place in"
|
| 648 |
+
],
|
| 649 |
+
"object_id": [
|
| 650 |
+
[
|
| 651 |
+
"bottle_of_tea_208",
|
| 652 |
+
"packing_box_210"
|
| 653 |
+
]
|
| 654 |
+
],
|
| 655 |
+
"manipulating_object_id": [
|
| 656 |
+
"bottle_of_tea_208"
|
| 657 |
+
],
|
| 658 |
+
"spatial_prefix": [],
|
| 659 |
+
"frame_duration": [
|
| 660 |
+
6454,
|
| 661 |
+
6798
|
| 662 |
+
],
|
| 663 |
+
"mp_ef": [],
|
| 664 |
+
"skill_type": [
|
| 665 |
+
"uncoordinated"
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
],
|
| 669 |
+
"primitive_annotation": [
|
| 670 |
+
{
|
| 671 |
+
"primitive_idx": 0,
|
| 672 |
+
"primitive_id": [
|
| 673 |
+
2,
|
| 674 |
+
91
|
| 675 |
+
],
|
| 676 |
+
"primitive_description": [
|
| 677 |
+
"pick up from",
|
| 678 |
+
"place on next to"
|
| 679 |
+
],
|
| 680 |
+
"object_id": [
|
| 681 |
+
[
|
| 682 |
+
"packing_box_210",
|
| 683 |
+
"countertop_kelker_0"
|
| 684 |
+
],
|
| 685 |
+
[
|
| 686 |
+
"packing_box_210",
|
| 687 |
+
"countertop_kelker_0",
|
| 688 |
+
"burner_mjvqii_0"
|
| 689 |
+
]
|
| 690 |
+
],
|
| 691 |
+
"manipulating_object_id": [
|
| 692 |
+
"packing_box_210",
|
| 693 |
+
"packing_box_210"
|
| 694 |
+
],
|
| 695 |
+
"spatial_prefix": [
|
| 696 |
+
[],
|
| 697 |
+
[
|
| 698 |
+
[],
|
| 699 |
+
[],
|
| 700 |
+
[
|
| 701 |
+
"left"
|
| 702 |
+
]
|
| 703 |
+
]
|
| 704 |
+
],
|
| 705 |
+
"frame_duration": [
|
| 706 |
+
0,
|
| 707 |
+
714
|
| 708 |
+
],
|
| 709 |
+
"skill_idxes": [
|
| 710 |
+
0,
|
| 711 |
+
1,
|
| 712 |
+
2,
|
| 713 |
+
3
|
| 714 |
+
]
|
| 715 |
+
},
|
| 716 |
+
{
|
| 717 |
+
"primitive_idx": 1,
|
| 718 |
+
"primitive_id": [
|
| 719 |
+
2,
|
| 720 |
+
4
|
| 721 |
+
],
|
| 722 |
+
"primitive_description": [
|
| 723 |
+
"pick up from",
|
| 724 |
+
"place in"
|
| 725 |
+
],
|
| 726 |
+
"object_id": [
|
| 727 |
+
[
|
| 728 |
+
"chocolate_chip_cookie_207",
|
| 729 |
+
"chopping_board_211"
|
| 730 |
+
],
|
| 731 |
+
[
|
| 732 |
+
"chocolate_chip_cookie_207",
|
| 733 |
+
"packing_box_210"
|
| 734 |
+
]
|
| 735 |
+
],
|
| 736 |
+
"manipulating_object_id": [
|
| 737 |
+
"chocolate_chip_cookie_207",
|
| 738 |
+
"chocolate_chip_cookie_207"
|
| 739 |
+
],
|
| 740 |
+
"spatial_prefix": [],
|
| 741 |
+
"frame_duration": [
|
| 742 |
+
714,
|
| 743 |
+
1645
|
| 744 |
+
],
|
| 745 |
+
"skill_idxes": [
|
| 746 |
+
4,
|
| 747 |
+
5,
|
| 748 |
+
6,
|
| 749 |
+
7,
|
| 750 |
+
8
|
| 751 |
+
]
|
| 752 |
+
},
|
| 753 |
+
{
|
| 754 |
+
"primitive_idx": 2,
|
| 755 |
+
"primitive_id": [
|
| 756 |
+
2,
|
| 757 |
+
4
|
| 758 |
+
],
|
| 759 |
+
"primitive_description": [
|
| 760 |
+
"pick up from",
|
| 761 |
+
"place in"
|
| 762 |
+
],
|
| 763 |
+
"object_id": [
|
| 764 |
+
[
|
| 765 |
+
[
|
| 766 |
+
"half_apple_213",
|
| 767 |
+
"half_apple_212"
|
| 768 |
+
],
|
| 769 |
+
"chopping_board_211"
|
| 770 |
+
],
|
| 771 |
+
[
|
| 772 |
+
[
|
| 773 |
+
"half_apple_212",
|
| 774 |
+
"half_apple_213"
|
| 775 |
+
],
|
| 776 |
+
"packing_box_210"
|
| 777 |
+
]
|
| 778 |
+
],
|
| 779 |
+
"manipulating_object_id": [
|
| 780 |
+
[
|
| 781 |
+
"half_apple_213",
|
| 782 |
+
"half_apple_212"
|
| 783 |
+
],
|
| 784 |
+
[
|
| 785 |
+
"half_apple_212",
|
| 786 |
+
"half_apple_213"
|
| 787 |
+
]
|
| 788 |
+
],
|
| 789 |
+
"spatial_prefix": [],
|
| 790 |
+
"frame_duration": [
|
| 791 |
+
1646,
|
| 792 |
+
2937
|
| 793 |
+
],
|
| 794 |
+
"skill_idxes": [
|
| 795 |
+
9,
|
| 796 |
+
10,
|
| 797 |
+
11,
|
| 798 |
+
12,
|
| 799 |
+
13,
|
| 800 |
+
14
|
| 801 |
+
]
|
| 802 |
+
},
|
| 803 |
+
{
|
| 804 |
+
"primitive_idx": 3,
|
| 805 |
+
"primitive_id": [
|
| 806 |
+
2,
|
| 807 |
+
4
|
| 808 |
+
],
|
| 809 |
+
"primitive_description": [
|
| 810 |
+
"pick up from",
|
| 811 |
+
"place in"
|
| 812 |
+
],
|
| 813 |
+
"object_id": [
|
| 814 |
+
[
|
| 815 |
+
"club_sandwich_209",
|
| 816 |
+
"chopping_board_211"
|
| 817 |
+
],
|
| 818 |
+
[
|
| 819 |
+
"club_sandwich_209",
|
| 820 |
+
"packing_box_210"
|
| 821 |
+
]
|
| 822 |
+
],
|
| 823 |
+
"manipulating_object_id": [
|
| 824 |
+
"club_sandwich_209",
|
| 825 |
+
"club_sandwich_209"
|
| 826 |
+
],
|
| 827 |
+
"spatial_prefix": [],
|
| 828 |
+
"frame_duration": [
|
| 829 |
+
2937,
|
| 830 |
+
3645
|
| 831 |
+
],
|
| 832 |
+
"skill_idxes": [
|
| 833 |
+
15,
|
| 834 |
+
16,
|
| 835 |
+
17,
|
| 836 |
+
18
|
| 837 |
+
]
|
| 838 |
+
},
|
| 839 |
+
{
|
| 840 |
+
"primitive_idx": 4,
|
| 841 |
+
"primitive_id": [],
|
| 842 |
+
"primitive_description": [],
|
| 843 |
+
"object_id": [],
|
| 844 |
+
"manipulating_object_id": [],
|
| 845 |
+
"spatial_prefix": [],
|
| 846 |
+
"frame_duration": [
|
| 847 |
+
3645,
|
| 848 |
+
6397
|
| 849 |
+
],
|
| 850 |
+
"skill_idxes": [
|
| 851 |
+
19,
|
| 852 |
+
20,
|
| 853 |
+
23
|
| 854 |
+
]
|
| 855 |
+
},
|
| 856 |
+
{
|
| 857 |
+
"primitive_idx": 5,
|
| 858 |
+
"primitive_id": [
|
| 859 |
+
2
|
| 860 |
+
],
|
| 861 |
+
"primitive_description": [
|
| 862 |
+
"pick up from"
|
| 863 |
+
],
|
| 864 |
+
"object_id": [
|
| 865 |
+
[
|
| 866 |
+
"bottle_of_tea_208",
|
| 867 |
+
"fridge_dszchb_0"
|
| 868 |
+
]
|
| 869 |
+
],
|
| 870 |
+
"manipulating_object_id": [
|
| 871 |
+
"bottle_of_tea_208"
|
| 872 |
+
],
|
| 873 |
+
"spatial_prefix": [
|
| 874 |
+
[
|
| 875 |
+
[],
|
| 876 |
+
[
|
| 877 |
+
"low_level"
|
| 878 |
+
]
|
| 879 |
+
]
|
| 880 |
+
],
|
| 881 |
+
"frame_duration": [
|
| 882 |
+
5188,
|
| 883 |
+
5668
|
| 884 |
+
],
|
| 885 |
+
"skill_idxes": [
|
| 886 |
+
21
|
| 887 |
+
]
|
| 888 |
+
},
|
| 889 |
+
{
|
| 890 |
+
"primitive_idx": 6,
|
| 891 |
+
"primitive_id": [
|
| 892 |
+
12
|
| 893 |
+
],
|
| 894 |
+
"primitive_description": [
|
| 895 |
+
"close door"
|
| 896 |
+
],
|
| 897 |
+
"object_id": [
|
| 898 |
+
[
|
| 899 |
+
"fridge_dszchb_0"
|
| 900 |
+
]
|
| 901 |
+
],
|
| 902 |
+
"manipulating_object_id": [],
|
| 903 |
+
"spatial_prefix": [],
|
| 904 |
+
"frame_duration": [
|
| 905 |
+
5668,
|
| 906 |
+
5977
|
| 907 |
+
],
|
| 908 |
+
"skill_idxes": [
|
| 909 |
+
22
|
| 910 |
+
]
|
| 911 |
+
},
|
| 912 |
+
{
|
| 913 |
+
"primitive_idx": 7,
|
| 914 |
+
"primitive_id": [
|
| 915 |
+
4
|
| 916 |
+
],
|
| 917 |
+
"primitive_description": [
|
| 918 |
+
"place in"
|
| 919 |
+
],
|
| 920 |
+
"object_id": [
|
| 921 |
+
[
|
| 922 |
+
"bottle_of_tea_208",
|
| 923 |
+
"packing_box_210"
|
| 924 |
+
]
|
| 925 |
+
],
|
| 926 |
+
"manipulating_object_id": [
|
| 927 |
+
"bottle_of_tea_208"
|
| 928 |
+
],
|
| 929 |
+
"spatial_prefix": [],
|
| 930 |
+
"frame_duration": [
|
| 931 |
+
6454,
|
| 932 |
+
6798
|
| 933 |
+
],
|
| 934 |
+
"skill_idxes": [
|
| 935 |
+
24
|
| 936 |
+
]
|
| 937 |
+
}
|
| 938 |
+
]
|
| 939 |
+
}
|
annotations/episode_00000083.json
ADDED
|
@@ -0,0 +1,839 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7119,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
7119
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
291
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
291,
|
| 56 |
+
579
|
| 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 |
+
"chopping_board_211"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
579,
|
| 80 |
+
786
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"right"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
786,
|
| 114 |
+
882
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
90
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"push to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207",
|
| 132 |
+
"chopping_board_211"
|
| 133 |
+
]
|
| 134 |
+
],
|
| 135 |
+
"manipulating_object_id": [
|
| 136 |
+
"chocolate_chip_cookie_207"
|
| 137 |
+
],
|
| 138 |
+
"spatial_prefix": [
|
| 139 |
+
[
|
| 140 |
+
"",
|
| 141 |
+
"to_the_edge_of"
|
| 142 |
+
]
|
| 143 |
+
],
|
| 144 |
+
"frame_duration": [
|
| 145 |
+
882,
|
| 146 |
+
1497
|
| 147 |
+
],
|
| 148 |
+
"mp_ef": [],
|
| 149 |
+
"skill_type": [
|
| 150 |
+
"uncoordinated"
|
| 151 |
+
]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 5,
|
| 155 |
+
"skill_id": [
|
| 156 |
+
2
|
| 157 |
+
],
|
| 158 |
+
"skill_description": [
|
| 159 |
+
"pick up from"
|
| 160 |
+
],
|
| 161 |
+
"object_id": [
|
| 162 |
+
[
|
| 163 |
+
"chocolate_chip_cookie_207",
|
| 164 |
+
"chopping_board_211"
|
| 165 |
+
]
|
| 166 |
+
],
|
| 167 |
+
"manipulating_object_id": [
|
| 168 |
+
"chocolate_chip_cookie_207"
|
| 169 |
+
],
|
| 170 |
+
"spatial_prefix": [],
|
| 171 |
+
"frame_duration": [
|
| 172 |
+
1497,
|
| 173 |
+
1995
|
| 174 |
+
],
|
| 175 |
+
"mp_ef": [],
|
| 176 |
+
"skill_type": [
|
| 177 |
+
"uncoordinated"
|
| 178 |
+
]
|
| 179 |
+
},
|
| 180 |
+
{
|
| 181 |
+
"skill_idx": 6,
|
| 182 |
+
"skill_id": [
|
| 183 |
+
4
|
| 184 |
+
],
|
| 185 |
+
"skill_description": [
|
| 186 |
+
"place in"
|
| 187 |
+
],
|
| 188 |
+
"object_id": [
|
| 189 |
+
[
|
| 190 |
+
"chocolate_chip_cookie_207",
|
| 191 |
+
"packing_box_210"
|
| 192 |
+
]
|
| 193 |
+
],
|
| 194 |
+
"manipulating_object_id": [
|
| 195 |
+
"chocolate_chip_cookie_207"
|
| 196 |
+
],
|
| 197 |
+
"spatial_prefix": [],
|
| 198 |
+
"frame_duration": [
|
| 199 |
+
1995,
|
| 200 |
+
2340
|
| 201 |
+
],
|
| 202 |
+
"mp_ef": [],
|
| 203 |
+
"skill_type": [
|
| 204 |
+
"uncoordinated"
|
| 205 |
+
]
|
| 206 |
+
},
|
| 207 |
+
{
|
| 208 |
+
"skill_idx": 7,
|
| 209 |
+
"skill_id": [
|
| 210 |
+
2
|
| 211 |
+
],
|
| 212 |
+
"skill_description": [
|
| 213 |
+
"pick up from"
|
| 214 |
+
],
|
| 215 |
+
"object_id": [
|
| 216 |
+
[
|
| 217 |
+
"half_apple_212",
|
| 218 |
+
"chopping_board_211"
|
| 219 |
+
]
|
| 220 |
+
],
|
| 221 |
+
"manipulating_object_id": [
|
| 222 |
+
"half_apple_212"
|
| 223 |
+
],
|
| 224 |
+
"spatial_prefix": [],
|
| 225 |
+
"frame_duration": [
|
| 226 |
+
2340,
|
| 227 |
+
2730
|
| 228 |
+
],
|
| 229 |
+
"mp_ef": [],
|
| 230 |
+
"skill_type": [
|
| 231 |
+
"uncoordinated"
|
| 232 |
+
]
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"skill_idx": 8,
|
| 236 |
+
"skill_id": [
|
| 237 |
+
2
|
| 238 |
+
],
|
| 239 |
+
"skill_description": [
|
| 240 |
+
"pick up from"
|
| 241 |
+
],
|
| 242 |
+
"object_id": [
|
| 243 |
+
[
|
| 244 |
+
"half_apple_213",
|
| 245 |
+
"chopping_board_211"
|
| 246 |
+
]
|
| 247 |
+
],
|
| 248 |
+
"manipulating_object_id": [
|
| 249 |
+
"half_apple_213"
|
| 250 |
+
],
|
| 251 |
+
"spatial_prefix": [],
|
| 252 |
+
"frame_duration": [
|
| 253 |
+
2730,
|
| 254 |
+
2940
|
| 255 |
+
],
|
| 256 |
+
"mp_ef": [],
|
| 257 |
+
"skill_type": [
|
| 258 |
+
"uncoordinated"
|
| 259 |
+
]
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"skill_idx": 9,
|
| 263 |
+
"skill_id": [
|
| 264 |
+
4
|
| 265 |
+
],
|
| 266 |
+
"skill_description": [
|
| 267 |
+
"place in"
|
| 268 |
+
],
|
| 269 |
+
"object_id": [
|
| 270 |
+
[
|
| 271 |
+
"half_apple_212",
|
| 272 |
+
"packing_box_210"
|
| 273 |
+
]
|
| 274 |
+
],
|
| 275 |
+
"manipulating_object_id": [
|
| 276 |
+
"half_apple_212"
|
| 277 |
+
],
|
| 278 |
+
"spatial_prefix": [],
|
| 279 |
+
"frame_duration": [
|
| 280 |
+
2940,
|
| 281 |
+
3138
|
| 282 |
+
],
|
| 283 |
+
"mp_ef": [],
|
| 284 |
+
"skill_type": [
|
| 285 |
+
"uncoordinated"
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"skill_idx": 10,
|
| 290 |
+
"skill_id": [
|
| 291 |
+
4
|
| 292 |
+
],
|
| 293 |
+
"skill_description": [
|
| 294 |
+
"place in"
|
| 295 |
+
],
|
| 296 |
+
"object_id": [
|
| 297 |
+
[
|
| 298 |
+
"half_apple_213",
|
| 299 |
+
"packing_box_210"
|
| 300 |
+
]
|
| 301 |
+
],
|
| 302 |
+
"manipulating_object_id": [
|
| 303 |
+
"half_apple_213"
|
| 304 |
+
],
|
| 305 |
+
"spatial_prefix": [],
|
| 306 |
+
"frame_duration": [
|
| 307 |
+
3138,
|
| 308 |
+
3363
|
| 309 |
+
],
|
| 310 |
+
"mp_ef": [],
|
| 311 |
+
"skill_type": [
|
| 312 |
+
"uncoordinated"
|
| 313 |
+
]
|
| 314 |
+
},
|
| 315 |
+
{
|
| 316 |
+
"skill_idx": 11,
|
| 317 |
+
"skill_id": [
|
| 318 |
+
1
|
| 319 |
+
],
|
| 320 |
+
"skill_description": [
|
| 321 |
+
"move to"
|
| 322 |
+
],
|
| 323 |
+
"object_id": [
|
| 324 |
+
[
|
| 325 |
+
"club_sandwich_209"
|
| 326 |
+
]
|
| 327 |
+
],
|
| 328 |
+
"manipulating_object_id": [],
|
| 329 |
+
"spatial_prefix": [],
|
| 330 |
+
"frame_duration": [
|
| 331 |
+
3363,
|
| 332 |
+
3438
|
| 333 |
+
],
|
| 334 |
+
"mp_ef": [],
|
| 335 |
+
"skill_type": [
|
| 336 |
+
"navigation"
|
| 337 |
+
]
|
| 338 |
+
},
|
| 339 |
+
{
|
| 340 |
+
"skill_idx": 12,
|
| 341 |
+
"skill_id": [
|
| 342 |
+
2
|
| 343 |
+
],
|
| 344 |
+
"skill_description": [
|
| 345 |
+
"pick up from"
|
| 346 |
+
],
|
| 347 |
+
"object_id": [
|
| 348 |
+
[
|
| 349 |
+
"club_sandwich_209",
|
| 350 |
+
"chopping_board_211"
|
| 351 |
+
]
|
| 352 |
+
],
|
| 353 |
+
"manipulating_object_id": [
|
| 354 |
+
"club_sandwich_209"
|
| 355 |
+
],
|
| 356 |
+
"spatial_prefix": [],
|
| 357 |
+
"frame_duration": [
|
| 358 |
+
3438,
|
| 359 |
+
3849
|
| 360 |
+
],
|
| 361 |
+
"mp_ef": [],
|
| 362 |
+
"skill_type": [
|
| 363 |
+
"coordinated"
|
| 364 |
+
]
|
| 365 |
+
},
|
| 366 |
+
{
|
| 367 |
+
"skill_idx": 13,
|
| 368 |
+
"skill_id": [
|
| 369 |
+
1
|
| 370 |
+
],
|
| 371 |
+
"skill_description": [
|
| 372 |
+
"move to"
|
| 373 |
+
],
|
| 374 |
+
"object_id": [
|
| 375 |
+
[
|
| 376 |
+
"packing_box_210"
|
| 377 |
+
]
|
| 378 |
+
],
|
| 379 |
+
"manipulating_object_id": [],
|
| 380 |
+
"spatial_prefix": [],
|
| 381 |
+
"frame_duration": [
|
| 382 |
+
3849,
|
| 383 |
+
3918
|
| 384 |
+
],
|
| 385 |
+
"mp_ef": [],
|
| 386 |
+
"skill_type": [
|
| 387 |
+
"navigation"
|
| 388 |
+
]
|
| 389 |
+
},
|
| 390 |
+
{
|
| 391 |
+
"skill_idx": 14,
|
| 392 |
+
"skill_id": [
|
| 393 |
+
4
|
| 394 |
+
],
|
| 395 |
+
"skill_description": [
|
| 396 |
+
"place in"
|
| 397 |
+
],
|
| 398 |
+
"object_id": [
|
| 399 |
+
[
|
| 400 |
+
"club_sandwich_209",
|
| 401 |
+
"packing_box_210"
|
| 402 |
+
]
|
| 403 |
+
],
|
| 404 |
+
"manipulating_object_id": [
|
| 405 |
+
"club_sandwich_209"
|
| 406 |
+
],
|
| 407 |
+
"spatial_prefix": [],
|
| 408 |
+
"frame_duration": [
|
| 409 |
+
3918,
|
| 410 |
+
4170
|
| 411 |
+
],
|
| 412 |
+
"mp_ef": [],
|
| 413 |
+
"skill_type": [
|
| 414 |
+
"uncoordinated"
|
| 415 |
+
]
|
| 416 |
+
},
|
| 417 |
+
{
|
| 418 |
+
"skill_idx": 15,
|
| 419 |
+
"skill_id": [
|
| 420 |
+
1
|
| 421 |
+
],
|
| 422 |
+
"skill_description": [
|
| 423 |
+
"move to"
|
| 424 |
+
],
|
| 425 |
+
"object_id": [
|
| 426 |
+
[
|
| 427 |
+
"fridge_dszchb_0"
|
| 428 |
+
]
|
| 429 |
+
],
|
| 430 |
+
"manipulating_object_id": [],
|
| 431 |
+
"spatial_prefix": [],
|
| 432 |
+
"frame_duration": [
|
| 433 |
+
4170,
|
| 434 |
+
4788
|
| 435 |
+
],
|
| 436 |
+
"mp_ef": [],
|
| 437 |
+
"skill_type": [
|
| 438 |
+
"navigation"
|
| 439 |
+
]
|
| 440 |
+
},
|
| 441 |
+
{
|
| 442 |
+
"skill_idx": 16,
|
| 443 |
+
"skill_id": [
|
| 444 |
+
10
|
| 445 |
+
],
|
| 446 |
+
"skill_description": [
|
| 447 |
+
"open door"
|
| 448 |
+
],
|
| 449 |
+
"object_id": [
|
| 450 |
+
[
|
| 451 |
+
"fridge_dszchb_0"
|
| 452 |
+
]
|
| 453 |
+
],
|
| 454 |
+
"manipulating_object_id": [],
|
| 455 |
+
"spatial_prefix": [],
|
| 456 |
+
"frame_duration": [
|
| 457 |
+
4788,
|
| 458 |
+
5529
|
| 459 |
+
],
|
| 460 |
+
"mp_ef": [],
|
| 461 |
+
"skill_type": [
|
| 462 |
+
"coordinated"
|
| 463 |
+
]
|
| 464 |
+
},
|
| 465 |
+
{
|
| 466 |
+
"skill_idx": 17,
|
| 467 |
+
"skill_id": [
|
| 468 |
+
2
|
| 469 |
+
],
|
| 470 |
+
"skill_description": [
|
| 471 |
+
"pick up from"
|
| 472 |
+
],
|
| 473 |
+
"object_id": [
|
| 474 |
+
[
|
| 475 |
+
"bottle_of_tea_208",
|
| 476 |
+
"fridge_dszchb_0"
|
| 477 |
+
]
|
| 478 |
+
],
|
| 479 |
+
"manipulating_object_id": [
|
| 480 |
+
"bottle_of_tea_208"
|
| 481 |
+
],
|
| 482 |
+
"spatial_prefix": [
|
| 483 |
+
[
|
| 484 |
+
"",
|
| 485 |
+
"low_level"
|
| 486 |
+
]
|
| 487 |
+
],
|
| 488 |
+
"frame_duration": [
|
| 489 |
+
5529,
|
| 490 |
+
5976
|
| 491 |
+
],
|
| 492 |
+
"mp_ef": [],
|
| 493 |
+
"skill_type": [
|
| 494 |
+
"uncoordinated"
|
| 495 |
+
]
|
| 496 |
+
},
|
| 497 |
+
{
|
| 498 |
+
"skill_idx": 18,
|
| 499 |
+
"skill_id": [
|
| 500 |
+
12
|
| 501 |
+
],
|
| 502 |
+
"skill_description": [
|
| 503 |
+
"close door"
|
| 504 |
+
],
|
| 505 |
+
"object_id": [
|
| 506 |
+
[
|
| 507 |
+
"fridge_dszchb_0"
|
| 508 |
+
]
|
| 509 |
+
],
|
| 510 |
+
"manipulating_object_id": [],
|
| 511 |
+
"spatial_prefix": [],
|
| 512 |
+
"frame_duration": [
|
| 513 |
+
5976,
|
| 514 |
+
6270
|
| 515 |
+
],
|
| 516 |
+
"mp_ef": [],
|
| 517 |
+
"skill_type": [
|
| 518 |
+
"uncoordinated"
|
| 519 |
+
]
|
| 520 |
+
},
|
| 521 |
+
{
|
| 522 |
+
"skill_idx": 19,
|
| 523 |
+
"skill_id": [
|
| 524 |
+
1
|
| 525 |
+
],
|
| 526 |
+
"skill_description": [
|
| 527 |
+
"move to"
|
| 528 |
+
],
|
| 529 |
+
"object_id": [
|
| 530 |
+
[
|
| 531 |
+
"packing_box_210"
|
| 532 |
+
]
|
| 533 |
+
],
|
| 534 |
+
"manipulating_object_id": [],
|
| 535 |
+
"spatial_prefix": [],
|
| 536 |
+
"frame_duration": [
|
| 537 |
+
6270,
|
| 538 |
+
6609
|
| 539 |
+
],
|
| 540 |
+
"mp_ef": [],
|
| 541 |
+
"skill_type": [
|
| 542 |
+
"navigation"
|
| 543 |
+
]
|
| 544 |
+
},
|
| 545 |
+
{
|
| 546 |
+
"skill_idx": 20,
|
| 547 |
+
"skill_id": [
|
| 548 |
+
4
|
| 549 |
+
],
|
| 550 |
+
"skill_description": [
|
| 551 |
+
"place in"
|
| 552 |
+
],
|
| 553 |
+
"object_id": [
|
| 554 |
+
[
|
| 555 |
+
"bottle_of_tea_208",
|
| 556 |
+
"packing_box_210"
|
| 557 |
+
]
|
| 558 |
+
],
|
| 559 |
+
"manipulating_object_id": [
|
| 560 |
+
"bottle_of_tea_208"
|
| 561 |
+
],
|
| 562 |
+
"spatial_prefix": [],
|
| 563 |
+
"frame_duration": [
|
| 564 |
+
6609,
|
| 565 |
+
7119
|
| 566 |
+
],
|
| 567 |
+
"mp_ef": [],
|
| 568 |
+
"skill_type": [
|
| 569 |
+
"uncoordinated"
|
| 570 |
+
]
|
| 571 |
+
}
|
| 572 |
+
],
|
| 573 |
+
"primitive_annotation": [
|
| 574 |
+
{
|
| 575 |
+
"primitive_idx": 0,
|
| 576 |
+
"primitive_id": [
|
| 577 |
+
2,
|
| 578 |
+
91
|
| 579 |
+
],
|
| 580 |
+
"primitive_description": [
|
| 581 |
+
"pick up from",
|
| 582 |
+
"place on next to"
|
| 583 |
+
],
|
| 584 |
+
"object_id": [
|
| 585 |
+
[
|
| 586 |
+
"packing_box_210",
|
| 587 |
+
"countertop_kelker_0"
|
| 588 |
+
],
|
| 589 |
+
[
|
| 590 |
+
"packing_box_210",
|
| 591 |
+
"countertop_kelker_0",
|
| 592 |
+
"chopping_board_211"
|
| 593 |
+
]
|
| 594 |
+
],
|
| 595 |
+
"manipulating_object_id": [
|
| 596 |
+
"packing_box_210",
|
| 597 |
+
"packing_box_210"
|
| 598 |
+
],
|
| 599 |
+
"spatial_prefix": [
|
| 600 |
+
[],
|
| 601 |
+
[
|
| 602 |
+
[],
|
| 603 |
+
[],
|
| 604 |
+
[
|
| 605 |
+
"right"
|
| 606 |
+
]
|
| 607 |
+
]
|
| 608 |
+
],
|
| 609 |
+
"frame_duration": [
|
| 610 |
+
0,
|
| 611 |
+
882
|
| 612 |
+
],
|
| 613 |
+
"skill_idxes": [
|
| 614 |
+
0,
|
| 615 |
+
1,
|
| 616 |
+
2,
|
| 617 |
+
3
|
| 618 |
+
]
|
| 619 |
+
},
|
| 620 |
+
{
|
| 621 |
+
"primitive_idx": 1,
|
| 622 |
+
"primitive_id": [
|
| 623 |
+
2,
|
| 624 |
+
4
|
| 625 |
+
],
|
| 626 |
+
"primitive_description": [
|
| 627 |
+
"pick up from",
|
| 628 |
+
"place in"
|
| 629 |
+
],
|
| 630 |
+
"object_id": [
|
| 631 |
+
[
|
| 632 |
+
"chocolate_chip_cookie_207",
|
| 633 |
+
"chopping_board_211"
|
| 634 |
+
],
|
| 635 |
+
[
|
| 636 |
+
"chocolate_chip_cookie_207",
|
| 637 |
+
"packing_box_210"
|
| 638 |
+
]
|
| 639 |
+
],
|
| 640 |
+
"manipulating_object_id": [
|
| 641 |
+
"chocolate_chip_cookie_207",
|
| 642 |
+
"chocolate_chip_cookie_207"
|
| 643 |
+
],
|
| 644 |
+
"spatial_prefix": [],
|
| 645 |
+
"frame_duration": [
|
| 646 |
+
882,
|
| 647 |
+
2340
|
| 648 |
+
],
|
| 649 |
+
"skill_idxes": [
|
| 650 |
+
4,
|
| 651 |
+
5,
|
| 652 |
+
6
|
| 653 |
+
]
|
| 654 |
+
},
|
| 655 |
+
{
|
| 656 |
+
"primitive_idx": 2,
|
| 657 |
+
"primitive_id": [
|
| 658 |
+
2,
|
| 659 |
+
4
|
| 660 |
+
],
|
| 661 |
+
"primitive_description": [
|
| 662 |
+
"pick up from",
|
| 663 |
+
"place in"
|
| 664 |
+
],
|
| 665 |
+
"object_id": [
|
| 666 |
+
[
|
| 667 |
+
[
|
| 668 |
+
"half_apple_212",
|
| 669 |
+
"half_apple_213"
|
| 670 |
+
],
|
| 671 |
+
"chopping_board_211"
|
| 672 |
+
],
|
| 673 |
+
[
|
| 674 |
+
[
|
| 675 |
+
"half_apple_212",
|
| 676 |
+
"half_apple_213"
|
| 677 |
+
],
|
| 678 |
+
"packing_box_210"
|
| 679 |
+
]
|
| 680 |
+
],
|
| 681 |
+
"manipulating_object_id": [
|
| 682 |
+
[
|
| 683 |
+
"half_apple_212",
|
| 684 |
+
"half_apple_213"
|
| 685 |
+
],
|
| 686 |
+
[
|
| 687 |
+
"half_apple_212",
|
| 688 |
+
"half_apple_213"
|
| 689 |
+
]
|
| 690 |
+
],
|
| 691 |
+
"spatial_prefix": [],
|
| 692 |
+
"frame_duration": [
|
| 693 |
+
2340,
|
| 694 |
+
3363
|
| 695 |
+
],
|
| 696 |
+
"skill_idxes": [
|
| 697 |
+
7,
|
| 698 |
+
8,
|
| 699 |
+
9,
|
| 700 |
+
10
|
| 701 |
+
]
|
| 702 |
+
},
|
| 703 |
+
{
|
| 704 |
+
"primitive_idx": 3,
|
| 705 |
+
"primitive_id": [
|
| 706 |
+
2,
|
| 707 |
+
4
|
| 708 |
+
],
|
| 709 |
+
"primitive_description": [
|
| 710 |
+
"pick up from",
|
| 711 |
+
"place in"
|
| 712 |
+
],
|
| 713 |
+
"object_id": [
|
| 714 |
+
[
|
| 715 |
+
"club_sandwich_209",
|
| 716 |
+
"chopping_board_211"
|
| 717 |
+
],
|
| 718 |
+
[
|
| 719 |
+
"club_sandwich_209",
|
| 720 |
+
"packing_box_210"
|
| 721 |
+
]
|
| 722 |
+
],
|
| 723 |
+
"manipulating_object_id": [
|
| 724 |
+
"club_sandwich_209",
|
| 725 |
+
"club_sandwich_209"
|
| 726 |
+
],
|
| 727 |
+
"spatial_prefix": [],
|
| 728 |
+
"frame_duration": [
|
| 729 |
+
3363,
|
| 730 |
+
4170
|
| 731 |
+
],
|
| 732 |
+
"skill_idxes": [
|
| 733 |
+
11,
|
| 734 |
+
12,
|
| 735 |
+
13,
|
| 736 |
+
14
|
| 737 |
+
]
|
| 738 |
+
},
|
| 739 |
+
{
|
| 740 |
+
"primitive_idx": 4,
|
| 741 |
+
"primitive_id": [],
|
| 742 |
+
"primitive_description": [],
|
| 743 |
+
"object_id": [],
|
| 744 |
+
"manipulating_object_id": [],
|
| 745 |
+
"spatial_prefix": [],
|
| 746 |
+
"frame_duration": [
|
| 747 |
+
4170,
|
| 748 |
+
6609
|
| 749 |
+
],
|
| 750 |
+
"skill_idxes": [
|
| 751 |
+
15,
|
| 752 |
+
16,
|
| 753 |
+
19
|
| 754 |
+
]
|
| 755 |
+
},
|
| 756 |
+
{
|
| 757 |
+
"primitive_idx": 5,
|
| 758 |
+
"primitive_id": [
|
| 759 |
+
2
|
| 760 |
+
],
|
| 761 |
+
"primitive_description": [
|
| 762 |
+
"pick up from"
|
| 763 |
+
],
|
| 764 |
+
"object_id": [
|
| 765 |
+
[
|
| 766 |
+
"bottle_of_tea_208",
|
| 767 |
+
"fridge_dszchb_0"
|
| 768 |
+
]
|
| 769 |
+
],
|
| 770 |
+
"manipulating_object_id": [
|
| 771 |
+
"bottle_of_tea_208"
|
| 772 |
+
],
|
| 773 |
+
"spatial_prefix": [
|
| 774 |
+
[
|
| 775 |
+
[],
|
| 776 |
+
[
|
| 777 |
+
"low_level"
|
| 778 |
+
]
|
| 779 |
+
]
|
| 780 |
+
],
|
| 781 |
+
"frame_duration": [
|
| 782 |
+
5529,
|
| 783 |
+
5976
|
| 784 |
+
],
|
| 785 |
+
"skill_idxes": [
|
| 786 |
+
17
|
| 787 |
+
]
|
| 788 |
+
},
|
| 789 |
+
{
|
| 790 |
+
"primitive_idx": 6,
|
| 791 |
+
"primitive_id": [
|
| 792 |
+
12
|
| 793 |
+
],
|
| 794 |
+
"primitive_description": [
|
| 795 |
+
"close door"
|
| 796 |
+
],
|
| 797 |
+
"object_id": [
|
| 798 |
+
[
|
| 799 |
+
"fridge_dszchb_0"
|
| 800 |
+
]
|
| 801 |
+
],
|
| 802 |
+
"manipulating_object_id": [],
|
| 803 |
+
"spatial_prefix": [],
|
| 804 |
+
"frame_duration": [
|
| 805 |
+
5976,
|
| 806 |
+
6270
|
| 807 |
+
],
|
| 808 |
+
"skill_idxes": [
|
| 809 |
+
18
|
| 810 |
+
]
|
| 811 |
+
},
|
| 812 |
+
{
|
| 813 |
+
"primitive_idx": 7,
|
| 814 |
+
"primitive_id": [
|
| 815 |
+
4
|
| 816 |
+
],
|
| 817 |
+
"primitive_description": [
|
| 818 |
+
"place in"
|
| 819 |
+
],
|
| 820 |
+
"object_id": [
|
| 821 |
+
[
|
| 822 |
+
"bottle_of_tea_208",
|
| 823 |
+
"packing_box_210"
|
| 824 |
+
]
|
| 825 |
+
],
|
| 826 |
+
"manipulating_object_id": [
|
| 827 |
+
"bottle_of_tea_208"
|
| 828 |
+
],
|
| 829 |
+
"spatial_prefix": [],
|
| 830 |
+
"frame_duration": [
|
| 831 |
+
6609,
|
| 832 |
+
7119
|
| 833 |
+
],
|
| 834 |
+
"skill_idxes": [
|
| 835 |
+
20
|
| 836 |
+
]
|
| 837 |
+
}
|
| 838 |
+
]
|
| 839 |
+
}
|
annotations/episode_00000091.json
ADDED
|
@@ -0,0 +1,939 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6716,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
6716
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
199
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
199,
|
| 56 |
+
554
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
554,
|
| 80 |
+
672
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"burner_mjvqii_0"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
672,
|
| 114 |
+
780
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
780,
|
| 138 |
+
906
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
90
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"push to"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"chocolate_chip_cookie_207",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"chocolate_chip_cookie_207"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [
|
| 163 |
+
[
|
| 164 |
+
"",
|
| 165 |
+
"to_the_edge_of"
|
| 166 |
+
]
|
| 167 |
+
],
|
| 168 |
+
"frame_duration": [
|
| 169 |
+
906,
|
| 170 |
+
1510
|
| 171 |
+
],
|
| 172 |
+
"mp_ef": [],
|
| 173 |
+
"skill_type": [
|
| 174 |
+
"uncoordinated"
|
| 175 |
+
]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 6,
|
| 179 |
+
"skill_id": [
|
| 180 |
+
2
|
| 181 |
+
],
|
| 182 |
+
"skill_description": [
|
| 183 |
+
"pick up from"
|
| 184 |
+
],
|
| 185 |
+
"object_id": [
|
| 186 |
+
[
|
| 187 |
+
"chocolate_chip_cookie_207",
|
| 188 |
+
"chopping_board_211"
|
| 189 |
+
]
|
| 190 |
+
],
|
| 191 |
+
"manipulating_object_id": [
|
| 192 |
+
"chocolate_chip_cookie_207"
|
| 193 |
+
],
|
| 194 |
+
"spatial_prefix": [],
|
| 195 |
+
"frame_duration": [
|
| 196 |
+
1510,
|
| 197 |
+
1880
|
| 198 |
+
],
|
| 199 |
+
"mp_ef": [],
|
| 200 |
+
"skill_type": [
|
| 201 |
+
"uncoordinated"
|
| 202 |
+
]
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"skill_idx": 7,
|
| 206 |
+
"skill_id": [
|
| 207 |
+
1
|
| 208 |
+
],
|
| 209 |
+
"skill_description": [
|
| 210 |
+
"move to"
|
| 211 |
+
],
|
| 212 |
+
"object_id": [
|
| 213 |
+
[
|
| 214 |
+
"packing_box_210"
|
| 215 |
+
]
|
| 216 |
+
],
|
| 217 |
+
"manipulating_object_id": [],
|
| 218 |
+
"spatial_prefix": [],
|
| 219 |
+
"frame_duration": [
|
| 220 |
+
1880,
|
| 221 |
+
1967
|
| 222 |
+
],
|
| 223 |
+
"mp_ef": [],
|
| 224 |
+
"skill_type": [
|
| 225 |
+
"navigation"
|
| 226 |
+
]
|
| 227 |
+
},
|
| 228 |
+
{
|
| 229 |
+
"skill_idx": 8,
|
| 230 |
+
"skill_id": [
|
| 231 |
+
4
|
| 232 |
+
],
|
| 233 |
+
"skill_description": [
|
| 234 |
+
"place in"
|
| 235 |
+
],
|
| 236 |
+
"object_id": [
|
| 237 |
+
[
|
| 238 |
+
"chocolate_chip_cookie_207",
|
| 239 |
+
"packing_box_210"
|
| 240 |
+
]
|
| 241 |
+
],
|
| 242 |
+
"manipulating_object_id": [
|
| 243 |
+
"chocolate_chip_cookie_207"
|
| 244 |
+
],
|
| 245 |
+
"spatial_prefix": [],
|
| 246 |
+
"frame_duration": [
|
| 247 |
+
1967,
|
| 248 |
+
2100
|
| 249 |
+
],
|
| 250 |
+
"mp_ef": [],
|
| 251 |
+
"skill_type": [
|
| 252 |
+
"uncoordinated"
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"skill_idx": 9,
|
| 257 |
+
"skill_id": [
|
| 258 |
+
1
|
| 259 |
+
],
|
| 260 |
+
"skill_description": [
|
| 261 |
+
"move to"
|
| 262 |
+
],
|
| 263 |
+
"object_id": [
|
| 264 |
+
[
|
| 265 |
+
"half_apple_212"
|
| 266 |
+
]
|
| 267 |
+
],
|
| 268 |
+
"manipulating_object_id": [],
|
| 269 |
+
"spatial_prefix": [],
|
| 270 |
+
"frame_duration": [
|
| 271 |
+
2100,
|
| 272 |
+
2235
|
| 273 |
+
],
|
| 274 |
+
"mp_ef": [],
|
| 275 |
+
"skill_type": [
|
| 276 |
+
"navigation"
|
| 277 |
+
]
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"skill_idx": 10,
|
| 281 |
+
"skill_id": [
|
| 282 |
+
2
|
| 283 |
+
],
|
| 284 |
+
"skill_description": [
|
| 285 |
+
"pick up from"
|
| 286 |
+
],
|
| 287 |
+
"object_id": [
|
| 288 |
+
[
|
| 289 |
+
"half_apple_212",
|
| 290 |
+
"chopping_board_211"
|
| 291 |
+
]
|
| 292 |
+
],
|
| 293 |
+
"manipulating_object_id": [
|
| 294 |
+
"half_apple_212"
|
| 295 |
+
],
|
| 296 |
+
"spatial_prefix": [],
|
| 297 |
+
"frame_duration": [
|
| 298 |
+
2235,
|
| 299 |
+
2594
|
| 300 |
+
],
|
| 301 |
+
"mp_ef": [],
|
| 302 |
+
"skill_type": [
|
| 303 |
+
"uncoordinated"
|
| 304 |
+
]
|
| 305 |
+
},
|
| 306 |
+
{
|
| 307 |
+
"skill_idx": 11,
|
| 308 |
+
"skill_id": [
|
| 309 |
+
2
|
| 310 |
+
],
|
| 311 |
+
"skill_description": [
|
| 312 |
+
"pick up from"
|
| 313 |
+
],
|
| 314 |
+
"object_id": [
|
| 315 |
+
[
|
| 316 |
+
"half_apple_213",
|
| 317 |
+
"chopping_board_211"
|
| 318 |
+
]
|
| 319 |
+
],
|
| 320 |
+
"manipulating_object_id": [
|
| 321 |
+
"half_apple_213"
|
| 322 |
+
],
|
| 323 |
+
"spatial_prefix": [],
|
| 324 |
+
"frame_duration": [
|
| 325 |
+
2594,
|
| 326 |
+
2860
|
| 327 |
+
],
|
| 328 |
+
"mp_ef": [],
|
| 329 |
+
"skill_type": [
|
| 330 |
+
"uncoordinated"
|
| 331 |
+
]
|
| 332 |
+
},
|
| 333 |
+
{
|
| 334 |
+
"skill_idx": 12,
|
| 335 |
+
"skill_id": [
|
| 336 |
+
1
|
| 337 |
+
],
|
| 338 |
+
"skill_description": [
|
| 339 |
+
"move to"
|
| 340 |
+
],
|
| 341 |
+
"object_id": [
|
| 342 |
+
[
|
| 343 |
+
"packing_box_210"
|
| 344 |
+
]
|
| 345 |
+
],
|
| 346 |
+
"manipulating_object_id": [],
|
| 347 |
+
"spatial_prefix": [],
|
| 348 |
+
"frame_duration": [
|
| 349 |
+
2860,
|
| 350 |
+
2951
|
| 351 |
+
],
|
| 352 |
+
"mp_ef": [],
|
| 353 |
+
"skill_type": [
|
| 354 |
+
"navigation"
|
| 355 |
+
]
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"skill_idx": 13,
|
| 359 |
+
"skill_id": [
|
| 360 |
+
4
|
| 361 |
+
],
|
| 362 |
+
"skill_description": [
|
| 363 |
+
"place in"
|
| 364 |
+
],
|
| 365 |
+
"object_id": [
|
| 366 |
+
[
|
| 367 |
+
"half_apple_213",
|
| 368 |
+
"packing_box_210"
|
| 369 |
+
]
|
| 370 |
+
],
|
| 371 |
+
"manipulating_object_id": [
|
| 372 |
+
"half_apple_213"
|
| 373 |
+
],
|
| 374 |
+
"spatial_prefix": [],
|
| 375 |
+
"frame_duration": [
|
| 376 |
+
2951,
|
| 377 |
+
3114
|
| 378 |
+
],
|
| 379 |
+
"mp_ef": [],
|
| 380 |
+
"skill_type": [
|
| 381 |
+
"uncoordinated"
|
| 382 |
+
]
|
| 383 |
+
},
|
| 384 |
+
{
|
| 385 |
+
"skill_idx": 14,
|
| 386 |
+
"skill_id": [
|
| 387 |
+
4
|
| 388 |
+
],
|
| 389 |
+
"skill_description": [
|
| 390 |
+
"place in"
|
| 391 |
+
],
|
| 392 |
+
"object_id": [
|
| 393 |
+
[
|
| 394 |
+
"half_apple_212",
|
| 395 |
+
"packing_box_210"
|
| 396 |
+
]
|
| 397 |
+
],
|
| 398 |
+
"manipulating_object_id": [
|
| 399 |
+
"half_apple_212"
|
| 400 |
+
],
|
| 401 |
+
"spatial_prefix": [],
|
| 402 |
+
"frame_duration": [
|
| 403 |
+
3114,
|
| 404 |
+
3261
|
| 405 |
+
],
|
| 406 |
+
"mp_ef": [],
|
| 407 |
+
"skill_type": [
|
| 408 |
+
"uncoordinated"
|
| 409 |
+
]
|
| 410 |
+
},
|
| 411 |
+
{
|
| 412 |
+
"skill_idx": 15,
|
| 413 |
+
"skill_id": [
|
| 414 |
+
1
|
| 415 |
+
],
|
| 416 |
+
"skill_description": [
|
| 417 |
+
"move to"
|
| 418 |
+
],
|
| 419 |
+
"object_id": [
|
| 420 |
+
[
|
| 421 |
+
"club_sandwich_209"
|
| 422 |
+
]
|
| 423 |
+
],
|
| 424 |
+
"manipulating_object_id": [],
|
| 425 |
+
"spatial_prefix": [],
|
| 426 |
+
"frame_duration": [
|
| 427 |
+
3261,
|
| 428 |
+
3382
|
| 429 |
+
],
|
| 430 |
+
"mp_ef": [],
|
| 431 |
+
"skill_type": [
|
| 432 |
+
"navigation"
|
| 433 |
+
]
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"skill_idx": 16,
|
| 437 |
+
"skill_id": [
|
| 438 |
+
2
|
| 439 |
+
],
|
| 440 |
+
"skill_description": [
|
| 441 |
+
"pick up from"
|
| 442 |
+
],
|
| 443 |
+
"object_id": [
|
| 444 |
+
[
|
| 445 |
+
"club_sandwich_209",
|
| 446 |
+
"chopping_board_211"
|
| 447 |
+
]
|
| 448 |
+
],
|
| 449 |
+
"manipulating_object_id": [
|
| 450 |
+
"club_sandwich_209"
|
| 451 |
+
],
|
| 452 |
+
"spatial_prefix": [],
|
| 453 |
+
"frame_duration": [
|
| 454 |
+
3382,
|
| 455 |
+
3717
|
| 456 |
+
],
|
| 457 |
+
"mp_ef": [],
|
| 458 |
+
"skill_type": [
|
| 459 |
+
"coordinated"
|
| 460 |
+
]
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"skill_idx": 17,
|
| 464 |
+
"skill_id": [
|
| 465 |
+
1
|
| 466 |
+
],
|
| 467 |
+
"skill_description": [
|
| 468 |
+
"move to"
|
| 469 |
+
],
|
| 470 |
+
"object_id": [
|
| 471 |
+
[
|
| 472 |
+
"packing_box_210"
|
| 473 |
+
]
|
| 474 |
+
],
|
| 475 |
+
"manipulating_object_id": [],
|
| 476 |
+
"spatial_prefix": [],
|
| 477 |
+
"frame_duration": [
|
| 478 |
+
3717,
|
| 479 |
+
3814
|
| 480 |
+
],
|
| 481 |
+
"mp_ef": [],
|
| 482 |
+
"skill_type": [
|
| 483 |
+
"navigation"
|
| 484 |
+
]
|
| 485 |
+
},
|
| 486 |
+
{
|
| 487 |
+
"skill_idx": 18,
|
| 488 |
+
"skill_id": [
|
| 489 |
+
4
|
| 490 |
+
],
|
| 491 |
+
"skill_description": [
|
| 492 |
+
"place in"
|
| 493 |
+
],
|
| 494 |
+
"object_id": [
|
| 495 |
+
[
|
| 496 |
+
"club_sandwich_209",
|
| 497 |
+
"packing_box_210"
|
| 498 |
+
]
|
| 499 |
+
],
|
| 500 |
+
"manipulating_object_id": [
|
| 501 |
+
"club_sandwich_209"
|
| 502 |
+
],
|
| 503 |
+
"spatial_prefix": [],
|
| 504 |
+
"frame_duration": [
|
| 505 |
+
3814,
|
| 506 |
+
4040
|
| 507 |
+
],
|
| 508 |
+
"mp_ef": [],
|
| 509 |
+
"skill_type": [
|
| 510 |
+
"uncoordinated"
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
+
{
|
| 514 |
+
"skill_idx": 19,
|
| 515 |
+
"skill_id": [
|
| 516 |
+
1
|
| 517 |
+
],
|
| 518 |
+
"skill_description": [
|
| 519 |
+
"move to"
|
| 520 |
+
],
|
| 521 |
+
"object_id": [
|
| 522 |
+
[
|
| 523 |
+
"fridge_dszchb_0"
|
| 524 |
+
]
|
| 525 |
+
],
|
| 526 |
+
"manipulating_object_id": [],
|
| 527 |
+
"spatial_prefix": [],
|
| 528 |
+
"frame_duration": [
|
| 529 |
+
4040,
|
| 530 |
+
4707
|
| 531 |
+
],
|
| 532 |
+
"mp_ef": [],
|
| 533 |
+
"skill_type": [
|
| 534 |
+
"navigation"
|
| 535 |
+
]
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"skill_idx": 20,
|
| 539 |
+
"skill_id": [
|
| 540 |
+
10
|
| 541 |
+
],
|
| 542 |
+
"skill_description": [
|
| 543 |
+
"open door"
|
| 544 |
+
],
|
| 545 |
+
"object_id": [
|
| 546 |
+
[
|
| 547 |
+
"fridge_dszchb_0"
|
| 548 |
+
]
|
| 549 |
+
],
|
| 550 |
+
"manipulating_object_id": [],
|
| 551 |
+
"spatial_prefix": [],
|
| 552 |
+
"frame_duration": [
|
| 553 |
+
4707,
|
| 554 |
+
5373
|
| 555 |
+
],
|
| 556 |
+
"mp_ef": [],
|
| 557 |
+
"skill_type": [
|
| 558 |
+
"coordinated"
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
{
|
| 562 |
+
"skill_idx": 21,
|
| 563 |
+
"skill_id": [
|
| 564 |
+
2
|
| 565 |
+
],
|
| 566 |
+
"skill_description": [
|
| 567 |
+
"pick up from"
|
| 568 |
+
],
|
| 569 |
+
"object_id": [
|
| 570 |
+
[
|
| 571 |
+
"bottle_of_tea_208",
|
| 572 |
+
"fridge_dszchb_0"
|
| 573 |
+
]
|
| 574 |
+
],
|
| 575 |
+
"manipulating_object_id": [
|
| 576 |
+
"bottle_of_tea_208"
|
| 577 |
+
],
|
| 578 |
+
"spatial_prefix": [
|
| 579 |
+
[
|
| 580 |
+
"",
|
| 581 |
+
"middle_level"
|
| 582 |
+
]
|
| 583 |
+
],
|
| 584 |
+
"frame_duration": [
|
| 585 |
+
5373,
|
| 586 |
+
5733
|
| 587 |
+
],
|
| 588 |
+
"mp_ef": [],
|
| 589 |
+
"skill_type": [
|
| 590 |
+
"uncoordinated"
|
| 591 |
+
]
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"skill_idx": 22,
|
| 595 |
+
"skill_id": [
|
| 596 |
+
12
|
| 597 |
+
],
|
| 598 |
+
"skill_description": [
|
| 599 |
+
"close door"
|
| 600 |
+
],
|
| 601 |
+
"object_id": [
|
| 602 |
+
[
|
| 603 |
+
"fridge_dszchb_0"
|
| 604 |
+
]
|
| 605 |
+
],
|
| 606 |
+
"manipulating_object_id": [],
|
| 607 |
+
"spatial_prefix": [],
|
| 608 |
+
"frame_duration": [
|
| 609 |
+
5733,
|
| 610 |
+
5997
|
| 611 |
+
],
|
| 612 |
+
"mp_ef": [],
|
| 613 |
+
"skill_type": [
|
| 614 |
+
"uncoordinated"
|
| 615 |
+
]
|
| 616 |
+
},
|
| 617 |
+
{
|
| 618 |
+
"skill_idx": 23,
|
| 619 |
+
"skill_id": [
|
| 620 |
+
1
|
| 621 |
+
],
|
| 622 |
+
"skill_description": [
|
| 623 |
+
"move to"
|
| 624 |
+
],
|
| 625 |
+
"object_id": [
|
| 626 |
+
[
|
| 627 |
+
"packing_box_210"
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
"manipulating_object_id": [],
|
| 631 |
+
"spatial_prefix": [],
|
| 632 |
+
"frame_duration": [
|
| 633 |
+
5997,
|
| 634 |
+
6409
|
| 635 |
+
],
|
| 636 |
+
"mp_ef": [],
|
| 637 |
+
"skill_type": [
|
| 638 |
+
"navigation"
|
| 639 |
+
]
|
| 640 |
+
},
|
| 641 |
+
{
|
| 642 |
+
"skill_idx": 24,
|
| 643 |
+
"skill_id": [
|
| 644 |
+
4
|
| 645 |
+
],
|
| 646 |
+
"skill_description": [
|
| 647 |
+
"place in"
|
| 648 |
+
],
|
| 649 |
+
"object_id": [
|
| 650 |
+
[
|
| 651 |
+
"bottle_of_tea_208",
|
| 652 |
+
"packing_box_210"
|
| 653 |
+
]
|
| 654 |
+
],
|
| 655 |
+
"manipulating_object_id": [
|
| 656 |
+
"bottle_of_tea_208"
|
| 657 |
+
],
|
| 658 |
+
"spatial_prefix": [],
|
| 659 |
+
"frame_duration": [
|
| 660 |
+
6409,
|
| 661 |
+
6716
|
| 662 |
+
],
|
| 663 |
+
"mp_ef": [],
|
| 664 |
+
"skill_type": [
|
| 665 |
+
"uncoordinated"
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
],
|
| 669 |
+
"primitive_annotation": [
|
| 670 |
+
{
|
| 671 |
+
"primitive_idx": 0,
|
| 672 |
+
"primitive_id": [
|
| 673 |
+
2,
|
| 674 |
+
91
|
| 675 |
+
],
|
| 676 |
+
"primitive_description": [
|
| 677 |
+
"pick up from",
|
| 678 |
+
"place on next to"
|
| 679 |
+
],
|
| 680 |
+
"object_id": [
|
| 681 |
+
[
|
| 682 |
+
"packing_box_210",
|
| 683 |
+
"countertop_kelker_0"
|
| 684 |
+
],
|
| 685 |
+
[
|
| 686 |
+
"packing_box_210",
|
| 687 |
+
"countertop_kelker_0",
|
| 688 |
+
"burner_mjvqii_0"
|
| 689 |
+
]
|
| 690 |
+
],
|
| 691 |
+
"manipulating_object_id": [
|
| 692 |
+
"packing_box_210",
|
| 693 |
+
"packing_box_210"
|
| 694 |
+
],
|
| 695 |
+
"spatial_prefix": [
|
| 696 |
+
[],
|
| 697 |
+
[
|
| 698 |
+
[],
|
| 699 |
+
[],
|
| 700 |
+
[
|
| 701 |
+
"left"
|
| 702 |
+
]
|
| 703 |
+
]
|
| 704 |
+
],
|
| 705 |
+
"frame_duration": [
|
| 706 |
+
0,
|
| 707 |
+
780
|
| 708 |
+
],
|
| 709 |
+
"skill_idxes": [
|
| 710 |
+
0,
|
| 711 |
+
1,
|
| 712 |
+
2,
|
| 713 |
+
3
|
| 714 |
+
]
|
| 715 |
+
},
|
| 716 |
+
{
|
| 717 |
+
"primitive_idx": 1,
|
| 718 |
+
"primitive_id": [
|
| 719 |
+
2,
|
| 720 |
+
4
|
| 721 |
+
],
|
| 722 |
+
"primitive_description": [
|
| 723 |
+
"pick up from",
|
| 724 |
+
"place in"
|
| 725 |
+
],
|
| 726 |
+
"object_id": [
|
| 727 |
+
[
|
| 728 |
+
"chocolate_chip_cookie_207",
|
| 729 |
+
"chopping_board_211"
|
| 730 |
+
],
|
| 731 |
+
[
|
| 732 |
+
"chocolate_chip_cookie_207",
|
| 733 |
+
"packing_box_210"
|
| 734 |
+
]
|
| 735 |
+
],
|
| 736 |
+
"manipulating_object_id": [
|
| 737 |
+
"chocolate_chip_cookie_207",
|
| 738 |
+
"chocolate_chip_cookie_207"
|
| 739 |
+
],
|
| 740 |
+
"spatial_prefix": [],
|
| 741 |
+
"frame_duration": [
|
| 742 |
+
780,
|
| 743 |
+
2100
|
| 744 |
+
],
|
| 745 |
+
"skill_idxes": [
|
| 746 |
+
4,
|
| 747 |
+
5,
|
| 748 |
+
6,
|
| 749 |
+
7,
|
| 750 |
+
8
|
| 751 |
+
]
|
| 752 |
+
},
|
| 753 |
+
{
|
| 754 |
+
"primitive_idx": 2,
|
| 755 |
+
"primitive_id": [
|
| 756 |
+
2,
|
| 757 |
+
4
|
| 758 |
+
],
|
| 759 |
+
"primitive_description": [
|
| 760 |
+
"pick up from",
|
| 761 |
+
"place in"
|
| 762 |
+
],
|
| 763 |
+
"object_id": [
|
| 764 |
+
[
|
| 765 |
+
[
|
| 766 |
+
"half_apple_212",
|
| 767 |
+
"half_apple_213"
|
| 768 |
+
],
|
| 769 |
+
"chopping_board_211"
|
| 770 |
+
],
|
| 771 |
+
[
|
| 772 |
+
[
|
| 773 |
+
"half_apple_213",
|
| 774 |
+
"half_apple_212"
|
| 775 |
+
],
|
| 776 |
+
"packing_box_210"
|
| 777 |
+
]
|
| 778 |
+
],
|
| 779 |
+
"manipulating_object_id": [
|
| 780 |
+
[
|
| 781 |
+
"half_apple_212",
|
| 782 |
+
"half_apple_213"
|
| 783 |
+
],
|
| 784 |
+
[
|
| 785 |
+
"half_apple_213",
|
| 786 |
+
"half_apple_212"
|
| 787 |
+
]
|
| 788 |
+
],
|
| 789 |
+
"spatial_prefix": [],
|
| 790 |
+
"frame_duration": [
|
| 791 |
+
2100,
|
| 792 |
+
3261
|
| 793 |
+
],
|
| 794 |
+
"skill_idxes": [
|
| 795 |
+
9,
|
| 796 |
+
10,
|
| 797 |
+
11,
|
| 798 |
+
12,
|
| 799 |
+
13,
|
| 800 |
+
14
|
| 801 |
+
]
|
| 802 |
+
},
|
| 803 |
+
{
|
| 804 |
+
"primitive_idx": 3,
|
| 805 |
+
"primitive_id": [
|
| 806 |
+
2,
|
| 807 |
+
4
|
| 808 |
+
],
|
| 809 |
+
"primitive_description": [
|
| 810 |
+
"pick up from",
|
| 811 |
+
"place in"
|
| 812 |
+
],
|
| 813 |
+
"object_id": [
|
| 814 |
+
[
|
| 815 |
+
"club_sandwich_209",
|
| 816 |
+
"chopping_board_211"
|
| 817 |
+
],
|
| 818 |
+
[
|
| 819 |
+
"club_sandwich_209",
|
| 820 |
+
"packing_box_210"
|
| 821 |
+
]
|
| 822 |
+
],
|
| 823 |
+
"manipulating_object_id": [
|
| 824 |
+
"club_sandwich_209",
|
| 825 |
+
"club_sandwich_209"
|
| 826 |
+
],
|
| 827 |
+
"spatial_prefix": [],
|
| 828 |
+
"frame_duration": [
|
| 829 |
+
3261,
|
| 830 |
+
4040
|
| 831 |
+
],
|
| 832 |
+
"skill_idxes": [
|
| 833 |
+
15,
|
| 834 |
+
16,
|
| 835 |
+
17,
|
| 836 |
+
18
|
| 837 |
+
]
|
| 838 |
+
},
|
| 839 |
+
{
|
| 840 |
+
"primitive_idx": 4,
|
| 841 |
+
"primitive_id": [],
|
| 842 |
+
"primitive_description": [],
|
| 843 |
+
"object_id": [],
|
| 844 |
+
"manipulating_object_id": [],
|
| 845 |
+
"spatial_prefix": [],
|
| 846 |
+
"frame_duration": [
|
| 847 |
+
4040,
|
| 848 |
+
6409
|
| 849 |
+
],
|
| 850 |
+
"skill_idxes": [
|
| 851 |
+
19,
|
| 852 |
+
20,
|
| 853 |
+
23
|
| 854 |
+
]
|
| 855 |
+
},
|
| 856 |
+
{
|
| 857 |
+
"primitive_idx": 5,
|
| 858 |
+
"primitive_id": [
|
| 859 |
+
2
|
| 860 |
+
],
|
| 861 |
+
"primitive_description": [
|
| 862 |
+
"pick up from"
|
| 863 |
+
],
|
| 864 |
+
"object_id": [
|
| 865 |
+
[
|
| 866 |
+
"bottle_of_tea_208",
|
| 867 |
+
"fridge_dszchb_0"
|
| 868 |
+
]
|
| 869 |
+
],
|
| 870 |
+
"manipulating_object_id": [
|
| 871 |
+
"bottle_of_tea_208"
|
| 872 |
+
],
|
| 873 |
+
"spatial_prefix": [
|
| 874 |
+
[
|
| 875 |
+
[],
|
| 876 |
+
[
|
| 877 |
+
"middle_level"
|
| 878 |
+
]
|
| 879 |
+
]
|
| 880 |
+
],
|
| 881 |
+
"frame_duration": [
|
| 882 |
+
5373,
|
| 883 |
+
5733
|
| 884 |
+
],
|
| 885 |
+
"skill_idxes": [
|
| 886 |
+
21
|
| 887 |
+
]
|
| 888 |
+
},
|
| 889 |
+
{
|
| 890 |
+
"primitive_idx": 6,
|
| 891 |
+
"primitive_id": [
|
| 892 |
+
12
|
| 893 |
+
],
|
| 894 |
+
"primitive_description": [
|
| 895 |
+
"close door"
|
| 896 |
+
],
|
| 897 |
+
"object_id": [
|
| 898 |
+
[
|
| 899 |
+
"fridge_dszchb_0"
|
| 900 |
+
]
|
| 901 |
+
],
|
| 902 |
+
"manipulating_object_id": [],
|
| 903 |
+
"spatial_prefix": [],
|
| 904 |
+
"frame_duration": [
|
| 905 |
+
5733,
|
| 906 |
+
5997
|
| 907 |
+
],
|
| 908 |
+
"skill_idxes": [
|
| 909 |
+
22
|
| 910 |
+
]
|
| 911 |
+
},
|
| 912 |
+
{
|
| 913 |
+
"primitive_idx": 7,
|
| 914 |
+
"primitive_id": [
|
| 915 |
+
4
|
| 916 |
+
],
|
| 917 |
+
"primitive_description": [
|
| 918 |
+
"place in"
|
| 919 |
+
],
|
| 920 |
+
"object_id": [
|
| 921 |
+
[
|
| 922 |
+
"bottle_of_tea_208",
|
| 923 |
+
"packing_box_210"
|
| 924 |
+
]
|
| 925 |
+
],
|
| 926 |
+
"manipulating_object_id": [
|
| 927 |
+
"bottle_of_tea_208"
|
| 928 |
+
],
|
| 929 |
+
"spatial_prefix": [],
|
| 930 |
+
"frame_duration": [
|
| 931 |
+
6409,
|
| 932 |
+
6716
|
| 933 |
+
],
|
| 934 |
+
"skill_idxes": [
|
| 935 |
+
24
|
| 936 |
+
]
|
| 937 |
+
}
|
| 938 |
+
]
|
| 939 |
+
}
|
annotations/episode_00000113.json
ADDED
|
@@ -0,0 +1,939 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8934,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
8934
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
540
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
540,
|
| 56 |
+
790
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
790,
|
| 80 |
+
1053
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"burner_mjvqii_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
1053,
|
| 114 |
+
1176
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"club_sandwich_209"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
1176,
|
| 138 |
+
1377
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
2
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"pick up from"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"club_sandwich_209",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"club_sandwich_209"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [
|
| 164 |
+
1377,
|
| 165 |
+
1774
|
| 166 |
+
],
|
| 167 |
+
"mp_ef": [],
|
| 168 |
+
"skill_type": [
|
| 169 |
+
"uncoordinated"
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"skill_idx": 6,
|
| 174 |
+
"skill_id": [
|
| 175 |
+
1
|
| 176 |
+
],
|
| 177 |
+
"skill_description": [
|
| 178 |
+
"move to"
|
| 179 |
+
],
|
| 180 |
+
"object_id": [
|
| 181 |
+
[
|
| 182 |
+
"packing_box_210"
|
| 183 |
+
]
|
| 184 |
+
],
|
| 185 |
+
"manipulating_object_id": [],
|
| 186 |
+
"spatial_prefix": [],
|
| 187 |
+
"frame_duration": [
|
| 188 |
+
1774,
|
| 189 |
+
2034
|
| 190 |
+
],
|
| 191 |
+
"mp_ef": [],
|
| 192 |
+
"skill_type": [
|
| 193 |
+
"navigation"
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
{
|
| 197 |
+
"skill_idx": 7,
|
| 198 |
+
"skill_id": [
|
| 199 |
+
4
|
| 200 |
+
],
|
| 201 |
+
"skill_description": [
|
| 202 |
+
"place in"
|
| 203 |
+
],
|
| 204 |
+
"object_id": [
|
| 205 |
+
[
|
| 206 |
+
"club_sandwich_209",
|
| 207 |
+
"packing_box_210"
|
| 208 |
+
]
|
| 209 |
+
],
|
| 210 |
+
"manipulating_object_id": [
|
| 211 |
+
"club_sandwich_209"
|
| 212 |
+
],
|
| 213 |
+
"spatial_prefix": [],
|
| 214 |
+
"frame_duration": [
|
| 215 |
+
2034,
|
| 216 |
+
2506
|
| 217 |
+
],
|
| 218 |
+
"mp_ef": [],
|
| 219 |
+
"skill_type": [
|
| 220 |
+
"uncoordinated"
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"skill_idx": 8,
|
| 225 |
+
"skill_id": [
|
| 226 |
+
1
|
| 227 |
+
],
|
| 228 |
+
"skill_description": [
|
| 229 |
+
"move to"
|
| 230 |
+
],
|
| 231 |
+
"object_id": [
|
| 232 |
+
[
|
| 233 |
+
"half_apple_213"
|
| 234 |
+
]
|
| 235 |
+
],
|
| 236 |
+
"manipulating_object_id": [],
|
| 237 |
+
"spatial_prefix": [],
|
| 238 |
+
"frame_duration": [
|
| 239 |
+
2506,
|
| 240 |
+
2625
|
| 241 |
+
],
|
| 242 |
+
"mp_ef": [],
|
| 243 |
+
"skill_type": [
|
| 244 |
+
"navigation"
|
| 245 |
+
]
|
| 246 |
+
},
|
| 247 |
+
{
|
| 248 |
+
"skill_idx": 9,
|
| 249 |
+
"skill_id": [
|
| 250 |
+
2
|
| 251 |
+
],
|
| 252 |
+
"skill_description": [
|
| 253 |
+
"pick up from"
|
| 254 |
+
],
|
| 255 |
+
"object_id": [
|
| 256 |
+
[
|
| 257 |
+
"half_apple_213",
|
| 258 |
+
"chopping_board_211"
|
| 259 |
+
]
|
| 260 |
+
],
|
| 261 |
+
"manipulating_object_id": [
|
| 262 |
+
"half_apple_213"
|
| 263 |
+
],
|
| 264 |
+
"spatial_prefix": [],
|
| 265 |
+
"frame_duration": [
|
| 266 |
+
2625,
|
| 267 |
+
3086
|
| 268 |
+
],
|
| 269 |
+
"mp_ef": [],
|
| 270 |
+
"skill_type": [
|
| 271 |
+
"uncoordinated"
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"skill_idx": 10,
|
| 276 |
+
"skill_id": [
|
| 277 |
+
2
|
| 278 |
+
],
|
| 279 |
+
"skill_description": [
|
| 280 |
+
"pick up from"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"half_apple_212",
|
| 285 |
+
"chopping_board_211"
|
| 286 |
+
]
|
| 287 |
+
],
|
| 288 |
+
"manipulating_object_id": [
|
| 289 |
+
"half_apple_212"
|
| 290 |
+
],
|
| 291 |
+
"spatial_prefix": [],
|
| 292 |
+
"frame_duration": [
|
| 293 |
+
3086,
|
| 294 |
+
3359
|
| 295 |
+
],
|
| 296 |
+
"mp_ef": [],
|
| 297 |
+
"skill_type": [
|
| 298 |
+
"uncoordinated"
|
| 299 |
+
]
|
| 300 |
+
},
|
| 301 |
+
{
|
| 302 |
+
"skill_idx": 11,
|
| 303 |
+
"skill_id": [
|
| 304 |
+
1
|
| 305 |
+
],
|
| 306 |
+
"skill_description": [
|
| 307 |
+
"move to"
|
| 308 |
+
],
|
| 309 |
+
"object_id": [
|
| 310 |
+
[
|
| 311 |
+
"packing_box_210"
|
| 312 |
+
]
|
| 313 |
+
],
|
| 314 |
+
"manipulating_object_id": [],
|
| 315 |
+
"spatial_prefix": [],
|
| 316 |
+
"frame_duration": [
|
| 317 |
+
3359,
|
| 318 |
+
3461
|
| 319 |
+
],
|
| 320 |
+
"mp_ef": [],
|
| 321 |
+
"skill_type": [
|
| 322 |
+
"navigation"
|
| 323 |
+
]
|
| 324 |
+
},
|
| 325 |
+
{
|
| 326 |
+
"skill_idx": 12,
|
| 327 |
+
"skill_id": [
|
| 328 |
+
4
|
| 329 |
+
],
|
| 330 |
+
"skill_description": [
|
| 331 |
+
"place in"
|
| 332 |
+
],
|
| 333 |
+
"object_id": [
|
| 334 |
+
[
|
| 335 |
+
"half_apple_212",
|
| 336 |
+
"packing_box_210"
|
| 337 |
+
]
|
| 338 |
+
],
|
| 339 |
+
"manipulating_object_id": [
|
| 340 |
+
"half_apple_212"
|
| 341 |
+
],
|
| 342 |
+
"spatial_prefix": [],
|
| 343 |
+
"frame_duration": [
|
| 344 |
+
3461,
|
| 345 |
+
3786
|
| 346 |
+
],
|
| 347 |
+
"mp_ef": [],
|
| 348 |
+
"skill_type": [
|
| 349 |
+
"uncoordinated"
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"skill_idx": 13,
|
| 354 |
+
"skill_id": [
|
| 355 |
+
4
|
| 356 |
+
],
|
| 357 |
+
"skill_description": [
|
| 358 |
+
"place in"
|
| 359 |
+
],
|
| 360 |
+
"object_id": [
|
| 361 |
+
[
|
| 362 |
+
"half_apple_213",
|
| 363 |
+
"packing_box_210"
|
| 364 |
+
]
|
| 365 |
+
],
|
| 366 |
+
"manipulating_object_id": [
|
| 367 |
+
"half_apple_213"
|
| 368 |
+
],
|
| 369 |
+
"spatial_prefix": [],
|
| 370 |
+
"frame_duration": [
|
| 371 |
+
3786,
|
| 372 |
+
4064
|
| 373 |
+
],
|
| 374 |
+
"mp_ef": [],
|
| 375 |
+
"skill_type": [
|
| 376 |
+
"uncoordinated"
|
| 377 |
+
]
|
| 378 |
+
},
|
| 379 |
+
{
|
| 380 |
+
"skill_idx": 14,
|
| 381 |
+
"skill_id": [
|
| 382 |
+
1
|
| 383 |
+
],
|
| 384 |
+
"skill_description": [
|
| 385 |
+
"move to"
|
| 386 |
+
],
|
| 387 |
+
"object_id": [
|
| 388 |
+
[
|
| 389 |
+
"chocolate_chip_cookie_207"
|
| 390 |
+
]
|
| 391 |
+
],
|
| 392 |
+
"manipulating_object_id": [],
|
| 393 |
+
"spatial_prefix": [],
|
| 394 |
+
"frame_duration": [
|
| 395 |
+
4064,
|
| 396 |
+
4207
|
| 397 |
+
],
|
| 398 |
+
"mp_ef": [],
|
| 399 |
+
"skill_type": [
|
| 400 |
+
"navigation"
|
| 401 |
+
]
|
| 402 |
+
},
|
| 403 |
+
{
|
| 404 |
+
"skill_idx": 15,
|
| 405 |
+
"skill_id": [
|
| 406 |
+
90
|
| 407 |
+
],
|
| 408 |
+
"skill_description": [
|
| 409 |
+
"push to"
|
| 410 |
+
],
|
| 411 |
+
"object_id": [
|
| 412 |
+
[
|
| 413 |
+
"chocolate_chip_cookie_207",
|
| 414 |
+
"chopping_board_211"
|
| 415 |
+
]
|
| 416 |
+
],
|
| 417 |
+
"manipulating_object_id": [
|
| 418 |
+
"chocolate_chip_cookie_207"
|
| 419 |
+
],
|
| 420 |
+
"spatial_prefix": [
|
| 421 |
+
[
|
| 422 |
+
"",
|
| 423 |
+
"to_the_edge_of"
|
| 424 |
+
]
|
| 425 |
+
],
|
| 426 |
+
"frame_duration": [
|
| 427 |
+
4208,
|
| 428 |
+
4526
|
| 429 |
+
],
|
| 430 |
+
"mp_ef": [],
|
| 431 |
+
"skill_type": [
|
| 432 |
+
"uncoordinated"
|
| 433 |
+
]
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"skill_idx": 16,
|
| 437 |
+
"skill_id": [
|
| 438 |
+
2
|
| 439 |
+
],
|
| 440 |
+
"skill_description": [
|
| 441 |
+
"pick up from"
|
| 442 |
+
],
|
| 443 |
+
"object_id": [
|
| 444 |
+
[
|
| 445 |
+
"chocolate_chip_cookie_207",
|
| 446 |
+
"chopping_board_211"
|
| 447 |
+
]
|
| 448 |
+
],
|
| 449 |
+
"manipulating_object_id": [
|
| 450 |
+
"chocolate_chip_cookie_207"
|
| 451 |
+
],
|
| 452 |
+
"spatial_prefix": [],
|
| 453 |
+
"frame_duration": [
|
| 454 |
+
4526,
|
| 455 |
+
4650
|
| 456 |
+
],
|
| 457 |
+
"mp_ef": [],
|
| 458 |
+
"skill_type": [
|
| 459 |
+
"uncoordinated"
|
| 460 |
+
]
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"skill_idx": 17,
|
| 464 |
+
"skill_id": [
|
| 465 |
+
1
|
| 466 |
+
],
|
| 467 |
+
"skill_description": [
|
| 468 |
+
"move to"
|
| 469 |
+
],
|
| 470 |
+
"object_id": [
|
| 471 |
+
[
|
| 472 |
+
"packing_box_210"
|
| 473 |
+
]
|
| 474 |
+
],
|
| 475 |
+
"manipulating_object_id": [],
|
| 476 |
+
"spatial_prefix": [],
|
| 477 |
+
"frame_duration": [
|
| 478 |
+
4650,
|
| 479 |
+
4804
|
| 480 |
+
],
|
| 481 |
+
"mp_ef": [],
|
| 482 |
+
"skill_type": [
|
| 483 |
+
"navigation"
|
| 484 |
+
]
|
| 485 |
+
},
|
| 486 |
+
{
|
| 487 |
+
"skill_idx": 18,
|
| 488 |
+
"skill_id": [
|
| 489 |
+
4
|
| 490 |
+
],
|
| 491 |
+
"skill_description": [
|
| 492 |
+
"place in"
|
| 493 |
+
],
|
| 494 |
+
"object_id": [
|
| 495 |
+
[
|
| 496 |
+
"chocolate_chip_cookie_207",
|
| 497 |
+
"packing_box_210"
|
| 498 |
+
]
|
| 499 |
+
],
|
| 500 |
+
"manipulating_object_id": [
|
| 501 |
+
"chocolate_chip_cookie_207"
|
| 502 |
+
],
|
| 503 |
+
"spatial_prefix": [],
|
| 504 |
+
"frame_duration": [
|
| 505 |
+
4804,
|
| 506 |
+
5120
|
| 507 |
+
],
|
| 508 |
+
"mp_ef": [],
|
| 509 |
+
"skill_type": [
|
| 510 |
+
"uncoordinated"
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
+
{
|
| 514 |
+
"skill_idx": 19,
|
| 515 |
+
"skill_id": [
|
| 516 |
+
1
|
| 517 |
+
],
|
| 518 |
+
"skill_description": [
|
| 519 |
+
"move to"
|
| 520 |
+
],
|
| 521 |
+
"object_id": [
|
| 522 |
+
[
|
| 523 |
+
"fridge_dszchb_0"
|
| 524 |
+
]
|
| 525 |
+
],
|
| 526 |
+
"manipulating_object_id": [],
|
| 527 |
+
"spatial_prefix": [],
|
| 528 |
+
"frame_duration": [
|
| 529 |
+
5120,
|
| 530 |
+
6024
|
| 531 |
+
],
|
| 532 |
+
"mp_ef": [],
|
| 533 |
+
"skill_type": [
|
| 534 |
+
"navigation"
|
| 535 |
+
]
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"skill_idx": 20,
|
| 539 |
+
"skill_id": [
|
| 540 |
+
10
|
| 541 |
+
],
|
| 542 |
+
"skill_description": [
|
| 543 |
+
"open door"
|
| 544 |
+
],
|
| 545 |
+
"object_id": [
|
| 546 |
+
[
|
| 547 |
+
"fridge_dszchb_0"
|
| 548 |
+
]
|
| 549 |
+
],
|
| 550 |
+
"manipulating_object_id": [],
|
| 551 |
+
"spatial_prefix": [],
|
| 552 |
+
"frame_duration": [
|
| 553 |
+
6025,
|
| 554 |
+
7138
|
| 555 |
+
],
|
| 556 |
+
"mp_ef": [],
|
| 557 |
+
"skill_type": [
|
| 558 |
+
"coordinated"
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
{
|
| 562 |
+
"skill_idx": 21,
|
| 563 |
+
"skill_id": [
|
| 564 |
+
2
|
| 565 |
+
],
|
| 566 |
+
"skill_description": [
|
| 567 |
+
"pick up from"
|
| 568 |
+
],
|
| 569 |
+
"object_id": [
|
| 570 |
+
[
|
| 571 |
+
"bottle_of_tea_208",
|
| 572 |
+
"fridge_dszchb_0"
|
| 573 |
+
]
|
| 574 |
+
],
|
| 575 |
+
"manipulating_object_id": [
|
| 576 |
+
"bottle_of_tea_208"
|
| 577 |
+
],
|
| 578 |
+
"spatial_prefix": [
|
| 579 |
+
[
|
| 580 |
+
"",
|
| 581 |
+
"high_level"
|
| 582 |
+
]
|
| 583 |
+
],
|
| 584 |
+
"frame_duration": [
|
| 585 |
+
7138,
|
| 586 |
+
7395
|
| 587 |
+
],
|
| 588 |
+
"mp_ef": [],
|
| 589 |
+
"skill_type": [
|
| 590 |
+
"uncoordinated"
|
| 591 |
+
]
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"skill_idx": 22,
|
| 595 |
+
"skill_id": [
|
| 596 |
+
12
|
| 597 |
+
],
|
| 598 |
+
"skill_description": [
|
| 599 |
+
"close door"
|
| 600 |
+
],
|
| 601 |
+
"object_id": [
|
| 602 |
+
[
|
| 603 |
+
"fridge_dszchb_0"
|
| 604 |
+
]
|
| 605 |
+
],
|
| 606 |
+
"manipulating_object_id": [],
|
| 607 |
+
"spatial_prefix": [],
|
| 608 |
+
"frame_duration": [
|
| 609 |
+
7395,
|
| 610 |
+
8129
|
| 611 |
+
],
|
| 612 |
+
"mp_ef": [],
|
| 613 |
+
"skill_type": [
|
| 614 |
+
"uncoordinated"
|
| 615 |
+
]
|
| 616 |
+
},
|
| 617 |
+
{
|
| 618 |
+
"skill_idx": 23,
|
| 619 |
+
"skill_id": [
|
| 620 |
+
1
|
| 621 |
+
],
|
| 622 |
+
"skill_description": [
|
| 623 |
+
"move to"
|
| 624 |
+
],
|
| 625 |
+
"object_id": [
|
| 626 |
+
[
|
| 627 |
+
"packing_box_210"
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
"manipulating_object_id": [],
|
| 631 |
+
"spatial_prefix": [],
|
| 632 |
+
"frame_duration": [
|
| 633 |
+
8129,
|
| 634 |
+
8333
|
| 635 |
+
],
|
| 636 |
+
"mp_ef": [],
|
| 637 |
+
"skill_type": [
|
| 638 |
+
"navigation"
|
| 639 |
+
]
|
| 640 |
+
},
|
| 641 |
+
{
|
| 642 |
+
"skill_idx": 24,
|
| 643 |
+
"skill_id": [
|
| 644 |
+
4
|
| 645 |
+
],
|
| 646 |
+
"skill_description": [
|
| 647 |
+
"place in"
|
| 648 |
+
],
|
| 649 |
+
"object_id": [
|
| 650 |
+
[
|
| 651 |
+
"bottle_of_tea_208",
|
| 652 |
+
"packing_box_210"
|
| 653 |
+
]
|
| 654 |
+
],
|
| 655 |
+
"manipulating_object_id": [
|
| 656 |
+
"bottle_of_tea_208"
|
| 657 |
+
],
|
| 658 |
+
"spatial_prefix": [],
|
| 659 |
+
"frame_duration": [
|
| 660 |
+
8333,
|
| 661 |
+
8934
|
| 662 |
+
],
|
| 663 |
+
"mp_ef": [],
|
| 664 |
+
"skill_type": [
|
| 665 |
+
"uncoordinated"
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
],
|
| 669 |
+
"primitive_annotation": [
|
| 670 |
+
{
|
| 671 |
+
"primitive_idx": 0,
|
| 672 |
+
"primitive_id": [
|
| 673 |
+
2,
|
| 674 |
+
91
|
| 675 |
+
],
|
| 676 |
+
"primitive_description": [
|
| 677 |
+
"pick up from",
|
| 678 |
+
"place on next to"
|
| 679 |
+
],
|
| 680 |
+
"object_id": [
|
| 681 |
+
[
|
| 682 |
+
"packing_box_210",
|
| 683 |
+
"countertop_kelker_0"
|
| 684 |
+
],
|
| 685 |
+
[
|
| 686 |
+
"packing_box_210",
|
| 687 |
+
"burner_mjvqii_0",
|
| 688 |
+
"chopping_board_211"
|
| 689 |
+
]
|
| 690 |
+
],
|
| 691 |
+
"manipulating_object_id": [
|
| 692 |
+
"packing_box_210",
|
| 693 |
+
"packing_box_210"
|
| 694 |
+
],
|
| 695 |
+
"spatial_prefix": [
|
| 696 |
+
[],
|
| 697 |
+
[
|
| 698 |
+
[],
|
| 699 |
+
[],
|
| 700 |
+
[
|
| 701 |
+
"left"
|
| 702 |
+
]
|
| 703 |
+
]
|
| 704 |
+
],
|
| 705 |
+
"frame_duration": [
|
| 706 |
+
0,
|
| 707 |
+
1176
|
| 708 |
+
],
|
| 709 |
+
"skill_idxes": [
|
| 710 |
+
0,
|
| 711 |
+
1,
|
| 712 |
+
2,
|
| 713 |
+
3
|
| 714 |
+
]
|
| 715 |
+
},
|
| 716 |
+
{
|
| 717 |
+
"primitive_idx": 1,
|
| 718 |
+
"primitive_id": [
|
| 719 |
+
2,
|
| 720 |
+
4
|
| 721 |
+
],
|
| 722 |
+
"primitive_description": [
|
| 723 |
+
"pick up from",
|
| 724 |
+
"place in"
|
| 725 |
+
],
|
| 726 |
+
"object_id": [
|
| 727 |
+
[
|
| 728 |
+
"club_sandwich_209",
|
| 729 |
+
"chopping_board_211"
|
| 730 |
+
],
|
| 731 |
+
[
|
| 732 |
+
"club_sandwich_209",
|
| 733 |
+
"packing_box_210"
|
| 734 |
+
]
|
| 735 |
+
],
|
| 736 |
+
"manipulating_object_id": [
|
| 737 |
+
"club_sandwich_209",
|
| 738 |
+
"club_sandwich_209"
|
| 739 |
+
],
|
| 740 |
+
"spatial_prefix": [],
|
| 741 |
+
"frame_duration": [
|
| 742 |
+
1176,
|
| 743 |
+
2506
|
| 744 |
+
],
|
| 745 |
+
"skill_idxes": [
|
| 746 |
+
4,
|
| 747 |
+
5,
|
| 748 |
+
6,
|
| 749 |
+
7
|
| 750 |
+
]
|
| 751 |
+
},
|
| 752 |
+
{
|
| 753 |
+
"primitive_idx": 2,
|
| 754 |
+
"primitive_id": [
|
| 755 |
+
2,
|
| 756 |
+
4
|
| 757 |
+
],
|
| 758 |
+
"primitive_description": [
|
| 759 |
+
"pick up from",
|
| 760 |
+
"place in"
|
| 761 |
+
],
|
| 762 |
+
"object_id": [
|
| 763 |
+
[
|
| 764 |
+
[
|
| 765 |
+
"half_apple_213",
|
| 766 |
+
"half_apple_212"
|
| 767 |
+
],
|
| 768 |
+
"chopping_board_211"
|
| 769 |
+
],
|
| 770 |
+
[
|
| 771 |
+
[
|
| 772 |
+
"half_apple_212",
|
| 773 |
+
"half_apple_213"
|
| 774 |
+
],
|
| 775 |
+
"packing_box_210"
|
| 776 |
+
]
|
| 777 |
+
],
|
| 778 |
+
"manipulating_object_id": [
|
| 779 |
+
[
|
| 780 |
+
"half_apple_213",
|
| 781 |
+
"half_apple_212"
|
| 782 |
+
],
|
| 783 |
+
[
|
| 784 |
+
"half_apple_212",
|
| 785 |
+
"half_apple_213"
|
| 786 |
+
]
|
| 787 |
+
],
|
| 788 |
+
"spatial_prefix": [],
|
| 789 |
+
"frame_duration": [
|
| 790 |
+
2506,
|
| 791 |
+
4064
|
| 792 |
+
],
|
| 793 |
+
"skill_idxes": [
|
| 794 |
+
8,
|
| 795 |
+
9,
|
| 796 |
+
10,
|
| 797 |
+
11,
|
| 798 |
+
12,
|
| 799 |
+
13
|
| 800 |
+
]
|
| 801 |
+
},
|
| 802 |
+
{
|
| 803 |
+
"primitive_idx": 3,
|
| 804 |
+
"primitive_id": [
|
| 805 |
+
2,
|
| 806 |
+
4
|
| 807 |
+
],
|
| 808 |
+
"primitive_description": [
|
| 809 |
+
"pick up from",
|
| 810 |
+
"place in"
|
| 811 |
+
],
|
| 812 |
+
"object_id": [
|
| 813 |
+
[
|
| 814 |
+
"chocolate_chip_cookie_207",
|
| 815 |
+
"chopping_board_211"
|
| 816 |
+
],
|
| 817 |
+
[
|
| 818 |
+
"chocolate_chip_cookie_207",
|
| 819 |
+
"packing_box_210"
|
| 820 |
+
]
|
| 821 |
+
],
|
| 822 |
+
"manipulating_object_id": [
|
| 823 |
+
"chocolate_chip_cookie_207",
|
| 824 |
+
"chocolate_chip_cookie_207"
|
| 825 |
+
],
|
| 826 |
+
"spatial_prefix": [],
|
| 827 |
+
"frame_duration": [
|
| 828 |
+
4064,
|
| 829 |
+
5120
|
| 830 |
+
],
|
| 831 |
+
"skill_idxes": [
|
| 832 |
+
14,
|
| 833 |
+
15,
|
| 834 |
+
16,
|
| 835 |
+
17,
|
| 836 |
+
18
|
| 837 |
+
]
|
| 838 |
+
},
|
| 839 |
+
{
|
| 840 |
+
"primitive_idx": 4,
|
| 841 |
+
"primitive_id": [],
|
| 842 |
+
"primitive_description": [],
|
| 843 |
+
"object_id": [],
|
| 844 |
+
"manipulating_object_id": [],
|
| 845 |
+
"spatial_prefix": [],
|
| 846 |
+
"frame_duration": [
|
| 847 |
+
5120,
|
| 848 |
+
8333
|
| 849 |
+
],
|
| 850 |
+
"skill_idxes": [
|
| 851 |
+
19,
|
| 852 |
+
20,
|
| 853 |
+
23
|
| 854 |
+
]
|
| 855 |
+
},
|
| 856 |
+
{
|
| 857 |
+
"primitive_idx": 5,
|
| 858 |
+
"primitive_id": [
|
| 859 |
+
2
|
| 860 |
+
],
|
| 861 |
+
"primitive_description": [
|
| 862 |
+
"pick up from"
|
| 863 |
+
],
|
| 864 |
+
"object_id": [
|
| 865 |
+
[
|
| 866 |
+
"bottle_of_tea_208",
|
| 867 |
+
"fridge_dszchb_0"
|
| 868 |
+
]
|
| 869 |
+
],
|
| 870 |
+
"manipulating_object_id": [
|
| 871 |
+
"bottle_of_tea_208"
|
| 872 |
+
],
|
| 873 |
+
"spatial_prefix": [
|
| 874 |
+
[
|
| 875 |
+
[],
|
| 876 |
+
[
|
| 877 |
+
"high_level"
|
| 878 |
+
]
|
| 879 |
+
]
|
| 880 |
+
],
|
| 881 |
+
"frame_duration": [
|
| 882 |
+
7138,
|
| 883 |
+
7395
|
| 884 |
+
],
|
| 885 |
+
"skill_idxes": [
|
| 886 |
+
21
|
| 887 |
+
]
|
| 888 |
+
},
|
| 889 |
+
{
|
| 890 |
+
"primitive_idx": 6,
|
| 891 |
+
"primitive_id": [
|
| 892 |
+
12
|
| 893 |
+
],
|
| 894 |
+
"primitive_description": [
|
| 895 |
+
"close door"
|
| 896 |
+
],
|
| 897 |
+
"object_id": [
|
| 898 |
+
[
|
| 899 |
+
"fridge_dszchb_0"
|
| 900 |
+
]
|
| 901 |
+
],
|
| 902 |
+
"manipulating_object_id": [],
|
| 903 |
+
"spatial_prefix": [],
|
| 904 |
+
"frame_duration": [
|
| 905 |
+
7395,
|
| 906 |
+
8129
|
| 907 |
+
],
|
| 908 |
+
"skill_idxes": [
|
| 909 |
+
22
|
| 910 |
+
]
|
| 911 |
+
},
|
| 912 |
+
{
|
| 913 |
+
"primitive_idx": 7,
|
| 914 |
+
"primitive_id": [
|
| 915 |
+
4
|
| 916 |
+
],
|
| 917 |
+
"primitive_description": [
|
| 918 |
+
"place in"
|
| 919 |
+
],
|
| 920 |
+
"object_id": [
|
| 921 |
+
[
|
| 922 |
+
"bottle_of_tea_208",
|
| 923 |
+
"packing_box_210"
|
| 924 |
+
]
|
| 925 |
+
],
|
| 926 |
+
"manipulating_object_id": [
|
| 927 |
+
"bottle_of_tea_208"
|
| 928 |
+
],
|
| 929 |
+
"spatial_prefix": [],
|
| 930 |
+
"frame_duration": [
|
| 931 |
+
8333,
|
| 932 |
+
8934
|
| 933 |
+
],
|
| 934 |
+
"skill_idxes": [
|
| 935 |
+
24
|
| 936 |
+
]
|
| 937 |
+
}
|
| 938 |
+
]
|
| 939 |
+
}
|
annotations/episode_00000127.json
ADDED
|
@@ -0,0 +1,864 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8640,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
8640
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
270
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
270,
|
| 56 |
+
585
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
585,
|
| 80 |
+
900
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"burner_mjvqii_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
900,
|
| 114 |
+
976
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"club_sandwich_209"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
976,
|
| 138 |
+
1119
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
2
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"pick up from"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"club_sandwich_209",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"club_sandwich_209"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [
|
| 164 |
+
1119,
|
| 165 |
+
1698
|
| 166 |
+
],
|
| 167 |
+
"mp_ef": [],
|
| 168 |
+
"skill_type": [
|
| 169 |
+
"uncoordinated"
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"skill_idx": 6,
|
| 174 |
+
"skill_id": [
|
| 175 |
+
4
|
| 176 |
+
],
|
| 177 |
+
"skill_description": [
|
| 178 |
+
"place in"
|
| 179 |
+
],
|
| 180 |
+
"object_id": [
|
| 181 |
+
[
|
| 182 |
+
"club_sandwich_209",
|
| 183 |
+
"packing_box_210"
|
| 184 |
+
]
|
| 185 |
+
],
|
| 186 |
+
"manipulating_object_id": [
|
| 187 |
+
"club_sandwich_209"
|
| 188 |
+
],
|
| 189 |
+
"spatial_prefix": [],
|
| 190 |
+
"frame_duration": [
|
| 191 |
+
1698,
|
| 192 |
+
2039
|
| 193 |
+
],
|
| 194 |
+
"mp_ef": [],
|
| 195 |
+
"skill_type": [
|
| 196 |
+
"uncoordinated"
|
| 197 |
+
]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"skill_idx": 7,
|
| 201 |
+
"skill_id": [
|
| 202 |
+
1
|
| 203 |
+
],
|
| 204 |
+
"skill_description": [
|
| 205 |
+
"move to"
|
| 206 |
+
],
|
| 207 |
+
"object_id": [
|
| 208 |
+
[
|
| 209 |
+
"half_apple_212"
|
| 210 |
+
]
|
| 211 |
+
],
|
| 212 |
+
"manipulating_object_id": [],
|
| 213 |
+
"spatial_prefix": [],
|
| 214 |
+
"frame_duration": [
|
| 215 |
+
2039,
|
| 216 |
+
2164
|
| 217 |
+
],
|
| 218 |
+
"mp_ef": [],
|
| 219 |
+
"skill_type": [
|
| 220 |
+
"navigation"
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"skill_idx": 8,
|
| 225 |
+
"skill_id": [
|
| 226 |
+
2
|
| 227 |
+
],
|
| 228 |
+
"skill_description": [
|
| 229 |
+
"pick up from"
|
| 230 |
+
],
|
| 231 |
+
"object_id": [
|
| 232 |
+
[
|
| 233 |
+
"half_apple_212",
|
| 234 |
+
"chopping_board_211"
|
| 235 |
+
]
|
| 236 |
+
],
|
| 237 |
+
"manipulating_object_id": [
|
| 238 |
+
"half_apple_212"
|
| 239 |
+
],
|
| 240 |
+
"spatial_prefix": [],
|
| 241 |
+
"frame_duration": [
|
| 242 |
+
2164,
|
| 243 |
+
2377
|
| 244 |
+
],
|
| 245 |
+
"mp_ef": [],
|
| 246 |
+
"skill_type": [
|
| 247 |
+
"uncoordinated"
|
| 248 |
+
]
|
| 249 |
+
},
|
| 250 |
+
{
|
| 251 |
+
"skill_idx": 9,
|
| 252 |
+
"skill_id": [
|
| 253 |
+
2
|
| 254 |
+
],
|
| 255 |
+
"skill_description": [
|
| 256 |
+
"pick up from"
|
| 257 |
+
],
|
| 258 |
+
"object_id": [
|
| 259 |
+
[
|
| 260 |
+
"half_apple_213",
|
| 261 |
+
"chopping_board_211"
|
| 262 |
+
]
|
| 263 |
+
],
|
| 264 |
+
"manipulating_object_id": [
|
| 265 |
+
"half_apple_213"
|
| 266 |
+
],
|
| 267 |
+
"spatial_prefix": [],
|
| 268 |
+
"frame_duration": [
|
| 269 |
+
2377,
|
| 270 |
+
2817
|
| 271 |
+
],
|
| 272 |
+
"mp_ef": [],
|
| 273 |
+
"skill_type": [
|
| 274 |
+
"uncoordinated"
|
| 275 |
+
]
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"skill_idx": 10,
|
| 279 |
+
"skill_id": [
|
| 280 |
+
4
|
| 281 |
+
],
|
| 282 |
+
"skill_description": [
|
| 283 |
+
"place in"
|
| 284 |
+
],
|
| 285 |
+
"object_id": [
|
| 286 |
+
[
|
| 287 |
+
"half_apple_213",
|
| 288 |
+
"packing_box_210"
|
| 289 |
+
]
|
| 290 |
+
],
|
| 291 |
+
"manipulating_object_id": [
|
| 292 |
+
"half_apple_213"
|
| 293 |
+
],
|
| 294 |
+
"spatial_prefix": [],
|
| 295 |
+
"frame_duration": [
|
| 296 |
+
2817,
|
| 297 |
+
3006
|
| 298 |
+
],
|
| 299 |
+
"mp_ef": [],
|
| 300 |
+
"skill_type": [
|
| 301 |
+
"uncoordinated"
|
| 302 |
+
]
|
| 303 |
+
},
|
| 304 |
+
{
|
| 305 |
+
"skill_idx": 11,
|
| 306 |
+
"skill_id": [
|
| 307 |
+
4
|
| 308 |
+
],
|
| 309 |
+
"skill_description": [
|
| 310 |
+
"place in"
|
| 311 |
+
],
|
| 312 |
+
"object_id": [
|
| 313 |
+
[
|
| 314 |
+
"half_apple_212",
|
| 315 |
+
"packing_box_210"
|
| 316 |
+
]
|
| 317 |
+
],
|
| 318 |
+
"manipulating_object_id": [
|
| 319 |
+
"half_apple_212"
|
| 320 |
+
],
|
| 321 |
+
"spatial_prefix": [],
|
| 322 |
+
"frame_duration": [
|
| 323 |
+
3006,
|
| 324 |
+
3246
|
| 325 |
+
],
|
| 326 |
+
"mp_ef": [],
|
| 327 |
+
"skill_type": [
|
| 328 |
+
"uncoordinated"
|
| 329 |
+
]
|
| 330 |
+
},
|
| 331 |
+
{
|
| 332 |
+
"skill_idx": 12,
|
| 333 |
+
"skill_id": [
|
| 334 |
+
1
|
| 335 |
+
],
|
| 336 |
+
"skill_description": [
|
| 337 |
+
"move to"
|
| 338 |
+
],
|
| 339 |
+
"object_id": [
|
| 340 |
+
[
|
| 341 |
+
"chocolate_chip_cookie_207"
|
| 342 |
+
]
|
| 343 |
+
],
|
| 344 |
+
"manipulating_object_id": [],
|
| 345 |
+
"spatial_prefix": [],
|
| 346 |
+
"frame_duration": [
|
| 347 |
+
3246,
|
| 348 |
+
3369
|
| 349 |
+
],
|
| 350 |
+
"mp_ef": [],
|
| 351 |
+
"skill_type": [
|
| 352 |
+
"navigation"
|
| 353 |
+
]
|
| 354 |
+
},
|
| 355 |
+
{
|
| 356 |
+
"skill_idx": 13,
|
| 357 |
+
"skill_id": [
|
| 358 |
+
90
|
| 359 |
+
],
|
| 360 |
+
"skill_description": [
|
| 361 |
+
"push to"
|
| 362 |
+
],
|
| 363 |
+
"object_id": [
|
| 364 |
+
[
|
| 365 |
+
"chocolate_chip_cookie_207",
|
| 366 |
+
"chopping_board_211"
|
| 367 |
+
]
|
| 368 |
+
],
|
| 369 |
+
"manipulating_object_id": [
|
| 370 |
+
"chocolate_chip_cookie_207"
|
| 371 |
+
],
|
| 372 |
+
"spatial_prefix": [
|
| 373 |
+
[
|
| 374 |
+
"",
|
| 375 |
+
"to_the_edge_of"
|
| 376 |
+
]
|
| 377 |
+
],
|
| 378 |
+
"frame_duration": [
|
| 379 |
+
3369,
|
| 380 |
+
3906
|
| 381 |
+
],
|
| 382 |
+
"mp_ef": [],
|
| 383 |
+
"skill_type": [
|
| 384 |
+
"uncoordinated"
|
| 385 |
+
]
|
| 386 |
+
},
|
| 387 |
+
{
|
| 388 |
+
"skill_idx": 14,
|
| 389 |
+
"skill_id": [
|
| 390 |
+
2
|
| 391 |
+
],
|
| 392 |
+
"skill_description": [
|
| 393 |
+
"pick up from"
|
| 394 |
+
],
|
| 395 |
+
"object_id": [
|
| 396 |
+
[
|
| 397 |
+
"chocolate_chip_cookie_207",
|
| 398 |
+
"chopping_board_211"
|
| 399 |
+
]
|
| 400 |
+
],
|
| 401 |
+
"manipulating_object_id": [
|
| 402 |
+
"chocolate_chip_cookie_207"
|
| 403 |
+
],
|
| 404 |
+
"spatial_prefix": [],
|
| 405 |
+
"frame_duration": [
|
| 406 |
+
3906,
|
| 407 |
+
4068
|
| 408 |
+
],
|
| 409 |
+
"mp_ef": [],
|
| 410 |
+
"skill_type": [
|
| 411 |
+
"uncoordinated"
|
| 412 |
+
]
|
| 413 |
+
},
|
| 414 |
+
{
|
| 415 |
+
"skill_idx": 15,
|
| 416 |
+
"skill_id": [
|
| 417 |
+
4
|
| 418 |
+
],
|
| 419 |
+
"skill_description": [
|
| 420 |
+
"place in"
|
| 421 |
+
],
|
| 422 |
+
"object_id": [
|
| 423 |
+
[
|
| 424 |
+
"chocolate_chip_cookie_207",
|
| 425 |
+
"packing_box_210"
|
| 426 |
+
]
|
| 427 |
+
],
|
| 428 |
+
"manipulating_object_id": [
|
| 429 |
+
"chocolate_chip_cookie_207"
|
| 430 |
+
],
|
| 431 |
+
"spatial_prefix": [],
|
| 432 |
+
"frame_duration": [
|
| 433 |
+
4068,
|
| 434 |
+
4441
|
| 435 |
+
],
|
| 436 |
+
"mp_ef": [],
|
| 437 |
+
"skill_type": [
|
| 438 |
+
"uncoordinated"
|
| 439 |
+
]
|
| 440 |
+
},
|
| 441 |
+
{
|
| 442 |
+
"skill_idx": 16,
|
| 443 |
+
"skill_id": [
|
| 444 |
+
1
|
| 445 |
+
],
|
| 446 |
+
"skill_description": [
|
| 447 |
+
"move to"
|
| 448 |
+
],
|
| 449 |
+
"object_id": [
|
| 450 |
+
[
|
| 451 |
+
"fridge_dszchb_0"
|
| 452 |
+
]
|
| 453 |
+
],
|
| 454 |
+
"manipulating_object_id": [],
|
| 455 |
+
"spatial_prefix": [],
|
| 456 |
+
"frame_duration": [
|
| 457 |
+
4441,
|
| 458 |
+
5180
|
| 459 |
+
],
|
| 460 |
+
"mp_ef": [],
|
| 461 |
+
"skill_type": [
|
| 462 |
+
"navigation"
|
| 463 |
+
]
|
| 464 |
+
},
|
| 465 |
+
{
|
| 466 |
+
"skill_idx": 17,
|
| 467 |
+
"skill_id": [
|
| 468 |
+
10
|
| 469 |
+
],
|
| 470 |
+
"skill_description": [
|
| 471 |
+
"open door"
|
| 472 |
+
],
|
| 473 |
+
"object_id": [
|
| 474 |
+
[
|
| 475 |
+
"fridge_dszchb_0"
|
| 476 |
+
]
|
| 477 |
+
],
|
| 478 |
+
"manipulating_object_id": [],
|
| 479 |
+
"spatial_prefix": [],
|
| 480 |
+
"frame_duration": [
|
| 481 |
+
5180,
|
| 482 |
+
6103
|
| 483 |
+
],
|
| 484 |
+
"mp_ef": [],
|
| 485 |
+
"skill_type": [
|
| 486 |
+
"coordinated"
|
| 487 |
+
]
|
| 488 |
+
},
|
| 489 |
+
{
|
| 490 |
+
"skill_idx": 18,
|
| 491 |
+
"skill_id": [
|
| 492 |
+
2
|
| 493 |
+
],
|
| 494 |
+
"skill_description": [
|
| 495 |
+
"pick up from"
|
| 496 |
+
],
|
| 497 |
+
"object_id": [
|
| 498 |
+
[
|
| 499 |
+
"bottle_of_tea_208",
|
| 500 |
+
"fridge_dszchb_0"
|
| 501 |
+
]
|
| 502 |
+
],
|
| 503 |
+
"manipulating_object_id": [
|
| 504 |
+
"bottle_of_tea_208"
|
| 505 |
+
],
|
| 506 |
+
"spatial_prefix": [
|
| 507 |
+
[
|
| 508 |
+
"",
|
| 509 |
+
"low_level"
|
| 510 |
+
]
|
| 511 |
+
],
|
| 512 |
+
"frame_duration": [
|
| 513 |
+
6103,
|
| 514 |
+
6890
|
| 515 |
+
],
|
| 516 |
+
"mp_ef": [],
|
| 517 |
+
"skill_type": [
|
| 518 |
+
"uncoordinated"
|
| 519 |
+
]
|
| 520 |
+
},
|
| 521 |
+
{
|
| 522 |
+
"skill_idx": 19,
|
| 523 |
+
"skill_id": [
|
| 524 |
+
12
|
| 525 |
+
],
|
| 526 |
+
"skill_description": [
|
| 527 |
+
"close door"
|
| 528 |
+
],
|
| 529 |
+
"object_id": [
|
| 530 |
+
[
|
| 531 |
+
"fridge_dszchb_0"
|
| 532 |
+
]
|
| 533 |
+
],
|
| 534 |
+
"manipulating_object_id": [],
|
| 535 |
+
"spatial_prefix": [],
|
| 536 |
+
"frame_duration": [
|
| 537 |
+
6890,
|
| 538 |
+
7875
|
| 539 |
+
],
|
| 540 |
+
"mp_ef": [],
|
| 541 |
+
"skill_type": [
|
| 542 |
+
"uncoordinated"
|
| 543 |
+
]
|
| 544 |
+
},
|
| 545 |
+
{
|
| 546 |
+
"skill_idx": 20,
|
| 547 |
+
"skill_id": [
|
| 548 |
+
1
|
| 549 |
+
],
|
| 550 |
+
"skill_description": [
|
| 551 |
+
"move to"
|
| 552 |
+
],
|
| 553 |
+
"object_id": [
|
| 554 |
+
[
|
| 555 |
+
"packing_box_210"
|
| 556 |
+
]
|
| 557 |
+
],
|
| 558 |
+
"manipulating_object_id": [],
|
| 559 |
+
"spatial_prefix": [],
|
| 560 |
+
"frame_duration": [
|
| 561 |
+
7875,
|
| 562 |
+
8255
|
| 563 |
+
],
|
| 564 |
+
"mp_ef": [],
|
| 565 |
+
"skill_type": [
|
| 566 |
+
"navigation"
|
| 567 |
+
]
|
| 568 |
+
},
|
| 569 |
+
{
|
| 570 |
+
"skill_idx": 21,
|
| 571 |
+
"skill_id": [
|
| 572 |
+
4
|
| 573 |
+
],
|
| 574 |
+
"skill_description": [
|
| 575 |
+
"place in"
|
| 576 |
+
],
|
| 577 |
+
"object_id": [
|
| 578 |
+
[
|
| 579 |
+
"bottle_of_tea_208",
|
| 580 |
+
"packing_box_210"
|
| 581 |
+
]
|
| 582 |
+
],
|
| 583 |
+
"manipulating_object_id": [
|
| 584 |
+
"bottle_of_tea_208"
|
| 585 |
+
],
|
| 586 |
+
"spatial_prefix": [],
|
| 587 |
+
"frame_duration": [
|
| 588 |
+
8255,
|
| 589 |
+
8640
|
| 590 |
+
],
|
| 591 |
+
"mp_ef": [],
|
| 592 |
+
"skill_type": [
|
| 593 |
+
"uncoordinated"
|
| 594 |
+
]
|
| 595 |
+
}
|
| 596 |
+
],
|
| 597 |
+
"primitive_annotation": [
|
| 598 |
+
{
|
| 599 |
+
"primitive_idx": 0,
|
| 600 |
+
"primitive_id": [
|
| 601 |
+
2,
|
| 602 |
+
91
|
| 603 |
+
],
|
| 604 |
+
"primitive_description": [
|
| 605 |
+
"pick up from",
|
| 606 |
+
"place on next to"
|
| 607 |
+
],
|
| 608 |
+
"object_id": [
|
| 609 |
+
[
|
| 610 |
+
"packing_box_210",
|
| 611 |
+
"countertop_kelker_0"
|
| 612 |
+
],
|
| 613 |
+
[
|
| 614 |
+
"packing_box_210",
|
| 615 |
+
"burner_mjvqii_0",
|
| 616 |
+
"chopping_board_211"
|
| 617 |
+
]
|
| 618 |
+
],
|
| 619 |
+
"manipulating_object_id": [
|
| 620 |
+
"packing_box_210",
|
| 621 |
+
"packing_box_210"
|
| 622 |
+
],
|
| 623 |
+
"spatial_prefix": [
|
| 624 |
+
[],
|
| 625 |
+
[
|
| 626 |
+
[],
|
| 627 |
+
[],
|
| 628 |
+
[
|
| 629 |
+
"left"
|
| 630 |
+
]
|
| 631 |
+
]
|
| 632 |
+
],
|
| 633 |
+
"frame_duration": [
|
| 634 |
+
0,
|
| 635 |
+
976
|
| 636 |
+
],
|
| 637 |
+
"skill_idxes": [
|
| 638 |
+
0,
|
| 639 |
+
1,
|
| 640 |
+
2,
|
| 641 |
+
3
|
| 642 |
+
]
|
| 643 |
+
},
|
| 644 |
+
{
|
| 645 |
+
"primitive_idx": 1,
|
| 646 |
+
"primitive_id": [
|
| 647 |
+
2,
|
| 648 |
+
4
|
| 649 |
+
],
|
| 650 |
+
"primitive_description": [
|
| 651 |
+
"pick up from",
|
| 652 |
+
"place in"
|
| 653 |
+
],
|
| 654 |
+
"object_id": [
|
| 655 |
+
[
|
| 656 |
+
"club_sandwich_209",
|
| 657 |
+
"chopping_board_211"
|
| 658 |
+
],
|
| 659 |
+
[
|
| 660 |
+
"club_sandwich_209",
|
| 661 |
+
"packing_box_210"
|
| 662 |
+
]
|
| 663 |
+
],
|
| 664 |
+
"manipulating_object_id": [
|
| 665 |
+
"club_sandwich_209",
|
| 666 |
+
"club_sandwich_209"
|
| 667 |
+
],
|
| 668 |
+
"spatial_prefix": [],
|
| 669 |
+
"frame_duration": [
|
| 670 |
+
976,
|
| 671 |
+
2039
|
| 672 |
+
],
|
| 673 |
+
"skill_idxes": [
|
| 674 |
+
4,
|
| 675 |
+
5,
|
| 676 |
+
6
|
| 677 |
+
]
|
| 678 |
+
},
|
| 679 |
+
{
|
| 680 |
+
"primitive_idx": 2,
|
| 681 |
+
"primitive_id": [
|
| 682 |
+
2,
|
| 683 |
+
4
|
| 684 |
+
],
|
| 685 |
+
"primitive_description": [
|
| 686 |
+
"pick up from",
|
| 687 |
+
"place in"
|
| 688 |
+
],
|
| 689 |
+
"object_id": [
|
| 690 |
+
[
|
| 691 |
+
[
|
| 692 |
+
"half_apple_212",
|
| 693 |
+
"half_apple_213"
|
| 694 |
+
],
|
| 695 |
+
"chopping_board_211"
|
| 696 |
+
],
|
| 697 |
+
[
|
| 698 |
+
[
|
| 699 |
+
"half_apple_213",
|
| 700 |
+
"half_apple_212"
|
| 701 |
+
],
|
| 702 |
+
"packing_box_210"
|
| 703 |
+
]
|
| 704 |
+
],
|
| 705 |
+
"manipulating_object_id": [
|
| 706 |
+
[
|
| 707 |
+
"half_apple_212",
|
| 708 |
+
"half_apple_213"
|
| 709 |
+
],
|
| 710 |
+
[
|
| 711 |
+
"half_apple_213",
|
| 712 |
+
"half_apple_212"
|
| 713 |
+
]
|
| 714 |
+
],
|
| 715 |
+
"spatial_prefix": [],
|
| 716 |
+
"frame_duration": [
|
| 717 |
+
2039,
|
| 718 |
+
3246
|
| 719 |
+
],
|
| 720 |
+
"skill_idxes": [
|
| 721 |
+
7,
|
| 722 |
+
8,
|
| 723 |
+
9,
|
| 724 |
+
10,
|
| 725 |
+
11
|
| 726 |
+
]
|
| 727 |
+
},
|
| 728 |
+
{
|
| 729 |
+
"primitive_idx": 3,
|
| 730 |
+
"primitive_id": [
|
| 731 |
+
2,
|
| 732 |
+
4
|
| 733 |
+
],
|
| 734 |
+
"primitive_description": [
|
| 735 |
+
"pick up from",
|
| 736 |
+
"place in"
|
| 737 |
+
],
|
| 738 |
+
"object_id": [
|
| 739 |
+
[
|
| 740 |
+
"chocolate_chip_cookie_207",
|
| 741 |
+
"chopping_board_211"
|
| 742 |
+
],
|
| 743 |
+
[
|
| 744 |
+
"chocolate_chip_cookie_207",
|
| 745 |
+
"packing_box_210"
|
| 746 |
+
]
|
| 747 |
+
],
|
| 748 |
+
"manipulating_object_id": [
|
| 749 |
+
"chocolate_chip_cookie_207",
|
| 750 |
+
"chocolate_chip_cookie_207"
|
| 751 |
+
],
|
| 752 |
+
"spatial_prefix": [],
|
| 753 |
+
"frame_duration": [
|
| 754 |
+
3246,
|
| 755 |
+
4441
|
| 756 |
+
],
|
| 757 |
+
"skill_idxes": [
|
| 758 |
+
12,
|
| 759 |
+
13,
|
| 760 |
+
14,
|
| 761 |
+
15
|
| 762 |
+
]
|
| 763 |
+
},
|
| 764 |
+
{
|
| 765 |
+
"primitive_idx": 4,
|
| 766 |
+
"primitive_id": [],
|
| 767 |
+
"primitive_description": [],
|
| 768 |
+
"object_id": [],
|
| 769 |
+
"manipulating_object_id": [],
|
| 770 |
+
"spatial_prefix": [],
|
| 771 |
+
"frame_duration": [
|
| 772 |
+
4441,
|
| 773 |
+
8255
|
| 774 |
+
],
|
| 775 |
+
"skill_idxes": [
|
| 776 |
+
16,
|
| 777 |
+
17,
|
| 778 |
+
20
|
| 779 |
+
]
|
| 780 |
+
},
|
| 781 |
+
{
|
| 782 |
+
"primitive_idx": 5,
|
| 783 |
+
"primitive_id": [
|
| 784 |
+
2
|
| 785 |
+
],
|
| 786 |
+
"primitive_description": [
|
| 787 |
+
"pick up from"
|
| 788 |
+
],
|
| 789 |
+
"object_id": [
|
| 790 |
+
[
|
| 791 |
+
"bottle_of_tea_208",
|
| 792 |
+
"fridge_dszchb_0"
|
| 793 |
+
]
|
| 794 |
+
],
|
| 795 |
+
"manipulating_object_id": [
|
| 796 |
+
"bottle_of_tea_208"
|
| 797 |
+
],
|
| 798 |
+
"spatial_prefix": [
|
| 799 |
+
[
|
| 800 |
+
[],
|
| 801 |
+
[
|
| 802 |
+
"low_level"
|
| 803 |
+
]
|
| 804 |
+
]
|
| 805 |
+
],
|
| 806 |
+
"frame_duration": [
|
| 807 |
+
6103,
|
| 808 |
+
6890
|
| 809 |
+
],
|
| 810 |
+
"skill_idxes": [
|
| 811 |
+
18
|
| 812 |
+
]
|
| 813 |
+
},
|
| 814 |
+
{
|
| 815 |
+
"primitive_idx": 6,
|
| 816 |
+
"primitive_id": [
|
| 817 |
+
12
|
| 818 |
+
],
|
| 819 |
+
"primitive_description": [
|
| 820 |
+
"close door"
|
| 821 |
+
],
|
| 822 |
+
"object_id": [
|
| 823 |
+
[
|
| 824 |
+
"fridge_dszchb_0"
|
| 825 |
+
]
|
| 826 |
+
],
|
| 827 |
+
"manipulating_object_id": [],
|
| 828 |
+
"spatial_prefix": [],
|
| 829 |
+
"frame_duration": [
|
| 830 |
+
6890,
|
| 831 |
+
7875
|
| 832 |
+
],
|
| 833 |
+
"skill_idxes": [
|
| 834 |
+
19
|
| 835 |
+
]
|
| 836 |
+
},
|
| 837 |
+
{
|
| 838 |
+
"primitive_idx": 7,
|
| 839 |
+
"primitive_id": [
|
| 840 |
+
4
|
| 841 |
+
],
|
| 842 |
+
"primitive_description": [
|
| 843 |
+
"place in"
|
| 844 |
+
],
|
| 845 |
+
"object_id": [
|
| 846 |
+
[
|
| 847 |
+
"bottle_of_tea_208",
|
| 848 |
+
"packing_box_210"
|
| 849 |
+
]
|
| 850 |
+
],
|
| 851 |
+
"manipulating_object_id": [
|
| 852 |
+
"bottle_of_tea_208"
|
| 853 |
+
],
|
| 854 |
+
"spatial_prefix": [],
|
| 855 |
+
"frame_duration": [
|
| 856 |
+
8255,
|
| 857 |
+
8640
|
| 858 |
+
],
|
| 859 |
+
"skill_idxes": [
|
| 860 |
+
21
|
| 861 |
+
]
|
| 862 |
+
}
|
| 863 |
+
]
|
| 864 |
+
}
|
annotations/episode_00000133.json
ADDED
|
@@ -0,0 +1,789 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6163,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
6163
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
404
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
404,
|
| 56 |
+
759
|
| 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 |
+
"chopping_board_211"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
759,
|
| 80 |
+
878
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"right"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
878,
|
| 114 |
+
937
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
90
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"push to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207",
|
| 132 |
+
"chopping_board_211"
|
| 133 |
+
]
|
| 134 |
+
],
|
| 135 |
+
"manipulating_object_id": [
|
| 136 |
+
"chocolate_chip_cookie_207"
|
| 137 |
+
],
|
| 138 |
+
"spatial_prefix": [
|
| 139 |
+
[
|
| 140 |
+
"",
|
| 141 |
+
"to_the_edge_of"
|
| 142 |
+
]
|
| 143 |
+
],
|
| 144 |
+
"frame_duration": [
|
| 145 |
+
937,
|
| 146 |
+
1280
|
| 147 |
+
],
|
| 148 |
+
"mp_ef": [],
|
| 149 |
+
"skill_type": [
|
| 150 |
+
"uncoordinated"
|
| 151 |
+
]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 5,
|
| 155 |
+
"skill_id": [
|
| 156 |
+
2
|
| 157 |
+
],
|
| 158 |
+
"skill_description": [
|
| 159 |
+
"pick up from"
|
| 160 |
+
],
|
| 161 |
+
"object_id": [
|
| 162 |
+
[
|
| 163 |
+
"chocolate_chip_cookie_207",
|
| 164 |
+
"chopping_board_211"
|
| 165 |
+
]
|
| 166 |
+
],
|
| 167 |
+
"manipulating_object_id": [
|
| 168 |
+
"chocolate_chip_cookie_207"
|
| 169 |
+
],
|
| 170 |
+
"spatial_prefix": [],
|
| 171 |
+
"frame_duration": [
|
| 172 |
+
1280,
|
| 173 |
+
1470
|
| 174 |
+
],
|
| 175 |
+
"mp_ef": [],
|
| 176 |
+
"skill_type": [
|
| 177 |
+
"uncoordinated"
|
| 178 |
+
]
|
| 179 |
+
},
|
| 180 |
+
{
|
| 181 |
+
"skill_idx": 6,
|
| 182 |
+
"skill_id": [
|
| 183 |
+
4
|
| 184 |
+
],
|
| 185 |
+
"skill_description": [
|
| 186 |
+
"place in"
|
| 187 |
+
],
|
| 188 |
+
"object_id": [
|
| 189 |
+
[
|
| 190 |
+
"chocolate_chip_cookie_207",
|
| 191 |
+
"packing_box_210"
|
| 192 |
+
]
|
| 193 |
+
],
|
| 194 |
+
"manipulating_object_id": [
|
| 195 |
+
"chocolate_chip_cookie_207"
|
| 196 |
+
],
|
| 197 |
+
"spatial_prefix": [],
|
| 198 |
+
"frame_duration": [
|
| 199 |
+
1470,
|
| 200 |
+
1573
|
| 201 |
+
],
|
| 202 |
+
"mp_ef": [],
|
| 203 |
+
"skill_type": [
|
| 204 |
+
"uncoordinated"
|
| 205 |
+
]
|
| 206 |
+
},
|
| 207 |
+
{
|
| 208 |
+
"skill_idx": 7,
|
| 209 |
+
"skill_id": [
|
| 210 |
+
2
|
| 211 |
+
],
|
| 212 |
+
"skill_description": [
|
| 213 |
+
"pick up from"
|
| 214 |
+
],
|
| 215 |
+
"object_id": [
|
| 216 |
+
[
|
| 217 |
+
"half_apple_213",
|
| 218 |
+
"chopping_board_211"
|
| 219 |
+
]
|
| 220 |
+
],
|
| 221 |
+
"manipulating_object_id": [
|
| 222 |
+
"half_apple_213"
|
| 223 |
+
],
|
| 224 |
+
"spatial_prefix": [],
|
| 225 |
+
"frame_duration": [
|
| 226 |
+
1573,
|
| 227 |
+
2045
|
| 228 |
+
],
|
| 229 |
+
"mp_ef": [],
|
| 230 |
+
"skill_type": [
|
| 231 |
+
"uncoordinated"
|
| 232 |
+
]
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"skill_idx": 8,
|
| 236 |
+
"skill_id": [
|
| 237 |
+
2
|
| 238 |
+
],
|
| 239 |
+
"skill_description": [
|
| 240 |
+
"pick up from"
|
| 241 |
+
],
|
| 242 |
+
"object_id": [
|
| 243 |
+
[
|
| 244 |
+
"half_apple_212",
|
| 245 |
+
"chopping_board_211"
|
| 246 |
+
]
|
| 247 |
+
],
|
| 248 |
+
"manipulating_object_id": [
|
| 249 |
+
"half_apple_212"
|
| 250 |
+
],
|
| 251 |
+
"spatial_prefix": [],
|
| 252 |
+
"frame_duration": [
|
| 253 |
+
2045,
|
| 254 |
+
2408
|
| 255 |
+
],
|
| 256 |
+
"mp_ef": [],
|
| 257 |
+
"skill_type": [
|
| 258 |
+
"uncoordinated"
|
| 259 |
+
]
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"skill_idx": 9,
|
| 263 |
+
"skill_id": [
|
| 264 |
+
4
|
| 265 |
+
],
|
| 266 |
+
"skill_description": [
|
| 267 |
+
"place in"
|
| 268 |
+
],
|
| 269 |
+
"object_id": [
|
| 270 |
+
[
|
| 271 |
+
"half_apple_212",
|
| 272 |
+
"packing_box_210"
|
| 273 |
+
]
|
| 274 |
+
],
|
| 275 |
+
"manipulating_object_id": [
|
| 276 |
+
"half_apple_212"
|
| 277 |
+
],
|
| 278 |
+
"spatial_prefix": [],
|
| 279 |
+
"frame_duration": [
|
| 280 |
+
2408,
|
| 281 |
+
2610
|
| 282 |
+
],
|
| 283 |
+
"mp_ef": [],
|
| 284 |
+
"skill_type": [
|
| 285 |
+
"uncoordinated"
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"skill_idx": 10,
|
| 290 |
+
"skill_id": [
|
| 291 |
+
4
|
| 292 |
+
],
|
| 293 |
+
"skill_description": [
|
| 294 |
+
"place in"
|
| 295 |
+
],
|
| 296 |
+
"object_id": [
|
| 297 |
+
[
|
| 298 |
+
"half_apple_213",
|
| 299 |
+
"packing_box_210"
|
| 300 |
+
]
|
| 301 |
+
],
|
| 302 |
+
"manipulating_object_id": [
|
| 303 |
+
"half_apple_213"
|
| 304 |
+
],
|
| 305 |
+
"spatial_prefix": [],
|
| 306 |
+
"frame_duration": [
|
| 307 |
+
2610,
|
| 308 |
+
2833
|
| 309 |
+
],
|
| 310 |
+
"mp_ef": [],
|
| 311 |
+
"skill_type": [
|
| 312 |
+
"uncoordinated"
|
| 313 |
+
]
|
| 314 |
+
},
|
| 315 |
+
{
|
| 316 |
+
"skill_idx": 11,
|
| 317 |
+
"skill_id": [
|
| 318 |
+
2
|
| 319 |
+
],
|
| 320 |
+
"skill_description": [
|
| 321 |
+
"pick up from"
|
| 322 |
+
],
|
| 323 |
+
"object_id": [
|
| 324 |
+
[
|
| 325 |
+
"club_sandwich_209",
|
| 326 |
+
"chopping_board_211"
|
| 327 |
+
]
|
| 328 |
+
],
|
| 329 |
+
"manipulating_object_id": [
|
| 330 |
+
"club_sandwich_209"
|
| 331 |
+
],
|
| 332 |
+
"spatial_prefix": [],
|
| 333 |
+
"frame_duration": [
|
| 334 |
+
2833,
|
| 335 |
+
3138
|
| 336 |
+
],
|
| 337 |
+
"mp_ef": [],
|
| 338 |
+
"skill_type": [
|
| 339 |
+
"coordinated"
|
| 340 |
+
]
|
| 341 |
+
},
|
| 342 |
+
{
|
| 343 |
+
"skill_idx": 12,
|
| 344 |
+
"skill_id": [
|
| 345 |
+
4
|
| 346 |
+
],
|
| 347 |
+
"skill_description": [
|
| 348 |
+
"place in"
|
| 349 |
+
],
|
| 350 |
+
"object_id": [
|
| 351 |
+
[
|
| 352 |
+
"club_sandwich_209",
|
| 353 |
+
"packing_box_210"
|
| 354 |
+
]
|
| 355 |
+
],
|
| 356 |
+
"manipulating_object_id": [
|
| 357 |
+
"club_sandwich_209"
|
| 358 |
+
],
|
| 359 |
+
"spatial_prefix": [],
|
| 360 |
+
"frame_duration": [
|
| 361 |
+
3138,
|
| 362 |
+
3411
|
| 363 |
+
],
|
| 364 |
+
"mp_ef": [],
|
| 365 |
+
"skill_type": [
|
| 366 |
+
"uncoordinated"
|
| 367 |
+
]
|
| 368 |
+
},
|
| 369 |
+
{
|
| 370 |
+
"skill_idx": 13,
|
| 371 |
+
"skill_id": [
|
| 372 |
+
1
|
| 373 |
+
],
|
| 374 |
+
"skill_description": [
|
| 375 |
+
"move to"
|
| 376 |
+
],
|
| 377 |
+
"object_id": [
|
| 378 |
+
[
|
| 379 |
+
"fridge_dszchb_0"
|
| 380 |
+
]
|
| 381 |
+
],
|
| 382 |
+
"manipulating_object_id": [],
|
| 383 |
+
"spatial_prefix": [],
|
| 384 |
+
"frame_duration": [
|
| 385 |
+
3411,
|
| 386 |
+
4137
|
| 387 |
+
],
|
| 388 |
+
"mp_ef": [],
|
| 389 |
+
"skill_type": [
|
| 390 |
+
"navigation"
|
| 391 |
+
]
|
| 392 |
+
},
|
| 393 |
+
{
|
| 394 |
+
"skill_idx": 14,
|
| 395 |
+
"skill_id": [
|
| 396 |
+
10
|
| 397 |
+
],
|
| 398 |
+
"skill_description": [
|
| 399 |
+
"open door"
|
| 400 |
+
],
|
| 401 |
+
"object_id": [
|
| 402 |
+
[
|
| 403 |
+
"fridge_dszchb_0"
|
| 404 |
+
]
|
| 405 |
+
],
|
| 406 |
+
"manipulating_object_id": [],
|
| 407 |
+
"spatial_prefix": [],
|
| 408 |
+
"frame_duration": [
|
| 409 |
+
4137,
|
| 410 |
+
4864
|
| 411 |
+
],
|
| 412 |
+
"mp_ef": [],
|
| 413 |
+
"skill_type": [
|
| 414 |
+
"coordinated"
|
| 415 |
+
]
|
| 416 |
+
},
|
| 417 |
+
{
|
| 418 |
+
"skill_idx": 15,
|
| 419 |
+
"skill_id": [
|
| 420 |
+
2
|
| 421 |
+
],
|
| 422 |
+
"skill_description": [
|
| 423 |
+
"pick up from"
|
| 424 |
+
],
|
| 425 |
+
"object_id": [
|
| 426 |
+
[
|
| 427 |
+
"bottle_of_tea_208",
|
| 428 |
+
"fridge_dszchb_0"
|
| 429 |
+
]
|
| 430 |
+
],
|
| 431 |
+
"manipulating_object_id": [
|
| 432 |
+
"bottle_of_tea_208"
|
| 433 |
+
],
|
| 434 |
+
"spatial_prefix": [
|
| 435 |
+
[
|
| 436 |
+
"",
|
| 437 |
+
"middle_level"
|
| 438 |
+
]
|
| 439 |
+
],
|
| 440 |
+
"frame_duration": [
|
| 441 |
+
4864,
|
| 442 |
+
5227
|
| 443 |
+
],
|
| 444 |
+
"mp_ef": [],
|
| 445 |
+
"skill_type": [
|
| 446 |
+
"uncoordinated"
|
| 447 |
+
]
|
| 448 |
+
},
|
| 449 |
+
{
|
| 450 |
+
"skill_idx": 16,
|
| 451 |
+
"skill_id": [
|
| 452 |
+
12
|
| 453 |
+
],
|
| 454 |
+
"skill_description": [
|
| 455 |
+
"close door"
|
| 456 |
+
],
|
| 457 |
+
"object_id": [
|
| 458 |
+
[
|
| 459 |
+
"fridge_dszchb_0"
|
| 460 |
+
]
|
| 461 |
+
],
|
| 462 |
+
"manipulating_object_id": [],
|
| 463 |
+
"spatial_prefix": [],
|
| 464 |
+
"frame_duration": [
|
| 465 |
+
5227,
|
| 466 |
+
5453
|
| 467 |
+
],
|
| 468 |
+
"mp_ef": [],
|
| 469 |
+
"skill_type": [
|
| 470 |
+
"uncoordinated"
|
| 471 |
+
]
|
| 472 |
+
},
|
| 473 |
+
{
|
| 474 |
+
"skill_idx": 17,
|
| 475 |
+
"skill_id": [
|
| 476 |
+
1
|
| 477 |
+
],
|
| 478 |
+
"skill_description": [
|
| 479 |
+
"move to"
|
| 480 |
+
],
|
| 481 |
+
"object_id": [
|
| 482 |
+
[
|
| 483 |
+
"packing_box_210"
|
| 484 |
+
]
|
| 485 |
+
],
|
| 486 |
+
"manipulating_object_id": [],
|
| 487 |
+
"spatial_prefix": [],
|
| 488 |
+
"frame_duration": [
|
| 489 |
+
5453,
|
| 490 |
+
5843
|
| 491 |
+
],
|
| 492 |
+
"mp_ef": [],
|
| 493 |
+
"skill_type": [
|
| 494 |
+
"navigation"
|
| 495 |
+
]
|
| 496 |
+
},
|
| 497 |
+
{
|
| 498 |
+
"skill_idx": 18,
|
| 499 |
+
"skill_id": [
|
| 500 |
+
4
|
| 501 |
+
],
|
| 502 |
+
"skill_description": [
|
| 503 |
+
"place in"
|
| 504 |
+
],
|
| 505 |
+
"object_id": [
|
| 506 |
+
[
|
| 507 |
+
"bottle_of_tea_208",
|
| 508 |
+
"packing_box_210"
|
| 509 |
+
]
|
| 510 |
+
],
|
| 511 |
+
"manipulating_object_id": [
|
| 512 |
+
"bottle_of_tea_208"
|
| 513 |
+
],
|
| 514 |
+
"spatial_prefix": [],
|
| 515 |
+
"frame_duration": [
|
| 516 |
+
5843,
|
| 517 |
+
6163
|
| 518 |
+
],
|
| 519 |
+
"mp_ef": [],
|
| 520 |
+
"skill_type": [
|
| 521 |
+
"uncoordinated"
|
| 522 |
+
]
|
| 523 |
+
}
|
| 524 |
+
],
|
| 525 |
+
"primitive_annotation": [
|
| 526 |
+
{
|
| 527 |
+
"primitive_idx": 0,
|
| 528 |
+
"primitive_id": [
|
| 529 |
+
2,
|
| 530 |
+
91
|
| 531 |
+
],
|
| 532 |
+
"primitive_description": [
|
| 533 |
+
"pick up from",
|
| 534 |
+
"place on next to"
|
| 535 |
+
],
|
| 536 |
+
"object_id": [
|
| 537 |
+
[
|
| 538 |
+
"packing_box_210",
|
| 539 |
+
"countertop_kelker_0"
|
| 540 |
+
],
|
| 541 |
+
[
|
| 542 |
+
"packing_box_210",
|
| 543 |
+
"countertop_kelker_0",
|
| 544 |
+
"chopping_board_211"
|
| 545 |
+
]
|
| 546 |
+
],
|
| 547 |
+
"manipulating_object_id": [
|
| 548 |
+
"packing_box_210",
|
| 549 |
+
"packing_box_210"
|
| 550 |
+
],
|
| 551 |
+
"spatial_prefix": [
|
| 552 |
+
[],
|
| 553 |
+
[
|
| 554 |
+
[],
|
| 555 |
+
[],
|
| 556 |
+
[
|
| 557 |
+
"right"
|
| 558 |
+
]
|
| 559 |
+
]
|
| 560 |
+
],
|
| 561 |
+
"frame_duration": [
|
| 562 |
+
0,
|
| 563 |
+
937
|
| 564 |
+
],
|
| 565 |
+
"skill_idxes": [
|
| 566 |
+
0,
|
| 567 |
+
1,
|
| 568 |
+
2,
|
| 569 |
+
3
|
| 570 |
+
]
|
| 571 |
+
},
|
| 572 |
+
{
|
| 573 |
+
"primitive_idx": 1,
|
| 574 |
+
"primitive_id": [
|
| 575 |
+
2,
|
| 576 |
+
4
|
| 577 |
+
],
|
| 578 |
+
"primitive_description": [
|
| 579 |
+
"pick up from",
|
| 580 |
+
"place in"
|
| 581 |
+
],
|
| 582 |
+
"object_id": [
|
| 583 |
+
[
|
| 584 |
+
"chocolate_chip_cookie_207",
|
| 585 |
+
"chopping_board_211"
|
| 586 |
+
],
|
| 587 |
+
[
|
| 588 |
+
"chocolate_chip_cookie_207",
|
| 589 |
+
"packing_box_210"
|
| 590 |
+
]
|
| 591 |
+
],
|
| 592 |
+
"manipulating_object_id": [
|
| 593 |
+
"chocolate_chip_cookie_207",
|
| 594 |
+
"chocolate_chip_cookie_207"
|
| 595 |
+
],
|
| 596 |
+
"spatial_prefix": [],
|
| 597 |
+
"frame_duration": [
|
| 598 |
+
937,
|
| 599 |
+
1573
|
| 600 |
+
],
|
| 601 |
+
"skill_idxes": [
|
| 602 |
+
4,
|
| 603 |
+
5,
|
| 604 |
+
6
|
| 605 |
+
]
|
| 606 |
+
},
|
| 607 |
+
{
|
| 608 |
+
"primitive_idx": 2,
|
| 609 |
+
"primitive_id": [
|
| 610 |
+
2,
|
| 611 |
+
4
|
| 612 |
+
],
|
| 613 |
+
"primitive_description": [
|
| 614 |
+
"pick up from",
|
| 615 |
+
"place in"
|
| 616 |
+
],
|
| 617 |
+
"object_id": [
|
| 618 |
+
[
|
| 619 |
+
[
|
| 620 |
+
"half_apple_213",
|
| 621 |
+
"half_apple_212"
|
| 622 |
+
],
|
| 623 |
+
"chopping_board_211"
|
| 624 |
+
],
|
| 625 |
+
[
|
| 626 |
+
[
|
| 627 |
+
"half_apple_212",
|
| 628 |
+
"half_apple_213"
|
| 629 |
+
],
|
| 630 |
+
"packing_box_210"
|
| 631 |
+
]
|
| 632 |
+
],
|
| 633 |
+
"manipulating_object_id": [
|
| 634 |
+
[
|
| 635 |
+
"half_apple_213",
|
| 636 |
+
"half_apple_212"
|
| 637 |
+
],
|
| 638 |
+
[
|
| 639 |
+
"half_apple_212",
|
| 640 |
+
"half_apple_213"
|
| 641 |
+
]
|
| 642 |
+
],
|
| 643 |
+
"spatial_prefix": [],
|
| 644 |
+
"frame_duration": [
|
| 645 |
+
1573,
|
| 646 |
+
2833
|
| 647 |
+
],
|
| 648 |
+
"skill_idxes": [
|
| 649 |
+
7,
|
| 650 |
+
8,
|
| 651 |
+
9,
|
| 652 |
+
10
|
| 653 |
+
]
|
| 654 |
+
},
|
| 655 |
+
{
|
| 656 |
+
"primitive_idx": 3,
|
| 657 |
+
"primitive_id": [
|
| 658 |
+
2,
|
| 659 |
+
4
|
| 660 |
+
],
|
| 661 |
+
"primitive_description": [
|
| 662 |
+
"pick up from",
|
| 663 |
+
"place in"
|
| 664 |
+
],
|
| 665 |
+
"object_id": [
|
| 666 |
+
[
|
| 667 |
+
"club_sandwich_209",
|
| 668 |
+
"chopping_board_211"
|
| 669 |
+
],
|
| 670 |
+
[
|
| 671 |
+
"club_sandwich_209",
|
| 672 |
+
"packing_box_210"
|
| 673 |
+
]
|
| 674 |
+
],
|
| 675 |
+
"manipulating_object_id": [
|
| 676 |
+
"club_sandwich_209",
|
| 677 |
+
"club_sandwich_209"
|
| 678 |
+
],
|
| 679 |
+
"spatial_prefix": [],
|
| 680 |
+
"frame_duration": [
|
| 681 |
+
2833,
|
| 682 |
+
3411
|
| 683 |
+
],
|
| 684 |
+
"skill_idxes": [
|
| 685 |
+
11,
|
| 686 |
+
12
|
| 687 |
+
]
|
| 688 |
+
},
|
| 689 |
+
{
|
| 690 |
+
"primitive_idx": 4,
|
| 691 |
+
"primitive_id": [],
|
| 692 |
+
"primitive_description": [],
|
| 693 |
+
"object_id": [],
|
| 694 |
+
"manipulating_object_id": [],
|
| 695 |
+
"spatial_prefix": [],
|
| 696 |
+
"frame_duration": [
|
| 697 |
+
3411,
|
| 698 |
+
5843
|
| 699 |
+
],
|
| 700 |
+
"skill_idxes": [
|
| 701 |
+
13,
|
| 702 |
+
14,
|
| 703 |
+
17
|
| 704 |
+
]
|
| 705 |
+
},
|
| 706 |
+
{
|
| 707 |
+
"primitive_idx": 5,
|
| 708 |
+
"primitive_id": [
|
| 709 |
+
2
|
| 710 |
+
],
|
| 711 |
+
"primitive_description": [
|
| 712 |
+
"pick up from"
|
| 713 |
+
],
|
| 714 |
+
"object_id": [
|
| 715 |
+
[
|
| 716 |
+
"bottle_of_tea_208",
|
| 717 |
+
"fridge_dszchb_0"
|
| 718 |
+
]
|
| 719 |
+
],
|
| 720 |
+
"manipulating_object_id": [
|
| 721 |
+
"bottle_of_tea_208"
|
| 722 |
+
],
|
| 723 |
+
"spatial_prefix": [
|
| 724 |
+
[
|
| 725 |
+
[],
|
| 726 |
+
[
|
| 727 |
+
"middle_level"
|
| 728 |
+
]
|
| 729 |
+
]
|
| 730 |
+
],
|
| 731 |
+
"frame_duration": [
|
| 732 |
+
4864,
|
| 733 |
+
5227
|
| 734 |
+
],
|
| 735 |
+
"skill_idxes": [
|
| 736 |
+
15
|
| 737 |
+
]
|
| 738 |
+
},
|
| 739 |
+
{
|
| 740 |
+
"primitive_idx": 6,
|
| 741 |
+
"primitive_id": [
|
| 742 |
+
12
|
| 743 |
+
],
|
| 744 |
+
"primitive_description": [
|
| 745 |
+
"close door"
|
| 746 |
+
],
|
| 747 |
+
"object_id": [
|
| 748 |
+
[
|
| 749 |
+
"fridge_dszchb_0"
|
| 750 |
+
]
|
| 751 |
+
],
|
| 752 |
+
"manipulating_object_id": [],
|
| 753 |
+
"spatial_prefix": [],
|
| 754 |
+
"frame_duration": [
|
| 755 |
+
5227,
|
| 756 |
+
5453
|
| 757 |
+
],
|
| 758 |
+
"skill_idxes": [
|
| 759 |
+
16
|
| 760 |
+
]
|
| 761 |
+
},
|
| 762 |
+
{
|
| 763 |
+
"primitive_idx": 7,
|
| 764 |
+
"primitive_id": [
|
| 765 |
+
4
|
| 766 |
+
],
|
| 767 |
+
"primitive_description": [
|
| 768 |
+
"place in"
|
| 769 |
+
],
|
| 770 |
+
"object_id": [
|
| 771 |
+
[
|
| 772 |
+
"bottle_of_tea_208",
|
| 773 |
+
"packing_box_210"
|
| 774 |
+
]
|
| 775 |
+
],
|
| 776 |
+
"manipulating_object_id": [
|
| 777 |
+
"bottle_of_tea_208"
|
| 778 |
+
],
|
| 779 |
+
"spatial_prefix": [],
|
| 780 |
+
"frame_duration": [
|
| 781 |
+
5843,
|
| 782 |
+
6163
|
| 783 |
+
],
|
| 784 |
+
"skill_idxes": [
|
| 785 |
+
18
|
| 786 |
+
]
|
| 787 |
+
}
|
| 788 |
+
]
|
| 789 |
+
}
|
annotations/episode_00000146.json
ADDED
|
@@ -0,0 +1,939 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7475,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
6,
|
| 8 |
+
7481
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
6,
|
| 29 |
+
294
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
295,
|
| 56 |
+
655
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
655,
|
| 80 |
+
792
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"burner_mjvqii_0"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
792,
|
| 114 |
+
872
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
872,
|
| 138 |
+
963
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
90
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"push to"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"chocolate_chip_cookie_207",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"chocolate_chip_cookie_207"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [
|
| 163 |
+
[
|
| 164 |
+
"",
|
| 165 |
+
"to_the_edge_of"
|
| 166 |
+
]
|
| 167 |
+
],
|
| 168 |
+
"frame_duration": [
|
| 169 |
+
963,
|
| 170 |
+
1744
|
| 171 |
+
],
|
| 172 |
+
"mp_ef": [],
|
| 173 |
+
"skill_type": [
|
| 174 |
+
"uncoordinated"
|
| 175 |
+
]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 6,
|
| 179 |
+
"skill_id": [
|
| 180 |
+
2
|
| 181 |
+
],
|
| 182 |
+
"skill_description": [
|
| 183 |
+
"pick up from"
|
| 184 |
+
],
|
| 185 |
+
"object_id": [
|
| 186 |
+
[
|
| 187 |
+
"chocolate_chip_cookie_207",
|
| 188 |
+
"chopping_board_211"
|
| 189 |
+
]
|
| 190 |
+
],
|
| 191 |
+
"manipulating_object_id": [
|
| 192 |
+
"chocolate_chip_cookie_207"
|
| 193 |
+
],
|
| 194 |
+
"spatial_prefix": [],
|
| 195 |
+
"frame_duration": [
|
| 196 |
+
1744,
|
| 197 |
+
2093
|
| 198 |
+
],
|
| 199 |
+
"mp_ef": [],
|
| 200 |
+
"skill_type": [
|
| 201 |
+
"uncoordinated"
|
| 202 |
+
]
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"skill_idx": 7,
|
| 206 |
+
"skill_id": [
|
| 207 |
+
1
|
| 208 |
+
],
|
| 209 |
+
"skill_description": [
|
| 210 |
+
"move to"
|
| 211 |
+
],
|
| 212 |
+
"object_id": [
|
| 213 |
+
[
|
| 214 |
+
"packing_box_210"
|
| 215 |
+
]
|
| 216 |
+
],
|
| 217 |
+
"manipulating_object_id": [],
|
| 218 |
+
"spatial_prefix": [],
|
| 219 |
+
"frame_duration": [
|
| 220 |
+
2093,
|
| 221 |
+
2195
|
| 222 |
+
],
|
| 223 |
+
"mp_ef": [],
|
| 224 |
+
"skill_type": [
|
| 225 |
+
"navigation"
|
| 226 |
+
]
|
| 227 |
+
},
|
| 228 |
+
{
|
| 229 |
+
"skill_idx": 8,
|
| 230 |
+
"skill_id": [
|
| 231 |
+
4
|
| 232 |
+
],
|
| 233 |
+
"skill_description": [
|
| 234 |
+
"place in"
|
| 235 |
+
],
|
| 236 |
+
"object_id": [
|
| 237 |
+
[
|
| 238 |
+
"chocolate_chip_cookie_207",
|
| 239 |
+
"packing_box_210"
|
| 240 |
+
]
|
| 241 |
+
],
|
| 242 |
+
"manipulating_object_id": [
|
| 243 |
+
"chocolate_chip_cookie_207"
|
| 244 |
+
],
|
| 245 |
+
"spatial_prefix": [],
|
| 246 |
+
"frame_duration": [
|
| 247 |
+
2195,
|
| 248 |
+
2396
|
| 249 |
+
],
|
| 250 |
+
"mp_ef": [],
|
| 251 |
+
"skill_type": [
|
| 252 |
+
"uncoordinated"
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"skill_idx": 9,
|
| 257 |
+
"skill_id": [
|
| 258 |
+
1
|
| 259 |
+
],
|
| 260 |
+
"skill_description": [
|
| 261 |
+
"move to"
|
| 262 |
+
],
|
| 263 |
+
"object_id": [
|
| 264 |
+
[
|
| 265 |
+
"half_apple_213"
|
| 266 |
+
]
|
| 267 |
+
],
|
| 268 |
+
"manipulating_object_id": [],
|
| 269 |
+
"spatial_prefix": [],
|
| 270 |
+
"frame_duration": [
|
| 271 |
+
2396,
|
| 272 |
+
2433
|
| 273 |
+
],
|
| 274 |
+
"mp_ef": [],
|
| 275 |
+
"skill_type": [
|
| 276 |
+
"navigation"
|
| 277 |
+
]
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"skill_idx": 10,
|
| 281 |
+
"skill_id": [
|
| 282 |
+
2
|
| 283 |
+
],
|
| 284 |
+
"skill_description": [
|
| 285 |
+
"pick up from"
|
| 286 |
+
],
|
| 287 |
+
"object_id": [
|
| 288 |
+
[
|
| 289 |
+
"half_apple_213",
|
| 290 |
+
"chopping_board_211"
|
| 291 |
+
]
|
| 292 |
+
],
|
| 293 |
+
"manipulating_object_id": [
|
| 294 |
+
"half_apple_213"
|
| 295 |
+
],
|
| 296 |
+
"spatial_prefix": [],
|
| 297 |
+
"frame_duration": [
|
| 298 |
+
2433,
|
| 299 |
+
2679
|
| 300 |
+
],
|
| 301 |
+
"mp_ef": [],
|
| 302 |
+
"skill_type": [
|
| 303 |
+
"uncoordinated"
|
| 304 |
+
]
|
| 305 |
+
},
|
| 306 |
+
{
|
| 307 |
+
"skill_idx": 11,
|
| 308 |
+
"skill_id": [
|
| 309 |
+
2
|
| 310 |
+
],
|
| 311 |
+
"skill_description": [
|
| 312 |
+
"pick up from"
|
| 313 |
+
],
|
| 314 |
+
"object_id": [
|
| 315 |
+
[
|
| 316 |
+
"half_apple_212",
|
| 317 |
+
"chopping_board_211"
|
| 318 |
+
]
|
| 319 |
+
],
|
| 320 |
+
"manipulating_object_id": [
|
| 321 |
+
"half_apple_212"
|
| 322 |
+
],
|
| 323 |
+
"spatial_prefix": [],
|
| 324 |
+
"frame_duration": [
|
| 325 |
+
2679,
|
| 326 |
+
2939
|
| 327 |
+
],
|
| 328 |
+
"mp_ef": [],
|
| 329 |
+
"skill_type": [
|
| 330 |
+
"uncoordinated"
|
| 331 |
+
]
|
| 332 |
+
},
|
| 333 |
+
{
|
| 334 |
+
"skill_idx": 12,
|
| 335 |
+
"skill_id": [
|
| 336 |
+
1
|
| 337 |
+
],
|
| 338 |
+
"skill_description": [
|
| 339 |
+
"move to"
|
| 340 |
+
],
|
| 341 |
+
"object_id": [
|
| 342 |
+
[
|
| 343 |
+
"packing_box_210"
|
| 344 |
+
]
|
| 345 |
+
],
|
| 346 |
+
"manipulating_object_id": [],
|
| 347 |
+
"spatial_prefix": [],
|
| 348 |
+
"frame_duration": [
|
| 349 |
+
2939,
|
| 350 |
+
3104
|
| 351 |
+
],
|
| 352 |
+
"mp_ef": [],
|
| 353 |
+
"skill_type": [
|
| 354 |
+
"navigation"
|
| 355 |
+
]
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"skill_idx": 13,
|
| 359 |
+
"skill_id": [
|
| 360 |
+
4
|
| 361 |
+
],
|
| 362 |
+
"skill_description": [
|
| 363 |
+
"place in"
|
| 364 |
+
],
|
| 365 |
+
"object_id": [
|
| 366 |
+
[
|
| 367 |
+
"half_apple_213",
|
| 368 |
+
"packing_box_210"
|
| 369 |
+
]
|
| 370 |
+
],
|
| 371 |
+
"manipulating_object_id": [
|
| 372 |
+
"half_apple_213"
|
| 373 |
+
],
|
| 374 |
+
"spatial_prefix": [],
|
| 375 |
+
"frame_duration": [
|
| 376 |
+
3104,
|
| 377 |
+
3340
|
| 378 |
+
],
|
| 379 |
+
"mp_ef": [],
|
| 380 |
+
"skill_type": [
|
| 381 |
+
"uncoordinated"
|
| 382 |
+
]
|
| 383 |
+
},
|
| 384 |
+
{
|
| 385 |
+
"skill_idx": 14,
|
| 386 |
+
"skill_id": [
|
| 387 |
+
4
|
| 388 |
+
],
|
| 389 |
+
"skill_description": [
|
| 390 |
+
"place in"
|
| 391 |
+
],
|
| 392 |
+
"object_id": [
|
| 393 |
+
[
|
| 394 |
+
"half_apple_212",
|
| 395 |
+
"packing_box_210"
|
| 396 |
+
]
|
| 397 |
+
],
|
| 398 |
+
"manipulating_object_id": [
|
| 399 |
+
"half_apple_212"
|
| 400 |
+
],
|
| 401 |
+
"spatial_prefix": [],
|
| 402 |
+
"frame_duration": [
|
| 403 |
+
3341,
|
| 404 |
+
3557
|
| 405 |
+
],
|
| 406 |
+
"mp_ef": [],
|
| 407 |
+
"skill_type": [
|
| 408 |
+
"uncoordinated"
|
| 409 |
+
]
|
| 410 |
+
},
|
| 411 |
+
{
|
| 412 |
+
"skill_idx": 15,
|
| 413 |
+
"skill_id": [
|
| 414 |
+
1
|
| 415 |
+
],
|
| 416 |
+
"skill_description": [
|
| 417 |
+
"move to"
|
| 418 |
+
],
|
| 419 |
+
"object_id": [
|
| 420 |
+
[
|
| 421 |
+
"club_sandwich_209"
|
| 422 |
+
]
|
| 423 |
+
],
|
| 424 |
+
"manipulating_object_id": [],
|
| 425 |
+
"spatial_prefix": [],
|
| 426 |
+
"frame_duration": [
|
| 427 |
+
3557,
|
| 428 |
+
3753
|
| 429 |
+
],
|
| 430 |
+
"mp_ef": [],
|
| 431 |
+
"skill_type": [
|
| 432 |
+
"navigation"
|
| 433 |
+
]
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"skill_idx": 16,
|
| 437 |
+
"skill_id": [
|
| 438 |
+
2
|
| 439 |
+
],
|
| 440 |
+
"skill_description": [
|
| 441 |
+
"pick up from"
|
| 442 |
+
],
|
| 443 |
+
"object_id": [
|
| 444 |
+
[
|
| 445 |
+
"club_sandwich_209",
|
| 446 |
+
"chopping_board_211"
|
| 447 |
+
]
|
| 448 |
+
],
|
| 449 |
+
"manipulating_object_id": [
|
| 450 |
+
"club_sandwich_209"
|
| 451 |
+
],
|
| 452 |
+
"spatial_prefix": [],
|
| 453 |
+
"frame_duration": [
|
| 454 |
+
3753,
|
| 455 |
+
4153
|
| 456 |
+
],
|
| 457 |
+
"mp_ef": [],
|
| 458 |
+
"skill_type": [
|
| 459 |
+
"coordinated"
|
| 460 |
+
]
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"skill_idx": 17,
|
| 464 |
+
"skill_id": [
|
| 465 |
+
1
|
| 466 |
+
],
|
| 467 |
+
"skill_description": [
|
| 468 |
+
"move to"
|
| 469 |
+
],
|
| 470 |
+
"object_id": [
|
| 471 |
+
[
|
| 472 |
+
"packing_box_210"
|
| 473 |
+
]
|
| 474 |
+
],
|
| 475 |
+
"manipulating_object_id": [],
|
| 476 |
+
"spatial_prefix": [],
|
| 477 |
+
"frame_duration": [
|
| 478 |
+
4153,
|
| 479 |
+
4238
|
| 480 |
+
],
|
| 481 |
+
"mp_ef": [],
|
| 482 |
+
"skill_type": [
|
| 483 |
+
"navigation"
|
| 484 |
+
]
|
| 485 |
+
},
|
| 486 |
+
{
|
| 487 |
+
"skill_idx": 18,
|
| 488 |
+
"skill_id": [
|
| 489 |
+
4
|
| 490 |
+
],
|
| 491 |
+
"skill_description": [
|
| 492 |
+
"place in"
|
| 493 |
+
],
|
| 494 |
+
"object_id": [
|
| 495 |
+
[
|
| 496 |
+
"club_sandwich_209",
|
| 497 |
+
"packing_box_210"
|
| 498 |
+
]
|
| 499 |
+
],
|
| 500 |
+
"manipulating_object_id": [
|
| 501 |
+
"club_sandwich_209"
|
| 502 |
+
],
|
| 503 |
+
"spatial_prefix": [],
|
| 504 |
+
"frame_duration": [
|
| 505 |
+
4238,
|
| 506 |
+
4507
|
| 507 |
+
],
|
| 508 |
+
"mp_ef": [],
|
| 509 |
+
"skill_type": [
|
| 510 |
+
"uncoordinated"
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
+
{
|
| 514 |
+
"skill_idx": 19,
|
| 515 |
+
"skill_id": [
|
| 516 |
+
1
|
| 517 |
+
],
|
| 518 |
+
"skill_description": [
|
| 519 |
+
"move to"
|
| 520 |
+
],
|
| 521 |
+
"object_id": [
|
| 522 |
+
[
|
| 523 |
+
"fridge_dszchb_0"
|
| 524 |
+
]
|
| 525 |
+
],
|
| 526 |
+
"manipulating_object_id": [],
|
| 527 |
+
"spatial_prefix": [],
|
| 528 |
+
"frame_duration": [
|
| 529 |
+
4507,
|
| 530 |
+
5175
|
| 531 |
+
],
|
| 532 |
+
"mp_ef": [],
|
| 533 |
+
"skill_type": [
|
| 534 |
+
"navigation"
|
| 535 |
+
]
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"skill_idx": 20,
|
| 539 |
+
"skill_id": [
|
| 540 |
+
10
|
| 541 |
+
],
|
| 542 |
+
"skill_description": [
|
| 543 |
+
"open door"
|
| 544 |
+
],
|
| 545 |
+
"object_id": [
|
| 546 |
+
[
|
| 547 |
+
"fridge_dszchb_0"
|
| 548 |
+
]
|
| 549 |
+
],
|
| 550 |
+
"manipulating_object_id": [],
|
| 551 |
+
"spatial_prefix": [],
|
| 552 |
+
"frame_duration": [
|
| 553 |
+
5175,
|
| 554 |
+
6039
|
| 555 |
+
],
|
| 556 |
+
"mp_ef": [],
|
| 557 |
+
"skill_type": [
|
| 558 |
+
"coordinated"
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
{
|
| 562 |
+
"skill_idx": 21,
|
| 563 |
+
"skill_id": [
|
| 564 |
+
2
|
| 565 |
+
],
|
| 566 |
+
"skill_description": [
|
| 567 |
+
"pick up from"
|
| 568 |
+
],
|
| 569 |
+
"object_id": [
|
| 570 |
+
[
|
| 571 |
+
"bottle_of_tea_208",
|
| 572 |
+
"fridge_dszchb_0"
|
| 573 |
+
]
|
| 574 |
+
],
|
| 575 |
+
"manipulating_object_id": [
|
| 576 |
+
"bottle_of_tea_208"
|
| 577 |
+
],
|
| 578 |
+
"spatial_prefix": [
|
| 579 |
+
[
|
| 580 |
+
"",
|
| 581 |
+
"middle_level"
|
| 582 |
+
]
|
| 583 |
+
],
|
| 584 |
+
"frame_duration": [
|
| 585 |
+
6040,
|
| 586 |
+
6347
|
| 587 |
+
],
|
| 588 |
+
"mp_ef": [],
|
| 589 |
+
"skill_type": [
|
| 590 |
+
"uncoordinated"
|
| 591 |
+
]
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"skill_idx": 22,
|
| 595 |
+
"skill_id": [
|
| 596 |
+
12
|
| 597 |
+
],
|
| 598 |
+
"skill_description": [
|
| 599 |
+
"close door"
|
| 600 |
+
],
|
| 601 |
+
"object_id": [
|
| 602 |
+
[
|
| 603 |
+
"fridge_dszchb_0"
|
| 604 |
+
]
|
| 605 |
+
],
|
| 606 |
+
"manipulating_object_id": [],
|
| 607 |
+
"spatial_prefix": [],
|
| 608 |
+
"frame_duration": [
|
| 609 |
+
6348,
|
| 610 |
+
6752
|
| 611 |
+
],
|
| 612 |
+
"mp_ef": [],
|
| 613 |
+
"skill_type": [
|
| 614 |
+
"uncoordinated"
|
| 615 |
+
]
|
| 616 |
+
},
|
| 617 |
+
{
|
| 618 |
+
"skill_idx": 23,
|
| 619 |
+
"skill_id": [
|
| 620 |
+
1
|
| 621 |
+
],
|
| 622 |
+
"skill_description": [
|
| 623 |
+
"move to"
|
| 624 |
+
],
|
| 625 |
+
"object_id": [
|
| 626 |
+
[
|
| 627 |
+
"packing_box_210"
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
"manipulating_object_id": [],
|
| 631 |
+
"spatial_prefix": [],
|
| 632 |
+
"frame_duration": [
|
| 633 |
+
6752,
|
| 634 |
+
7170
|
| 635 |
+
],
|
| 636 |
+
"mp_ef": [],
|
| 637 |
+
"skill_type": [
|
| 638 |
+
"navigation"
|
| 639 |
+
]
|
| 640 |
+
},
|
| 641 |
+
{
|
| 642 |
+
"skill_idx": 24,
|
| 643 |
+
"skill_id": [
|
| 644 |
+
4
|
| 645 |
+
],
|
| 646 |
+
"skill_description": [
|
| 647 |
+
"place in"
|
| 648 |
+
],
|
| 649 |
+
"object_id": [
|
| 650 |
+
[
|
| 651 |
+
"bottle_of_tea_208",
|
| 652 |
+
"packing_box_210"
|
| 653 |
+
]
|
| 654 |
+
],
|
| 655 |
+
"manipulating_object_id": [
|
| 656 |
+
"bottle_of_tea_208"
|
| 657 |
+
],
|
| 658 |
+
"spatial_prefix": [],
|
| 659 |
+
"frame_duration": [
|
| 660 |
+
7170,
|
| 661 |
+
7481
|
| 662 |
+
],
|
| 663 |
+
"mp_ef": [],
|
| 664 |
+
"skill_type": [
|
| 665 |
+
"uncoordinated"
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
],
|
| 669 |
+
"primitive_annotation": [
|
| 670 |
+
{
|
| 671 |
+
"primitive_idx": 0,
|
| 672 |
+
"primitive_id": [
|
| 673 |
+
2,
|
| 674 |
+
91
|
| 675 |
+
],
|
| 676 |
+
"primitive_description": [
|
| 677 |
+
"pick up from",
|
| 678 |
+
"place on next to"
|
| 679 |
+
],
|
| 680 |
+
"object_id": [
|
| 681 |
+
[
|
| 682 |
+
"packing_box_210",
|
| 683 |
+
"countertop_kelker_0"
|
| 684 |
+
],
|
| 685 |
+
[
|
| 686 |
+
"packing_box_210",
|
| 687 |
+
"countertop_kelker_0",
|
| 688 |
+
"burner_mjvqii_0"
|
| 689 |
+
]
|
| 690 |
+
],
|
| 691 |
+
"manipulating_object_id": [
|
| 692 |
+
"packing_box_210",
|
| 693 |
+
"packing_box_210"
|
| 694 |
+
],
|
| 695 |
+
"spatial_prefix": [
|
| 696 |
+
[],
|
| 697 |
+
[
|
| 698 |
+
[],
|
| 699 |
+
[],
|
| 700 |
+
[
|
| 701 |
+
"left"
|
| 702 |
+
]
|
| 703 |
+
]
|
| 704 |
+
],
|
| 705 |
+
"frame_duration": [
|
| 706 |
+
6,
|
| 707 |
+
872
|
| 708 |
+
],
|
| 709 |
+
"skill_idxes": [
|
| 710 |
+
0,
|
| 711 |
+
1,
|
| 712 |
+
2,
|
| 713 |
+
3
|
| 714 |
+
]
|
| 715 |
+
},
|
| 716 |
+
{
|
| 717 |
+
"primitive_idx": 1,
|
| 718 |
+
"primitive_id": [
|
| 719 |
+
2,
|
| 720 |
+
4
|
| 721 |
+
],
|
| 722 |
+
"primitive_description": [
|
| 723 |
+
"pick up from",
|
| 724 |
+
"place in"
|
| 725 |
+
],
|
| 726 |
+
"object_id": [
|
| 727 |
+
[
|
| 728 |
+
"chocolate_chip_cookie_207",
|
| 729 |
+
"chopping_board_211"
|
| 730 |
+
],
|
| 731 |
+
[
|
| 732 |
+
"chocolate_chip_cookie_207",
|
| 733 |
+
"packing_box_210"
|
| 734 |
+
]
|
| 735 |
+
],
|
| 736 |
+
"manipulating_object_id": [
|
| 737 |
+
"chocolate_chip_cookie_207",
|
| 738 |
+
"chocolate_chip_cookie_207"
|
| 739 |
+
],
|
| 740 |
+
"spatial_prefix": [],
|
| 741 |
+
"frame_duration": [
|
| 742 |
+
872,
|
| 743 |
+
2396
|
| 744 |
+
],
|
| 745 |
+
"skill_idxes": [
|
| 746 |
+
4,
|
| 747 |
+
5,
|
| 748 |
+
6,
|
| 749 |
+
7,
|
| 750 |
+
8
|
| 751 |
+
]
|
| 752 |
+
},
|
| 753 |
+
{
|
| 754 |
+
"primitive_idx": 2,
|
| 755 |
+
"primitive_id": [
|
| 756 |
+
2,
|
| 757 |
+
4
|
| 758 |
+
],
|
| 759 |
+
"primitive_description": [
|
| 760 |
+
"pick up from",
|
| 761 |
+
"place in"
|
| 762 |
+
],
|
| 763 |
+
"object_id": [
|
| 764 |
+
[
|
| 765 |
+
[
|
| 766 |
+
"half_apple_213",
|
| 767 |
+
"half_apple_212"
|
| 768 |
+
],
|
| 769 |
+
"chopping_board_211"
|
| 770 |
+
],
|
| 771 |
+
[
|
| 772 |
+
[
|
| 773 |
+
"half_apple_213",
|
| 774 |
+
"half_apple_212"
|
| 775 |
+
],
|
| 776 |
+
"packing_box_210"
|
| 777 |
+
]
|
| 778 |
+
],
|
| 779 |
+
"manipulating_object_id": [
|
| 780 |
+
[
|
| 781 |
+
"half_apple_213",
|
| 782 |
+
"half_apple_212"
|
| 783 |
+
],
|
| 784 |
+
[
|
| 785 |
+
"half_apple_213",
|
| 786 |
+
"half_apple_212"
|
| 787 |
+
]
|
| 788 |
+
],
|
| 789 |
+
"spatial_prefix": [],
|
| 790 |
+
"frame_duration": [
|
| 791 |
+
2396,
|
| 792 |
+
3557
|
| 793 |
+
],
|
| 794 |
+
"skill_idxes": [
|
| 795 |
+
9,
|
| 796 |
+
10,
|
| 797 |
+
11,
|
| 798 |
+
12,
|
| 799 |
+
13,
|
| 800 |
+
14
|
| 801 |
+
]
|
| 802 |
+
},
|
| 803 |
+
{
|
| 804 |
+
"primitive_idx": 3,
|
| 805 |
+
"primitive_id": [
|
| 806 |
+
2,
|
| 807 |
+
4
|
| 808 |
+
],
|
| 809 |
+
"primitive_description": [
|
| 810 |
+
"pick up from",
|
| 811 |
+
"place in"
|
| 812 |
+
],
|
| 813 |
+
"object_id": [
|
| 814 |
+
[
|
| 815 |
+
"club_sandwich_209",
|
| 816 |
+
"chopping_board_211"
|
| 817 |
+
],
|
| 818 |
+
[
|
| 819 |
+
"club_sandwich_209",
|
| 820 |
+
"packing_box_210"
|
| 821 |
+
]
|
| 822 |
+
],
|
| 823 |
+
"manipulating_object_id": [
|
| 824 |
+
"club_sandwich_209",
|
| 825 |
+
"club_sandwich_209"
|
| 826 |
+
],
|
| 827 |
+
"spatial_prefix": [],
|
| 828 |
+
"frame_duration": [
|
| 829 |
+
3557,
|
| 830 |
+
4507
|
| 831 |
+
],
|
| 832 |
+
"skill_idxes": [
|
| 833 |
+
15,
|
| 834 |
+
16,
|
| 835 |
+
17,
|
| 836 |
+
18
|
| 837 |
+
]
|
| 838 |
+
},
|
| 839 |
+
{
|
| 840 |
+
"primitive_idx": 4,
|
| 841 |
+
"primitive_id": [],
|
| 842 |
+
"primitive_description": [],
|
| 843 |
+
"object_id": [],
|
| 844 |
+
"manipulating_object_id": [],
|
| 845 |
+
"spatial_prefix": [],
|
| 846 |
+
"frame_duration": [
|
| 847 |
+
4507,
|
| 848 |
+
7170
|
| 849 |
+
],
|
| 850 |
+
"skill_idxes": [
|
| 851 |
+
19,
|
| 852 |
+
20,
|
| 853 |
+
23
|
| 854 |
+
]
|
| 855 |
+
},
|
| 856 |
+
{
|
| 857 |
+
"primitive_idx": 5,
|
| 858 |
+
"primitive_id": [
|
| 859 |
+
2
|
| 860 |
+
],
|
| 861 |
+
"primitive_description": [
|
| 862 |
+
"pick up from"
|
| 863 |
+
],
|
| 864 |
+
"object_id": [
|
| 865 |
+
[
|
| 866 |
+
"bottle_of_tea_208",
|
| 867 |
+
"fridge_dszchb_0"
|
| 868 |
+
]
|
| 869 |
+
],
|
| 870 |
+
"manipulating_object_id": [
|
| 871 |
+
"bottle_of_tea_208"
|
| 872 |
+
],
|
| 873 |
+
"spatial_prefix": [
|
| 874 |
+
[
|
| 875 |
+
[],
|
| 876 |
+
[
|
| 877 |
+
"middle_level"
|
| 878 |
+
]
|
| 879 |
+
]
|
| 880 |
+
],
|
| 881 |
+
"frame_duration": [
|
| 882 |
+
6040,
|
| 883 |
+
6347
|
| 884 |
+
],
|
| 885 |
+
"skill_idxes": [
|
| 886 |
+
21
|
| 887 |
+
]
|
| 888 |
+
},
|
| 889 |
+
{
|
| 890 |
+
"primitive_idx": 6,
|
| 891 |
+
"primitive_id": [
|
| 892 |
+
12
|
| 893 |
+
],
|
| 894 |
+
"primitive_description": [
|
| 895 |
+
"close door"
|
| 896 |
+
],
|
| 897 |
+
"object_id": [
|
| 898 |
+
[
|
| 899 |
+
"fridge_dszchb_0"
|
| 900 |
+
]
|
| 901 |
+
],
|
| 902 |
+
"manipulating_object_id": [],
|
| 903 |
+
"spatial_prefix": [],
|
| 904 |
+
"frame_duration": [
|
| 905 |
+
6348,
|
| 906 |
+
6752
|
| 907 |
+
],
|
| 908 |
+
"skill_idxes": [
|
| 909 |
+
22
|
| 910 |
+
]
|
| 911 |
+
},
|
| 912 |
+
{
|
| 913 |
+
"primitive_idx": 7,
|
| 914 |
+
"primitive_id": [
|
| 915 |
+
4
|
| 916 |
+
],
|
| 917 |
+
"primitive_description": [
|
| 918 |
+
"place in"
|
| 919 |
+
],
|
| 920 |
+
"object_id": [
|
| 921 |
+
[
|
| 922 |
+
"bottle_of_tea_208",
|
| 923 |
+
"packing_box_210"
|
| 924 |
+
]
|
| 925 |
+
],
|
| 926 |
+
"manipulating_object_id": [
|
| 927 |
+
"bottle_of_tea_208"
|
| 928 |
+
],
|
| 929 |
+
"spatial_prefix": [],
|
| 930 |
+
"frame_duration": [
|
| 931 |
+
7170,
|
| 932 |
+
7481
|
| 933 |
+
],
|
| 934 |
+
"skill_idxes": [
|
| 935 |
+
24
|
| 936 |
+
]
|
| 937 |
+
}
|
| 938 |
+
]
|
| 939 |
+
}
|
annotations/episode_00000158.json
ADDED
|
@@ -0,0 +1,814 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7256,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
7256
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
141
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
141,
|
| 56 |
+
390
|
| 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 |
+
"chopping_board_211"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
390,
|
| 80 |
+
660
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
660,
|
| 114 |
+
739
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
739,
|
| 138 |
+
783
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
90
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"push to"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"chocolate_chip_cookie_207",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"chocolate_chip_cookie_207"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [
|
| 163 |
+
[
|
| 164 |
+
"",
|
| 165 |
+
"to_the_edge_of"
|
| 166 |
+
]
|
| 167 |
+
],
|
| 168 |
+
"frame_duration": [
|
| 169 |
+
783,
|
| 170 |
+
1412
|
| 171 |
+
],
|
| 172 |
+
"mp_ef": [],
|
| 173 |
+
"skill_type": [
|
| 174 |
+
"uncoordinated"
|
| 175 |
+
]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 6,
|
| 179 |
+
"skill_id": [
|
| 180 |
+
2
|
| 181 |
+
],
|
| 182 |
+
"skill_description": [
|
| 183 |
+
"pick up from"
|
| 184 |
+
],
|
| 185 |
+
"object_id": [
|
| 186 |
+
[
|
| 187 |
+
"chocolate_chip_cookie_207",
|
| 188 |
+
"chopping_board_211"
|
| 189 |
+
]
|
| 190 |
+
],
|
| 191 |
+
"manipulating_object_id": [
|
| 192 |
+
"chocolate_chip_cookie_207"
|
| 193 |
+
],
|
| 194 |
+
"spatial_prefix": [],
|
| 195 |
+
"frame_duration": [
|
| 196 |
+
1412,
|
| 197 |
+
1775
|
| 198 |
+
],
|
| 199 |
+
"mp_ef": [],
|
| 200 |
+
"skill_type": [
|
| 201 |
+
"uncoordinated"
|
| 202 |
+
]
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"skill_idx": 7,
|
| 206 |
+
"skill_id": [
|
| 207 |
+
4
|
| 208 |
+
],
|
| 209 |
+
"skill_description": [
|
| 210 |
+
"place in"
|
| 211 |
+
],
|
| 212 |
+
"object_id": [
|
| 213 |
+
[
|
| 214 |
+
"chocolate_chip_cookie_207",
|
| 215 |
+
"packing_box_210"
|
| 216 |
+
]
|
| 217 |
+
],
|
| 218 |
+
"manipulating_object_id": [
|
| 219 |
+
"chocolate_chip_cookie_207"
|
| 220 |
+
],
|
| 221 |
+
"spatial_prefix": [],
|
| 222 |
+
"frame_duration": [
|
| 223 |
+
1775,
|
| 224 |
+
2013
|
| 225 |
+
],
|
| 226 |
+
"mp_ef": [],
|
| 227 |
+
"skill_type": [
|
| 228 |
+
"uncoordinated"
|
| 229 |
+
]
|
| 230 |
+
},
|
| 231 |
+
{
|
| 232 |
+
"skill_idx": 8,
|
| 233 |
+
"skill_id": [
|
| 234 |
+
2
|
| 235 |
+
],
|
| 236 |
+
"skill_description": [
|
| 237 |
+
"pick up from"
|
| 238 |
+
],
|
| 239 |
+
"object_id": [
|
| 240 |
+
[
|
| 241 |
+
"half_apple_212",
|
| 242 |
+
"chopping_board_211"
|
| 243 |
+
]
|
| 244 |
+
],
|
| 245 |
+
"manipulating_object_id": [
|
| 246 |
+
"half_apple_212"
|
| 247 |
+
],
|
| 248 |
+
"spatial_prefix": [],
|
| 249 |
+
"frame_duration": [
|
| 250 |
+
2013,
|
| 251 |
+
2337
|
| 252 |
+
],
|
| 253 |
+
"mp_ef": [],
|
| 254 |
+
"skill_type": [
|
| 255 |
+
"uncoordinated"
|
| 256 |
+
]
|
| 257 |
+
},
|
| 258 |
+
{
|
| 259 |
+
"skill_idx": 9,
|
| 260 |
+
"skill_id": [
|
| 261 |
+
2
|
| 262 |
+
],
|
| 263 |
+
"skill_description": [
|
| 264 |
+
"pick up from"
|
| 265 |
+
],
|
| 266 |
+
"object_id": [
|
| 267 |
+
[
|
| 268 |
+
"half_apple_213",
|
| 269 |
+
"chopping_board_211"
|
| 270 |
+
]
|
| 271 |
+
],
|
| 272 |
+
"manipulating_object_id": [
|
| 273 |
+
"half_apple_213"
|
| 274 |
+
],
|
| 275 |
+
"spatial_prefix": [],
|
| 276 |
+
"frame_duration": [
|
| 277 |
+
2337,
|
| 278 |
+
2682
|
| 279 |
+
],
|
| 280 |
+
"mp_ef": [],
|
| 281 |
+
"skill_type": [
|
| 282 |
+
"uncoordinated"
|
| 283 |
+
]
|
| 284 |
+
},
|
| 285 |
+
{
|
| 286 |
+
"skill_idx": 10,
|
| 287 |
+
"skill_id": [
|
| 288 |
+
4
|
| 289 |
+
],
|
| 290 |
+
"skill_description": [
|
| 291 |
+
"place in"
|
| 292 |
+
],
|
| 293 |
+
"object_id": [
|
| 294 |
+
[
|
| 295 |
+
"half_apple_213",
|
| 296 |
+
"packing_box_210"
|
| 297 |
+
]
|
| 298 |
+
],
|
| 299 |
+
"manipulating_object_id": [
|
| 300 |
+
"half_apple_213"
|
| 301 |
+
],
|
| 302 |
+
"spatial_prefix": [],
|
| 303 |
+
"frame_duration": [
|
| 304 |
+
2682,
|
| 305 |
+
2895
|
| 306 |
+
],
|
| 307 |
+
"mp_ef": [],
|
| 308 |
+
"skill_type": [
|
| 309 |
+
"uncoordinated"
|
| 310 |
+
]
|
| 311 |
+
},
|
| 312 |
+
{
|
| 313 |
+
"skill_idx": 11,
|
| 314 |
+
"skill_id": [
|
| 315 |
+
4
|
| 316 |
+
],
|
| 317 |
+
"skill_description": [
|
| 318 |
+
"place in"
|
| 319 |
+
],
|
| 320 |
+
"object_id": [
|
| 321 |
+
[
|
| 322 |
+
"half_apple_212",
|
| 323 |
+
"packing_box_210"
|
| 324 |
+
]
|
| 325 |
+
],
|
| 326 |
+
"manipulating_object_id": [
|
| 327 |
+
"half_apple_212"
|
| 328 |
+
],
|
| 329 |
+
"spatial_prefix": [],
|
| 330 |
+
"frame_duration": [
|
| 331 |
+
2895,
|
| 332 |
+
3133
|
| 333 |
+
],
|
| 334 |
+
"mp_ef": [],
|
| 335 |
+
"skill_type": [
|
| 336 |
+
"uncoordinated"
|
| 337 |
+
]
|
| 338 |
+
},
|
| 339 |
+
{
|
| 340 |
+
"skill_idx": 12,
|
| 341 |
+
"skill_id": [
|
| 342 |
+
2
|
| 343 |
+
],
|
| 344 |
+
"skill_description": [
|
| 345 |
+
"pick up from"
|
| 346 |
+
],
|
| 347 |
+
"object_id": [
|
| 348 |
+
[
|
| 349 |
+
"club_sandwich_209",
|
| 350 |
+
"chopping_board_211"
|
| 351 |
+
]
|
| 352 |
+
],
|
| 353 |
+
"manipulating_object_id": [
|
| 354 |
+
"club_sandwich_209"
|
| 355 |
+
],
|
| 356 |
+
"spatial_prefix": [],
|
| 357 |
+
"frame_duration": [
|
| 358 |
+
3133,
|
| 359 |
+
3536
|
| 360 |
+
],
|
| 361 |
+
"mp_ef": [],
|
| 362 |
+
"skill_type": [
|
| 363 |
+
"coordinated"
|
| 364 |
+
]
|
| 365 |
+
},
|
| 366 |
+
{
|
| 367 |
+
"skill_idx": 13,
|
| 368 |
+
"skill_id": [
|
| 369 |
+
4
|
| 370 |
+
],
|
| 371 |
+
"skill_description": [
|
| 372 |
+
"place in"
|
| 373 |
+
],
|
| 374 |
+
"object_id": [
|
| 375 |
+
[
|
| 376 |
+
"club_sandwich_209",
|
| 377 |
+
"packing_box_210"
|
| 378 |
+
]
|
| 379 |
+
],
|
| 380 |
+
"manipulating_object_id": [
|
| 381 |
+
"club_sandwich_209"
|
| 382 |
+
],
|
| 383 |
+
"spatial_prefix": [],
|
| 384 |
+
"frame_duration": [
|
| 385 |
+
3536,
|
| 386 |
+
3861
|
| 387 |
+
],
|
| 388 |
+
"mp_ef": [],
|
| 389 |
+
"skill_type": [
|
| 390 |
+
"uncoordinated"
|
| 391 |
+
]
|
| 392 |
+
},
|
| 393 |
+
{
|
| 394 |
+
"skill_idx": 14,
|
| 395 |
+
"skill_id": [
|
| 396 |
+
1
|
| 397 |
+
],
|
| 398 |
+
"skill_description": [
|
| 399 |
+
"move to"
|
| 400 |
+
],
|
| 401 |
+
"object_id": [
|
| 402 |
+
[
|
| 403 |
+
"fridge_dszchb_0"
|
| 404 |
+
]
|
| 405 |
+
],
|
| 406 |
+
"manipulating_object_id": [],
|
| 407 |
+
"spatial_prefix": [],
|
| 408 |
+
"frame_duration": [
|
| 409 |
+
3861,
|
| 410 |
+
4520
|
| 411 |
+
],
|
| 412 |
+
"mp_ef": [],
|
| 413 |
+
"skill_type": [
|
| 414 |
+
"navigation"
|
| 415 |
+
]
|
| 416 |
+
},
|
| 417 |
+
{
|
| 418 |
+
"skill_idx": 15,
|
| 419 |
+
"skill_id": [
|
| 420 |
+
10
|
| 421 |
+
],
|
| 422 |
+
"skill_description": [
|
| 423 |
+
"open door"
|
| 424 |
+
],
|
| 425 |
+
"object_id": [
|
| 426 |
+
[
|
| 427 |
+
"fridge_dszchb_0"
|
| 428 |
+
]
|
| 429 |
+
],
|
| 430 |
+
"manipulating_object_id": [],
|
| 431 |
+
"spatial_prefix": [],
|
| 432 |
+
"frame_duration": [
|
| 433 |
+
4520,
|
| 434 |
+
5439
|
| 435 |
+
],
|
| 436 |
+
"mp_ef": [],
|
| 437 |
+
"skill_type": [
|
| 438 |
+
"coordinated"
|
| 439 |
+
]
|
| 440 |
+
},
|
| 441 |
+
{
|
| 442 |
+
"skill_idx": 16,
|
| 443 |
+
"skill_id": [
|
| 444 |
+
2
|
| 445 |
+
],
|
| 446 |
+
"skill_description": [
|
| 447 |
+
"pick up from"
|
| 448 |
+
],
|
| 449 |
+
"object_id": [
|
| 450 |
+
[
|
| 451 |
+
"bottle_of_tea_208",
|
| 452 |
+
"fridge_dszchb_0"
|
| 453 |
+
]
|
| 454 |
+
],
|
| 455 |
+
"manipulating_object_id": [
|
| 456 |
+
"bottle_of_tea_208"
|
| 457 |
+
],
|
| 458 |
+
"spatial_prefix": [
|
| 459 |
+
[
|
| 460 |
+
"",
|
| 461 |
+
"low_level"
|
| 462 |
+
]
|
| 463 |
+
],
|
| 464 |
+
"frame_duration": [
|
| 465 |
+
5439,
|
| 466 |
+
6013
|
| 467 |
+
],
|
| 468 |
+
"mp_ef": [],
|
| 469 |
+
"skill_type": [
|
| 470 |
+
"uncoordinated"
|
| 471 |
+
]
|
| 472 |
+
},
|
| 473 |
+
{
|
| 474 |
+
"skill_idx": 17,
|
| 475 |
+
"skill_id": [
|
| 476 |
+
12
|
| 477 |
+
],
|
| 478 |
+
"skill_description": [
|
| 479 |
+
"close door"
|
| 480 |
+
],
|
| 481 |
+
"object_id": [
|
| 482 |
+
[
|
| 483 |
+
"fridge_dszchb_0"
|
| 484 |
+
]
|
| 485 |
+
],
|
| 486 |
+
"manipulating_object_id": [],
|
| 487 |
+
"spatial_prefix": [],
|
| 488 |
+
"frame_duration": [
|
| 489 |
+
6013,
|
| 490 |
+
6371
|
| 491 |
+
],
|
| 492 |
+
"mp_ef": [],
|
| 493 |
+
"skill_type": [
|
| 494 |
+
"uncoordinated"
|
| 495 |
+
]
|
| 496 |
+
},
|
| 497 |
+
{
|
| 498 |
+
"skill_idx": 18,
|
| 499 |
+
"skill_id": [
|
| 500 |
+
1
|
| 501 |
+
],
|
| 502 |
+
"skill_description": [
|
| 503 |
+
"move to"
|
| 504 |
+
],
|
| 505 |
+
"object_id": [
|
| 506 |
+
[
|
| 507 |
+
"packing_box_210"
|
| 508 |
+
]
|
| 509 |
+
],
|
| 510 |
+
"manipulating_object_id": [],
|
| 511 |
+
"spatial_prefix": [],
|
| 512 |
+
"frame_duration": [
|
| 513 |
+
6371,
|
| 514 |
+
6981
|
| 515 |
+
],
|
| 516 |
+
"mp_ef": [],
|
| 517 |
+
"skill_type": [
|
| 518 |
+
"navigation"
|
| 519 |
+
]
|
| 520 |
+
},
|
| 521 |
+
{
|
| 522 |
+
"skill_idx": 19,
|
| 523 |
+
"skill_id": [
|
| 524 |
+
4
|
| 525 |
+
],
|
| 526 |
+
"skill_description": [
|
| 527 |
+
"place in"
|
| 528 |
+
],
|
| 529 |
+
"object_id": [
|
| 530 |
+
[
|
| 531 |
+
"bottle_of_tea_208",
|
| 532 |
+
"packing_box_210"
|
| 533 |
+
]
|
| 534 |
+
],
|
| 535 |
+
"manipulating_object_id": [
|
| 536 |
+
"bottle_of_tea_208"
|
| 537 |
+
],
|
| 538 |
+
"spatial_prefix": [],
|
| 539 |
+
"frame_duration": [
|
| 540 |
+
6981,
|
| 541 |
+
7256
|
| 542 |
+
],
|
| 543 |
+
"mp_ef": [],
|
| 544 |
+
"skill_type": [
|
| 545 |
+
"uncoordinated"
|
| 546 |
+
]
|
| 547 |
+
}
|
| 548 |
+
],
|
| 549 |
+
"primitive_annotation": [
|
| 550 |
+
{
|
| 551 |
+
"primitive_idx": 0,
|
| 552 |
+
"primitive_id": [
|
| 553 |
+
2,
|
| 554 |
+
91
|
| 555 |
+
],
|
| 556 |
+
"primitive_description": [
|
| 557 |
+
"pick up from",
|
| 558 |
+
"place on next to"
|
| 559 |
+
],
|
| 560 |
+
"object_id": [
|
| 561 |
+
[
|
| 562 |
+
"packing_box_210",
|
| 563 |
+
"countertop_kelker_0"
|
| 564 |
+
],
|
| 565 |
+
[
|
| 566 |
+
"packing_box_210",
|
| 567 |
+
"countertop_kelker_0",
|
| 568 |
+
"chopping_board_211"
|
| 569 |
+
]
|
| 570 |
+
],
|
| 571 |
+
"manipulating_object_id": [
|
| 572 |
+
"packing_box_210",
|
| 573 |
+
"packing_box_210"
|
| 574 |
+
],
|
| 575 |
+
"spatial_prefix": [
|
| 576 |
+
[],
|
| 577 |
+
[
|
| 578 |
+
[],
|
| 579 |
+
[],
|
| 580 |
+
[
|
| 581 |
+
"left"
|
| 582 |
+
]
|
| 583 |
+
]
|
| 584 |
+
],
|
| 585 |
+
"frame_duration": [
|
| 586 |
+
0,
|
| 587 |
+
739
|
| 588 |
+
],
|
| 589 |
+
"skill_idxes": [
|
| 590 |
+
0,
|
| 591 |
+
1,
|
| 592 |
+
2,
|
| 593 |
+
3
|
| 594 |
+
]
|
| 595 |
+
},
|
| 596 |
+
{
|
| 597 |
+
"primitive_idx": 1,
|
| 598 |
+
"primitive_id": [
|
| 599 |
+
2,
|
| 600 |
+
4
|
| 601 |
+
],
|
| 602 |
+
"primitive_description": [
|
| 603 |
+
"pick up from",
|
| 604 |
+
"place in"
|
| 605 |
+
],
|
| 606 |
+
"object_id": [
|
| 607 |
+
[
|
| 608 |
+
"chocolate_chip_cookie_207",
|
| 609 |
+
"chopping_board_211"
|
| 610 |
+
],
|
| 611 |
+
[
|
| 612 |
+
"chocolate_chip_cookie_207",
|
| 613 |
+
"packing_box_210"
|
| 614 |
+
]
|
| 615 |
+
],
|
| 616 |
+
"manipulating_object_id": [
|
| 617 |
+
"chocolate_chip_cookie_207",
|
| 618 |
+
"chocolate_chip_cookie_207"
|
| 619 |
+
],
|
| 620 |
+
"spatial_prefix": [],
|
| 621 |
+
"frame_duration": [
|
| 622 |
+
739,
|
| 623 |
+
2013
|
| 624 |
+
],
|
| 625 |
+
"skill_idxes": [
|
| 626 |
+
4,
|
| 627 |
+
5,
|
| 628 |
+
6,
|
| 629 |
+
7
|
| 630 |
+
]
|
| 631 |
+
},
|
| 632 |
+
{
|
| 633 |
+
"primitive_idx": 2,
|
| 634 |
+
"primitive_id": [
|
| 635 |
+
2,
|
| 636 |
+
4
|
| 637 |
+
],
|
| 638 |
+
"primitive_description": [
|
| 639 |
+
"pick up from",
|
| 640 |
+
"place in"
|
| 641 |
+
],
|
| 642 |
+
"object_id": [
|
| 643 |
+
[
|
| 644 |
+
[
|
| 645 |
+
"half_apple_212",
|
| 646 |
+
"half_apple_213"
|
| 647 |
+
],
|
| 648 |
+
"chopping_board_211"
|
| 649 |
+
],
|
| 650 |
+
[
|
| 651 |
+
[
|
| 652 |
+
"half_apple_213",
|
| 653 |
+
"half_apple_212"
|
| 654 |
+
],
|
| 655 |
+
"packing_box_210"
|
| 656 |
+
]
|
| 657 |
+
],
|
| 658 |
+
"manipulating_object_id": [
|
| 659 |
+
[
|
| 660 |
+
"half_apple_212",
|
| 661 |
+
"half_apple_213"
|
| 662 |
+
],
|
| 663 |
+
[
|
| 664 |
+
"half_apple_213",
|
| 665 |
+
"half_apple_212"
|
| 666 |
+
]
|
| 667 |
+
],
|
| 668 |
+
"spatial_prefix": [],
|
| 669 |
+
"frame_duration": [
|
| 670 |
+
2013,
|
| 671 |
+
3133
|
| 672 |
+
],
|
| 673 |
+
"skill_idxes": [
|
| 674 |
+
8,
|
| 675 |
+
9,
|
| 676 |
+
10,
|
| 677 |
+
11
|
| 678 |
+
]
|
| 679 |
+
},
|
| 680 |
+
{
|
| 681 |
+
"primitive_idx": 3,
|
| 682 |
+
"primitive_id": [
|
| 683 |
+
2,
|
| 684 |
+
4
|
| 685 |
+
],
|
| 686 |
+
"primitive_description": [
|
| 687 |
+
"pick up from",
|
| 688 |
+
"place in"
|
| 689 |
+
],
|
| 690 |
+
"object_id": [
|
| 691 |
+
[
|
| 692 |
+
"club_sandwich_209",
|
| 693 |
+
"chopping_board_211"
|
| 694 |
+
],
|
| 695 |
+
[
|
| 696 |
+
"club_sandwich_209",
|
| 697 |
+
"packing_box_210"
|
| 698 |
+
]
|
| 699 |
+
],
|
| 700 |
+
"manipulating_object_id": [
|
| 701 |
+
"club_sandwich_209",
|
| 702 |
+
"club_sandwich_209"
|
| 703 |
+
],
|
| 704 |
+
"spatial_prefix": [],
|
| 705 |
+
"frame_duration": [
|
| 706 |
+
3133,
|
| 707 |
+
3861
|
| 708 |
+
],
|
| 709 |
+
"skill_idxes": [
|
| 710 |
+
12,
|
| 711 |
+
13
|
| 712 |
+
]
|
| 713 |
+
},
|
| 714 |
+
{
|
| 715 |
+
"primitive_idx": 4,
|
| 716 |
+
"primitive_id": [],
|
| 717 |
+
"primitive_description": [],
|
| 718 |
+
"object_id": [],
|
| 719 |
+
"manipulating_object_id": [],
|
| 720 |
+
"spatial_prefix": [],
|
| 721 |
+
"frame_duration": [
|
| 722 |
+
3861,
|
| 723 |
+
6981
|
| 724 |
+
],
|
| 725 |
+
"skill_idxes": [
|
| 726 |
+
14,
|
| 727 |
+
15,
|
| 728 |
+
18
|
| 729 |
+
]
|
| 730 |
+
},
|
| 731 |
+
{
|
| 732 |
+
"primitive_idx": 5,
|
| 733 |
+
"primitive_id": [
|
| 734 |
+
2
|
| 735 |
+
],
|
| 736 |
+
"primitive_description": [
|
| 737 |
+
"pick up from"
|
| 738 |
+
],
|
| 739 |
+
"object_id": [
|
| 740 |
+
[
|
| 741 |
+
"bottle_of_tea_208",
|
| 742 |
+
"fridge_dszchb_0"
|
| 743 |
+
]
|
| 744 |
+
],
|
| 745 |
+
"manipulating_object_id": [
|
| 746 |
+
"bottle_of_tea_208"
|
| 747 |
+
],
|
| 748 |
+
"spatial_prefix": [
|
| 749 |
+
[
|
| 750 |
+
[],
|
| 751 |
+
[
|
| 752 |
+
"low_level"
|
| 753 |
+
]
|
| 754 |
+
]
|
| 755 |
+
],
|
| 756 |
+
"frame_duration": [
|
| 757 |
+
5439,
|
| 758 |
+
6013
|
| 759 |
+
],
|
| 760 |
+
"skill_idxes": [
|
| 761 |
+
16
|
| 762 |
+
]
|
| 763 |
+
},
|
| 764 |
+
{
|
| 765 |
+
"primitive_idx": 6,
|
| 766 |
+
"primitive_id": [
|
| 767 |
+
12
|
| 768 |
+
],
|
| 769 |
+
"primitive_description": [
|
| 770 |
+
"close door"
|
| 771 |
+
],
|
| 772 |
+
"object_id": [
|
| 773 |
+
[
|
| 774 |
+
"fridge_dszchb_0"
|
| 775 |
+
]
|
| 776 |
+
],
|
| 777 |
+
"manipulating_object_id": [],
|
| 778 |
+
"spatial_prefix": [],
|
| 779 |
+
"frame_duration": [
|
| 780 |
+
6013,
|
| 781 |
+
6371
|
| 782 |
+
],
|
| 783 |
+
"skill_idxes": [
|
| 784 |
+
17
|
| 785 |
+
]
|
| 786 |
+
},
|
| 787 |
+
{
|
| 788 |
+
"primitive_idx": 7,
|
| 789 |
+
"primitive_id": [
|
| 790 |
+
4
|
| 791 |
+
],
|
| 792 |
+
"primitive_description": [
|
| 793 |
+
"place in"
|
| 794 |
+
],
|
| 795 |
+
"object_id": [
|
| 796 |
+
[
|
| 797 |
+
"bottle_of_tea_208",
|
| 798 |
+
"packing_box_210"
|
| 799 |
+
]
|
| 800 |
+
],
|
| 801 |
+
"manipulating_object_id": [
|
| 802 |
+
"bottle_of_tea_208"
|
| 803 |
+
],
|
| 804 |
+
"spatial_prefix": [],
|
| 805 |
+
"frame_duration": [
|
| 806 |
+
6981,
|
| 807 |
+
7256
|
| 808 |
+
],
|
| 809 |
+
"skill_idxes": [
|
| 810 |
+
19
|
| 811 |
+
]
|
| 812 |
+
}
|
| 813 |
+
]
|
| 814 |
+
}
|
annotations/episode_00000159.json
ADDED
|
@@ -0,0 +1,789 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6868,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
6868
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
155
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
155,
|
| 56 |
+
564
|
| 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 |
+
"chopping_board_211"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
564,
|
| 80 |
+
675
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"right"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
675,
|
| 114 |
+
871
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
90
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"push to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207",
|
| 132 |
+
"chopping_board_211"
|
| 133 |
+
]
|
| 134 |
+
],
|
| 135 |
+
"manipulating_object_id": [
|
| 136 |
+
"chocolate_chip_cookie_207"
|
| 137 |
+
],
|
| 138 |
+
"spatial_prefix": [
|
| 139 |
+
[
|
| 140 |
+
"",
|
| 141 |
+
"to_the_edge_of"
|
| 142 |
+
]
|
| 143 |
+
],
|
| 144 |
+
"frame_duration": [
|
| 145 |
+
871,
|
| 146 |
+
1629
|
| 147 |
+
],
|
| 148 |
+
"mp_ef": [],
|
| 149 |
+
"skill_type": [
|
| 150 |
+
"uncoordinated"
|
| 151 |
+
]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 5,
|
| 155 |
+
"skill_id": [
|
| 156 |
+
2
|
| 157 |
+
],
|
| 158 |
+
"skill_description": [
|
| 159 |
+
"pick up from"
|
| 160 |
+
],
|
| 161 |
+
"object_id": [
|
| 162 |
+
[
|
| 163 |
+
"chocolate_chip_cookie_207",
|
| 164 |
+
"chopping_board_211"
|
| 165 |
+
]
|
| 166 |
+
],
|
| 167 |
+
"manipulating_object_id": [
|
| 168 |
+
"chocolate_chip_cookie_207"
|
| 169 |
+
],
|
| 170 |
+
"spatial_prefix": [],
|
| 171 |
+
"frame_duration": [
|
| 172 |
+
1629,
|
| 173 |
+
1875
|
| 174 |
+
],
|
| 175 |
+
"mp_ef": [],
|
| 176 |
+
"skill_type": [
|
| 177 |
+
"uncoordinated"
|
| 178 |
+
]
|
| 179 |
+
},
|
| 180 |
+
{
|
| 181 |
+
"skill_idx": 6,
|
| 182 |
+
"skill_id": [
|
| 183 |
+
4
|
| 184 |
+
],
|
| 185 |
+
"skill_description": [
|
| 186 |
+
"place in"
|
| 187 |
+
],
|
| 188 |
+
"object_id": [
|
| 189 |
+
[
|
| 190 |
+
"chocolate_chip_cookie_207",
|
| 191 |
+
"packing_box_210"
|
| 192 |
+
]
|
| 193 |
+
],
|
| 194 |
+
"manipulating_object_id": [
|
| 195 |
+
"chocolate_chip_cookie_207"
|
| 196 |
+
],
|
| 197 |
+
"spatial_prefix": [],
|
| 198 |
+
"frame_duration": [
|
| 199 |
+
1875,
|
| 200 |
+
2049
|
| 201 |
+
],
|
| 202 |
+
"mp_ef": [],
|
| 203 |
+
"skill_type": [
|
| 204 |
+
"uncoordinated"
|
| 205 |
+
]
|
| 206 |
+
},
|
| 207 |
+
{
|
| 208 |
+
"skill_idx": 7,
|
| 209 |
+
"skill_id": [
|
| 210 |
+
2
|
| 211 |
+
],
|
| 212 |
+
"skill_description": [
|
| 213 |
+
"pick up from"
|
| 214 |
+
],
|
| 215 |
+
"object_id": [
|
| 216 |
+
[
|
| 217 |
+
"half_apple_213",
|
| 218 |
+
"chopping_board_211"
|
| 219 |
+
]
|
| 220 |
+
],
|
| 221 |
+
"manipulating_object_id": [
|
| 222 |
+
"half_apple_213"
|
| 223 |
+
],
|
| 224 |
+
"spatial_prefix": [],
|
| 225 |
+
"frame_duration": [
|
| 226 |
+
2049,
|
| 227 |
+
2391
|
| 228 |
+
],
|
| 229 |
+
"mp_ef": [],
|
| 230 |
+
"skill_type": [
|
| 231 |
+
"uncoordinated"
|
| 232 |
+
]
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"skill_idx": 8,
|
| 236 |
+
"skill_id": [
|
| 237 |
+
2
|
| 238 |
+
],
|
| 239 |
+
"skill_description": [
|
| 240 |
+
"pick up from"
|
| 241 |
+
],
|
| 242 |
+
"object_id": [
|
| 243 |
+
[
|
| 244 |
+
"half_apple_212",
|
| 245 |
+
"chopping_board_211"
|
| 246 |
+
]
|
| 247 |
+
],
|
| 248 |
+
"manipulating_object_id": [
|
| 249 |
+
"half_apple_212"
|
| 250 |
+
],
|
| 251 |
+
"spatial_prefix": [],
|
| 252 |
+
"frame_duration": [
|
| 253 |
+
2391,
|
| 254 |
+
2709
|
| 255 |
+
],
|
| 256 |
+
"mp_ef": [],
|
| 257 |
+
"skill_type": [
|
| 258 |
+
"uncoordinated"
|
| 259 |
+
]
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"skill_idx": 9,
|
| 263 |
+
"skill_id": [
|
| 264 |
+
4
|
| 265 |
+
],
|
| 266 |
+
"skill_description": [
|
| 267 |
+
"place in"
|
| 268 |
+
],
|
| 269 |
+
"object_id": [
|
| 270 |
+
[
|
| 271 |
+
"half_apple_213",
|
| 272 |
+
"packing_box_210"
|
| 273 |
+
]
|
| 274 |
+
],
|
| 275 |
+
"manipulating_object_id": [
|
| 276 |
+
"half_apple_213"
|
| 277 |
+
],
|
| 278 |
+
"spatial_prefix": [],
|
| 279 |
+
"frame_duration": [
|
| 280 |
+
2709,
|
| 281 |
+
2877
|
| 282 |
+
],
|
| 283 |
+
"mp_ef": [],
|
| 284 |
+
"skill_type": [
|
| 285 |
+
"uncoordinated"
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"skill_idx": 10,
|
| 290 |
+
"skill_id": [
|
| 291 |
+
4
|
| 292 |
+
],
|
| 293 |
+
"skill_description": [
|
| 294 |
+
"place in"
|
| 295 |
+
],
|
| 296 |
+
"object_id": [
|
| 297 |
+
[
|
| 298 |
+
"half_apple_212",
|
| 299 |
+
"packing_box_210"
|
| 300 |
+
]
|
| 301 |
+
],
|
| 302 |
+
"manipulating_object_id": [
|
| 303 |
+
"half_apple_212"
|
| 304 |
+
],
|
| 305 |
+
"spatial_prefix": [],
|
| 306 |
+
"frame_duration": [
|
| 307 |
+
2877,
|
| 308 |
+
3117
|
| 309 |
+
],
|
| 310 |
+
"mp_ef": [],
|
| 311 |
+
"skill_type": [
|
| 312 |
+
"uncoordinated"
|
| 313 |
+
]
|
| 314 |
+
},
|
| 315 |
+
{
|
| 316 |
+
"skill_idx": 11,
|
| 317 |
+
"skill_id": [
|
| 318 |
+
2
|
| 319 |
+
],
|
| 320 |
+
"skill_description": [
|
| 321 |
+
"pick up from"
|
| 322 |
+
],
|
| 323 |
+
"object_id": [
|
| 324 |
+
[
|
| 325 |
+
"club_sandwich_209",
|
| 326 |
+
"chopping_board_211"
|
| 327 |
+
]
|
| 328 |
+
],
|
| 329 |
+
"manipulating_object_id": [
|
| 330 |
+
"club_sandwich_209"
|
| 331 |
+
],
|
| 332 |
+
"spatial_prefix": [],
|
| 333 |
+
"frame_duration": [
|
| 334 |
+
3117,
|
| 335 |
+
3438
|
| 336 |
+
],
|
| 337 |
+
"mp_ef": [],
|
| 338 |
+
"skill_type": [
|
| 339 |
+
"coordinated"
|
| 340 |
+
]
|
| 341 |
+
},
|
| 342 |
+
{
|
| 343 |
+
"skill_idx": 12,
|
| 344 |
+
"skill_id": [
|
| 345 |
+
4
|
| 346 |
+
],
|
| 347 |
+
"skill_description": [
|
| 348 |
+
"place in"
|
| 349 |
+
],
|
| 350 |
+
"object_id": [
|
| 351 |
+
[
|
| 352 |
+
"club_sandwich_209",
|
| 353 |
+
"packing_box_210"
|
| 354 |
+
]
|
| 355 |
+
],
|
| 356 |
+
"manipulating_object_id": [
|
| 357 |
+
"club_sandwich_209"
|
| 358 |
+
],
|
| 359 |
+
"spatial_prefix": [],
|
| 360 |
+
"frame_duration": [
|
| 361 |
+
3438,
|
| 362 |
+
4029
|
| 363 |
+
],
|
| 364 |
+
"mp_ef": [],
|
| 365 |
+
"skill_type": [
|
| 366 |
+
"uncoordinated"
|
| 367 |
+
]
|
| 368 |
+
},
|
| 369 |
+
{
|
| 370 |
+
"skill_idx": 13,
|
| 371 |
+
"skill_id": [
|
| 372 |
+
1
|
| 373 |
+
],
|
| 374 |
+
"skill_description": [
|
| 375 |
+
"move to"
|
| 376 |
+
],
|
| 377 |
+
"object_id": [
|
| 378 |
+
[
|
| 379 |
+
"fridge_dszchb_0"
|
| 380 |
+
]
|
| 381 |
+
],
|
| 382 |
+
"manipulating_object_id": [],
|
| 383 |
+
"spatial_prefix": [],
|
| 384 |
+
"frame_duration": [
|
| 385 |
+
4029,
|
| 386 |
+
4663
|
| 387 |
+
],
|
| 388 |
+
"mp_ef": [],
|
| 389 |
+
"skill_type": [
|
| 390 |
+
"navigation"
|
| 391 |
+
]
|
| 392 |
+
},
|
| 393 |
+
{
|
| 394 |
+
"skill_idx": 14,
|
| 395 |
+
"skill_id": [
|
| 396 |
+
10
|
| 397 |
+
],
|
| 398 |
+
"skill_description": [
|
| 399 |
+
"open door"
|
| 400 |
+
],
|
| 401 |
+
"object_id": [
|
| 402 |
+
[
|
| 403 |
+
"fridge_dszchb_0"
|
| 404 |
+
]
|
| 405 |
+
],
|
| 406 |
+
"manipulating_object_id": [],
|
| 407 |
+
"spatial_prefix": [],
|
| 408 |
+
"frame_duration": [
|
| 409 |
+
4663,
|
| 410 |
+
5469
|
| 411 |
+
],
|
| 412 |
+
"mp_ef": [],
|
| 413 |
+
"skill_type": [
|
| 414 |
+
"coordinated"
|
| 415 |
+
]
|
| 416 |
+
},
|
| 417 |
+
{
|
| 418 |
+
"skill_idx": 15,
|
| 419 |
+
"skill_id": [
|
| 420 |
+
2
|
| 421 |
+
],
|
| 422 |
+
"skill_description": [
|
| 423 |
+
"pick up from"
|
| 424 |
+
],
|
| 425 |
+
"object_id": [
|
| 426 |
+
[
|
| 427 |
+
"bottle_of_tea_208",
|
| 428 |
+
"fridge_dszchb_0"
|
| 429 |
+
]
|
| 430 |
+
],
|
| 431 |
+
"manipulating_object_id": [
|
| 432 |
+
"bottle_of_tea_208"
|
| 433 |
+
],
|
| 434 |
+
"spatial_prefix": [
|
| 435 |
+
[
|
| 436 |
+
"",
|
| 437 |
+
"middle_level"
|
| 438 |
+
]
|
| 439 |
+
],
|
| 440 |
+
"frame_duration": [
|
| 441 |
+
5469,
|
| 442 |
+
5754
|
| 443 |
+
],
|
| 444 |
+
"mp_ef": [],
|
| 445 |
+
"skill_type": [
|
| 446 |
+
"uncoordinated"
|
| 447 |
+
]
|
| 448 |
+
},
|
| 449 |
+
{
|
| 450 |
+
"skill_idx": 16,
|
| 451 |
+
"skill_id": [
|
| 452 |
+
12
|
| 453 |
+
],
|
| 454 |
+
"skill_description": [
|
| 455 |
+
"close door"
|
| 456 |
+
],
|
| 457 |
+
"object_id": [
|
| 458 |
+
[
|
| 459 |
+
"fridge_dszchb_0"
|
| 460 |
+
]
|
| 461 |
+
],
|
| 462 |
+
"manipulating_object_id": [],
|
| 463 |
+
"spatial_prefix": [],
|
| 464 |
+
"frame_duration": [
|
| 465 |
+
5754,
|
| 466 |
+
6123
|
| 467 |
+
],
|
| 468 |
+
"mp_ef": [],
|
| 469 |
+
"skill_type": [
|
| 470 |
+
"uncoordinated"
|
| 471 |
+
]
|
| 472 |
+
},
|
| 473 |
+
{
|
| 474 |
+
"skill_idx": 17,
|
| 475 |
+
"skill_id": [
|
| 476 |
+
1
|
| 477 |
+
],
|
| 478 |
+
"skill_description": [
|
| 479 |
+
"move to"
|
| 480 |
+
],
|
| 481 |
+
"object_id": [
|
| 482 |
+
[
|
| 483 |
+
"packing_box_210"
|
| 484 |
+
]
|
| 485 |
+
],
|
| 486 |
+
"manipulating_object_id": [],
|
| 487 |
+
"spatial_prefix": [],
|
| 488 |
+
"frame_duration": [
|
| 489 |
+
6123,
|
| 490 |
+
6477
|
| 491 |
+
],
|
| 492 |
+
"mp_ef": [],
|
| 493 |
+
"skill_type": [
|
| 494 |
+
"navigation"
|
| 495 |
+
]
|
| 496 |
+
},
|
| 497 |
+
{
|
| 498 |
+
"skill_idx": 18,
|
| 499 |
+
"skill_id": [
|
| 500 |
+
4
|
| 501 |
+
],
|
| 502 |
+
"skill_description": [
|
| 503 |
+
"place in"
|
| 504 |
+
],
|
| 505 |
+
"object_id": [
|
| 506 |
+
[
|
| 507 |
+
"bottle_of_tea_208",
|
| 508 |
+
"packing_box_210"
|
| 509 |
+
]
|
| 510 |
+
],
|
| 511 |
+
"manipulating_object_id": [
|
| 512 |
+
"bottle_of_tea_208"
|
| 513 |
+
],
|
| 514 |
+
"spatial_prefix": [],
|
| 515 |
+
"frame_duration": [
|
| 516 |
+
6477,
|
| 517 |
+
6868
|
| 518 |
+
],
|
| 519 |
+
"mp_ef": [],
|
| 520 |
+
"skill_type": [
|
| 521 |
+
"uncoordinated"
|
| 522 |
+
]
|
| 523 |
+
}
|
| 524 |
+
],
|
| 525 |
+
"primitive_annotation": [
|
| 526 |
+
{
|
| 527 |
+
"primitive_idx": 0,
|
| 528 |
+
"primitive_id": [
|
| 529 |
+
2,
|
| 530 |
+
91
|
| 531 |
+
],
|
| 532 |
+
"primitive_description": [
|
| 533 |
+
"pick up from",
|
| 534 |
+
"place on next to"
|
| 535 |
+
],
|
| 536 |
+
"object_id": [
|
| 537 |
+
[
|
| 538 |
+
"packing_box_210",
|
| 539 |
+
"countertop_kelker_0"
|
| 540 |
+
],
|
| 541 |
+
[
|
| 542 |
+
"packing_box_210",
|
| 543 |
+
"countertop_kelker_0",
|
| 544 |
+
"chopping_board_211"
|
| 545 |
+
]
|
| 546 |
+
],
|
| 547 |
+
"manipulating_object_id": [
|
| 548 |
+
"packing_box_210",
|
| 549 |
+
"packing_box_210"
|
| 550 |
+
],
|
| 551 |
+
"spatial_prefix": [
|
| 552 |
+
[],
|
| 553 |
+
[
|
| 554 |
+
[],
|
| 555 |
+
[],
|
| 556 |
+
[
|
| 557 |
+
"right"
|
| 558 |
+
]
|
| 559 |
+
]
|
| 560 |
+
],
|
| 561 |
+
"frame_duration": [
|
| 562 |
+
0,
|
| 563 |
+
871
|
| 564 |
+
],
|
| 565 |
+
"skill_idxes": [
|
| 566 |
+
0,
|
| 567 |
+
1,
|
| 568 |
+
2,
|
| 569 |
+
3
|
| 570 |
+
]
|
| 571 |
+
},
|
| 572 |
+
{
|
| 573 |
+
"primitive_idx": 1,
|
| 574 |
+
"primitive_id": [
|
| 575 |
+
2,
|
| 576 |
+
4
|
| 577 |
+
],
|
| 578 |
+
"primitive_description": [
|
| 579 |
+
"pick up from",
|
| 580 |
+
"place in"
|
| 581 |
+
],
|
| 582 |
+
"object_id": [
|
| 583 |
+
[
|
| 584 |
+
"chocolate_chip_cookie_207",
|
| 585 |
+
"chopping_board_211"
|
| 586 |
+
],
|
| 587 |
+
[
|
| 588 |
+
"chocolate_chip_cookie_207",
|
| 589 |
+
"packing_box_210"
|
| 590 |
+
]
|
| 591 |
+
],
|
| 592 |
+
"manipulating_object_id": [
|
| 593 |
+
"chocolate_chip_cookie_207",
|
| 594 |
+
"chocolate_chip_cookie_207"
|
| 595 |
+
],
|
| 596 |
+
"spatial_prefix": [],
|
| 597 |
+
"frame_duration": [
|
| 598 |
+
871,
|
| 599 |
+
2049
|
| 600 |
+
],
|
| 601 |
+
"skill_idxes": [
|
| 602 |
+
4,
|
| 603 |
+
5,
|
| 604 |
+
6
|
| 605 |
+
]
|
| 606 |
+
},
|
| 607 |
+
{
|
| 608 |
+
"primitive_idx": 2,
|
| 609 |
+
"primitive_id": [
|
| 610 |
+
2,
|
| 611 |
+
4
|
| 612 |
+
],
|
| 613 |
+
"primitive_description": [
|
| 614 |
+
"pick up from",
|
| 615 |
+
"place in"
|
| 616 |
+
],
|
| 617 |
+
"object_id": [
|
| 618 |
+
[
|
| 619 |
+
[
|
| 620 |
+
"half_apple_213",
|
| 621 |
+
"half_apple_212"
|
| 622 |
+
],
|
| 623 |
+
"chopping_board_211"
|
| 624 |
+
],
|
| 625 |
+
[
|
| 626 |
+
[
|
| 627 |
+
"half_apple_213",
|
| 628 |
+
"half_apple_212"
|
| 629 |
+
],
|
| 630 |
+
"packing_box_210"
|
| 631 |
+
]
|
| 632 |
+
],
|
| 633 |
+
"manipulating_object_id": [
|
| 634 |
+
[
|
| 635 |
+
"half_apple_213",
|
| 636 |
+
"half_apple_212"
|
| 637 |
+
],
|
| 638 |
+
[
|
| 639 |
+
"half_apple_213",
|
| 640 |
+
"half_apple_212"
|
| 641 |
+
]
|
| 642 |
+
],
|
| 643 |
+
"spatial_prefix": [],
|
| 644 |
+
"frame_duration": [
|
| 645 |
+
2049,
|
| 646 |
+
3117
|
| 647 |
+
],
|
| 648 |
+
"skill_idxes": [
|
| 649 |
+
7,
|
| 650 |
+
8,
|
| 651 |
+
9,
|
| 652 |
+
10
|
| 653 |
+
]
|
| 654 |
+
},
|
| 655 |
+
{
|
| 656 |
+
"primitive_idx": 3,
|
| 657 |
+
"primitive_id": [
|
| 658 |
+
2,
|
| 659 |
+
4
|
| 660 |
+
],
|
| 661 |
+
"primitive_description": [
|
| 662 |
+
"pick up from",
|
| 663 |
+
"place in"
|
| 664 |
+
],
|
| 665 |
+
"object_id": [
|
| 666 |
+
[
|
| 667 |
+
"club_sandwich_209",
|
| 668 |
+
"chopping_board_211"
|
| 669 |
+
],
|
| 670 |
+
[
|
| 671 |
+
"club_sandwich_209",
|
| 672 |
+
"packing_box_210"
|
| 673 |
+
]
|
| 674 |
+
],
|
| 675 |
+
"manipulating_object_id": [
|
| 676 |
+
"club_sandwich_209",
|
| 677 |
+
"club_sandwich_209"
|
| 678 |
+
],
|
| 679 |
+
"spatial_prefix": [],
|
| 680 |
+
"frame_duration": [
|
| 681 |
+
3117,
|
| 682 |
+
4029
|
| 683 |
+
],
|
| 684 |
+
"skill_idxes": [
|
| 685 |
+
11,
|
| 686 |
+
12
|
| 687 |
+
]
|
| 688 |
+
},
|
| 689 |
+
{
|
| 690 |
+
"primitive_idx": 4,
|
| 691 |
+
"primitive_id": [],
|
| 692 |
+
"primitive_description": [],
|
| 693 |
+
"object_id": [],
|
| 694 |
+
"manipulating_object_id": [],
|
| 695 |
+
"spatial_prefix": [],
|
| 696 |
+
"frame_duration": [
|
| 697 |
+
4029,
|
| 698 |
+
6477
|
| 699 |
+
],
|
| 700 |
+
"skill_idxes": [
|
| 701 |
+
13,
|
| 702 |
+
14,
|
| 703 |
+
17
|
| 704 |
+
]
|
| 705 |
+
},
|
| 706 |
+
{
|
| 707 |
+
"primitive_idx": 5,
|
| 708 |
+
"primitive_id": [
|
| 709 |
+
2
|
| 710 |
+
],
|
| 711 |
+
"primitive_description": [
|
| 712 |
+
"pick up from"
|
| 713 |
+
],
|
| 714 |
+
"object_id": [
|
| 715 |
+
[
|
| 716 |
+
"bottle_of_tea_208",
|
| 717 |
+
"fridge_dszchb_0"
|
| 718 |
+
]
|
| 719 |
+
],
|
| 720 |
+
"manipulating_object_id": [
|
| 721 |
+
"bottle_of_tea_208"
|
| 722 |
+
],
|
| 723 |
+
"spatial_prefix": [
|
| 724 |
+
[
|
| 725 |
+
[],
|
| 726 |
+
[
|
| 727 |
+
"middle_level"
|
| 728 |
+
]
|
| 729 |
+
]
|
| 730 |
+
],
|
| 731 |
+
"frame_duration": [
|
| 732 |
+
5469,
|
| 733 |
+
5754
|
| 734 |
+
],
|
| 735 |
+
"skill_idxes": [
|
| 736 |
+
15
|
| 737 |
+
]
|
| 738 |
+
},
|
| 739 |
+
{
|
| 740 |
+
"primitive_idx": 6,
|
| 741 |
+
"primitive_id": [
|
| 742 |
+
12
|
| 743 |
+
],
|
| 744 |
+
"primitive_description": [
|
| 745 |
+
"close door"
|
| 746 |
+
],
|
| 747 |
+
"object_id": [
|
| 748 |
+
[
|
| 749 |
+
"fridge_dszchb_0"
|
| 750 |
+
]
|
| 751 |
+
],
|
| 752 |
+
"manipulating_object_id": [],
|
| 753 |
+
"spatial_prefix": [],
|
| 754 |
+
"frame_duration": [
|
| 755 |
+
5754,
|
| 756 |
+
6123
|
| 757 |
+
],
|
| 758 |
+
"skill_idxes": [
|
| 759 |
+
16
|
| 760 |
+
]
|
| 761 |
+
},
|
| 762 |
+
{
|
| 763 |
+
"primitive_idx": 7,
|
| 764 |
+
"primitive_id": [
|
| 765 |
+
4
|
| 766 |
+
],
|
| 767 |
+
"primitive_description": [
|
| 768 |
+
"place in"
|
| 769 |
+
],
|
| 770 |
+
"object_id": [
|
| 771 |
+
[
|
| 772 |
+
"bottle_of_tea_208",
|
| 773 |
+
"packing_box_210"
|
| 774 |
+
]
|
| 775 |
+
],
|
| 776 |
+
"manipulating_object_id": [
|
| 777 |
+
"bottle_of_tea_208"
|
| 778 |
+
],
|
| 779 |
+
"spatial_prefix": [],
|
| 780 |
+
"frame_duration": [
|
| 781 |
+
6477,
|
| 782 |
+
6868
|
| 783 |
+
],
|
| 784 |
+
"skill_idxes": [
|
| 785 |
+
18
|
| 786 |
+
]
|
| 787 |
+
}
|
| 788 |
+
]
|
| 789 |
+
}
|
annotations/episode_00000169.json
ADDED
|
@@ -0,0 +1,814 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7776,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
24,
|
| 8 |
+
7800
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
24,
|
| 29 |
+
322
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
322,
|
| 56 |
+
567
|
| 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 |
+
"chopping_board_211"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
567,
|
| 80 |
+
702
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"right"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
703,
|
| 114 |
+
834
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
90
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"push to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207",
|
| 132 |
+
"chopping_board_211"
|
| 133 |
+
]
|
| 134 |
+
],
|
| 135 |
+
"manipulating_object_id": [
|
| 136 |
+
"chocolate_chip_cookie_207"
|
| 137 |
+
],
|
| 138 |
+
"spatial_prefix": [
|
| 139 |
+
[
|
| 140 |
+
"",
|
| 141 |
+
"to_the_edge_of"
|
| 142 |
+
]
|
| 143 |
+
],
|
| 144 |
+
"frame_duration": [
|
| 145 |
+
834,
|
| 146 |
+
1449
|
| 147 |
+
],
|
| 148 |
+
"mp_ef": [],
|
| 149 |
+
"skill_type": [
|
| 150 |
+
"uncoordinated"
|
| 151 |
+
]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 5,
|
| 155 |
+
"skill_id": [
|
| 156 |
+
2
|
| 157 |
+
],
|
| 158 |
+
"skill_description": [
|
| 159 |
+
"pick up from"
|
| 160 |
+
],
|
| 161 |
+
"object_id": [
|
| 162 |
+
[
|
| 163 |
+
"chocolate_chip_cookie_207",
|
| 164 |
+
"chopping_board_211"
|
| 165 |
+
]
|
| 166 |
+
],
|
| 167 |
+
"manipulating_object_id": [
|
| 168 |
+
"chocolate_chip_cookie_207"
|
| 169 |
+
],
|
| 170 |
+
"spatial_prefix": [],
|
| 171 |
+
"frame_duration": [
|
| 172 |
+
1449,
|
| 173 |
+
2050
|
| 174 |
+
],
|
| 175 |
+
"mp_ef": [],
|
| 176 |
+
"skill_type": [
|
| 177 |
+
"uncoordinated"
|
| 178 |
+
]
|
| 179 |
+
},
|
| 180 |
+
{
|
| 181 |
+
"skill_idx": 6,
|
| 182 |
+
"skill_id": [
|
| 183 |
+
4
|
| 184 |
+
],
|
| 185 |
+
"skill_description": [
|
| 186 |
+
"place in"
|
| 187 |
+
],
|
| 188 |
+
"object_id": [
|
| 189 |
+
[
|
| 190 |
+
"chocolate_chip_cookie_207",
|
| 191 |
+
"packing_box_210"
|
| 192 |
+
]
|
| 193 |
+
],
|
| 194 |
+
"manipulating_object_id": [
|
| 195 |
+
"chocolate_chip_cookie_207"
|
| 196 |
+
],
|
| 197 |
+
"spatial_prefix": [],
|
| 198 |
+
"frame_duration": [
|
| 199 |
+
2050,
|
| 200 |
+
2277
|
| 201 |
+
],
|
| 202 |
+
"mp_ef": [],
|
| 203 |
+
"skill_type": [
|
| 204 |
+
"uncoordinated"
|
| 205 |
+
]
|
| 206 |
+
},
|
| 207 |
+
{
|
| 208 |
+
"skill_idx": 7,
|
| 209 |
+
"skill_id": [
|
| 210 |
+
1
|
| 211 |
+
],
|
| 212 |
+
"skill_description": [
|
| 213 |
+
"move to"
|
| 214 |
+
],
|
| 215 |
+
"object_id": [
|
| 216 |
+
[
|
| 217 |
+
"half_apple_212"
|
| 218 |
+
]
|
| 219 |
+
],
|
| 220 |
+
"manipulating_object_id": [],
|
| 221 |
+
"spatial_prefix": [],
|
| 222 |
+
"frame_duration": [
|
| 223 |
+
2278,
|
| 224 |
+
2340
|
| 225 |
+
],
|
| 226 |
+
"mp_ef": [],
|
| 227 |
+
"skill_type": [
|
| 228 |
+
"navigation"
|
| 229 |
+
]
|
| 230 |
+
},
|
| 231 |
+
{
|
| 232 |
+
"skill_idx": 8,
|
| 233 |
+
"skill_id": [
|
| 234 |
+
2
|
| 235 |
+
],
|
| 236 |
+
"skill_description": [
|
| 237 |
+
"pick up from"
|
| 238 |
+
],
|
| 239 |
+
"object_id": [
|
| 240 |
+
[
|
| 241 |
+
"half_apple_212",
|
| 242 |
+
"chopping_board_211"
|
| 243 |
+
]
|
| 244 |
+
],
|
| 245 |
+
"manipulating_object_id": [
|
| 246 |
+
"half_apple_212"
|
| 247 |
+
],
|
| 248 |
+
"spatial_prefix": [],
|
| 249 |
+
"frame_duration": [
|
| 250 |
+
2340,
|
| 251 |
+
2597
|
| 252 |
+
],
|
| 253 |
+
"mp_ef": [],
|
| 254 |
+
"skill_type": [
|
| 255 |
+
"uncoordinated"
|
| 256 |
+
]
|
| 257 |
+
},
|
| 258 |
+
{
|
| 259 |
+
"skill_idx": 9,
|
| 260 |
+
"skill_id": [
|
| 261 |
+
2
|
| 262 |
+
],
|
| 263 |
+
"skill_description": [
|
| 264 |
+
"pick up from"
|
| 265 |
+
],
|
| 266 |
+
"object_id": [
|
| 267 |
+
[
|
| 268 |
+
"half_apple_213",
|
| 269 |
+
"chopping_board_211"
|
| 270 |
+
]
|
| 271 |
+
],
|
| 272 |
+
"manipulating_object_id": [
|
| 273 |
+
"half_apple_213"
|
| 274 |
+
],
|
| 275 |
+
"spatial_prefix": [],
|
| 276 |
+
"frame_duration": [
|
| 277 |
+
2597,
|
| 278 |
+
3024
|
| 279 |
+
],
|
| 280 |
+
"mp_ef": [],
|
| 281 |
+
"skill_type": [
|
| 282 |
+
"uncoordinated"
|
| 283 |
+
]
|
| 284 |
+
},
|
| 285 |
+
{
|
| 286 |
+
"skill_idx": 10,
|
| 287 |
+
"skill_id": [
|
| 288 |
+
4
|
| 289 |
+
],
|
| 290 |
+
"skill_description": [
|
| 291 |
+
"place in"
|
| 292 |
+
],
|
| 293 |
+
"object_id": [
|
| 294 |
+
[
|
| 295 |
+
"half_apple_213",
|
| 296 |
+
"packing_box_210"
|
| 297 |
+
]
|
| 298 |
+
],
|
| 299 |
+
"manipulating_object_id": [
|
| 300 |
+
"half_apple_213"
|
| 301 |
+
],
|
| 302 |
+
"spatial_prefix": [],
|
| 303 |
+
"frame_duration": [
|
| 304 |
+
3024,
|
| 305 |
+
3224
|
| 306 |
+
],
|
| 307 |
+
"mp_ef": [],
|
| 308 |
+
"skill_type": [
|
| 309 |
+
"uncoordinated"
|
| 310 |
+
]
|
| 311 |
+
},
|
| 312 |
+
{
|
| 313 |
+
"skill_idx": 11,
|
| 314 |
+
"skill_id": [
|
| 315 |
+
4
|
| 316 |
+
],
|
| 317 |
+
"skill_description": [
|
| 318 |
+
"place in"
|
| 319 |
+
],
|
| 320 |
+
"object_id": [
|
| 321 |
+
[
|
| 322 |
+
"half_apple_212",
|
| 323 |
+
"packing_box_210"
|
| 324 |
+
]
|
| 325 |
+
],
|
| 326 |
+
"manipulating_object_id": [
|
| 327 |
+
"half_apple_212"
|
| 328 |
+
],
|
| 329 |
+
"spatial_prefix": [],
|
| 330 |
+
"frame_duration": [
|
| 331 |
+
3225,
|
| 332 |
+
3421
|
| 333 |
+
],
|
| 334 |
+
"mp_ef": [],
|
| 335 |
+
"skill_type": [
|
| 336 |
+
"uncoordinated"
|
| 337 |
+
]
|
| 338 |
+
},
|
| 339 |
+
{
|
| 340 |
+
"skill_idx": 12,
|
| 341 |
+
"skill_id": [
|
| 342 |
+
2
|
| 343 |
+
],
|
| 344 |
+
"skill_description": [
|
| 345 |
+
"pick up from"
|
| 346 |
+
],
|
| 347 |
+
"object_id": [
|
| 348 |
+
[
|
| 349 |
+
"club_sandwich_209",
|
| 350 |
+
"chopping_board_211"
|
| 351 |
+
]
|
| 352 |
+
],
|
| 353 |
+
"manipulating_object_id": [
|
| 354 |
+
"club_sandwich_209"
|
| 355 |
+
],
|
| 356 |
+
"spatial_prefix": [],
|
| 357 |
+
"frame_duration": [
|
| 358 |
+
3421,
|
| 359 |
+
3965
|
| 360 |
+
],
|
| 361 |
+
"mp_ef": [],
|
| 362 |
+
"skill_type": [
|
| 363 |
+
"coordinated"
|
| 364 |
+
]
|
| 365 |
+
},
|
| 366 |
+
{
|
| 367 |
+
"skill_idx": 13,
|
| 368 |
+
"skill_id": [
|
| 369 |
+
4
|
| 370 |
+
],
|
| 371 |
+
"skill_description": [
|
| 372 |
+
"place in"
|
| 373 |
+
],
|
| 374 |
+
"object_id": [
|
| 375 |
+
[
|
| 376 |
+
"club_sandwich_209",
|
| 377 |
+
"packing_box_210"
|
| 378 |
+
]
|
| 379 |
+
],
|
| 380 |
+
"manipulating_object_id": [
|
| 381 |
+
"club_sandwich_209"
|
| 382 |
+
],
|
| 383 |
+
"spatial_prefix": [],
|
| 384 |
+
"frame_duration": [
|
| 385 |
+
3965,
|
| 386 |
+
4446
|
| 387 |
+
],
|
| 388 |
+
"mp_ef": [],
|
| 389 |
+
"skill_type": [
|
| 390 |
+
"uncoordinated"
|
| 391 |
+
]
|
| 392 |
+
},
|
| 393 |
+
{
|
| 394 |
+
"skill_idx": 14,
|
| 395 |
+
"skill_id": [
|
| 396 |
+
1
|
| 397 |
+
],
|
| 398 |
+
"skill_description": [
|
| 399 |
+
"move to"
|
| 400 |
+
],
|
| 401 |
+
"object_id": [
|
| 402 |
+
[
|
| 403 |
+
"fridge_dszchb_0"
|
| 404 |
+
]
|
| 405 |
+
],
|
| 406 |
+
"manipulating_object_id": [],
|
| 407 |
+
"spatial_prefix": [],
|
| 408 |
+
"frame_duration": [
|
| 409 |
+
4446,
|
| 410 |
+
5076
|
| 411 |
+
],
|
| 412 |
+
"mp_ef": [],
|
| 413 |
+
"skill_type": [
|
| 414 |
+
"navigation"
|
| 415 |
+
]
|
| 416 |
+
},
|
| 417 |
+
{
|
| 418 |
+
"skill_idx": 15,
|
| 419 |
+
"skill_id": [
|
| 420 |
+
10
|
| 421 |
+
],
|
| 422 |
+
"skill_description": [
|
| 423 |
+
"open door"
|
| 424 |
+
],
|
| 425 |
+
"object_id": [
|
| 426 |
+
[
|
| 427 |
+
"fridge_dszchb_0"
|
| 428 |
+
]
|
| 429 |
+
],
|
| 430 |
+
"manipulating_object_id": [],
|
| 431 |
+
"spatial_prefix": [],
|
| 432 |
+
"frame_duration": [
|
| 433 |
+
5076,
|
| 434 |
+
6052
|
| 435 |
+
],
|
| 436 |
+
"mp_ef": [],
|
| 437 |
+
"skill_type": [
|
| 438 |
+
"coordinated"
|
| 439 |
+
]
|
| 440 |
+
},
|
| 441 |
+
{
|
| 442 |
+
"skill_idx": 16,
|
| 443 |
+
"skill_id": [
|
| 444 |
+
2
|
| 445 |
+
],
|
| 446 |
+
"skill_description": [
|
| 447 |
+
"pick up from"
|
| 448 |
+
],
|
| 449 |
+
"object_id": [
|
| 450 |
+
[
|
| 451 |
+
"bottle_of_tea_208",
|
| 452 |
+
"fridge_dszchb_0"
|
| 453 |
+
]
|
| 454 |
+
],
|
| 455 |
+
"manipulating_object_id": [
|
| 456 |
+
"bottle_of_tea_208"
|
| 457 |
+
],
|
| 458 |
+
"spatial_prefix": [
|
| 459 |
+
[
|
| 460 |
+
"",
|
| 461 |
+
"low_level"
|
| 462 |
+
]
|
| 463 |
+
],
|
| 464 |
+
"frame_duration": [
|
| 465 |
+
6052,
|
| 466 |
+
6572
|
| 467 |
+
],
|
| 468 |
+
"mp_ef": [],
|
| 469 |
+
"skill_type": [
|
| 470 |
+
"uncoordinated"
|
| 471 |
+
]
|
| 472 |
+
},
|
| 473 |
+
{
|
| 474 |
+
"skill_idx": 17,
|
| 475 |
+
"skill_id": [
|
| 476 |
+
12
|
| 477 |
+
],
|
| 478 |
+
"skill_description": [
|
| 479 |
+
"close door"
|
| 480 |
+
],
|
| 481 |
+
"object_id": [
|
| 482 |
+
[
|
| 483 |
+
"fridge_dszchb_0"
|
| 484 |
+
]
|
| 485 |
+
],
|
| 486 |
+
"manipulating_object_id": [],
|
| 487 |
+
"spatial_prefix": [],
|
| 488 |
+
"frame_duration": [
|
| 489 |
+
6572,
|
| 490 |
+
6927
|
| 491 |
+
],
|
| 492 |
+
"mp_ef": [],
|
| 493 |
+
"skill_type": [
|
| 494 |
+
"uncoordinated"
|
| 495 |
+
]
|
| 496 |
+
},
|
| 497 |
+
{
|
| 498 |
+
"skill_idx": 18,
|
| 499 |
+
"skill_id": [
|
| 500 |
+
1
|
| 501 |
+
],
|
| 502 |
+
"skill_description": [
|
| 503 |
+
"move to"
|
| 504 |
+
],
|
| 505 |
+
"object_id": [
|
| 506 |
+
[
|
| 507 |
+
"packing_box_210"
|
| 508 |
+
]
|
| 509 |
+
],
|
| 510 |
+
"manipulating_object_id": [],
|
| 511 |
+
"spatial_prefix": [],
|
| 512 |
+
"frame_duration": [
|
| 513 |
+
6927,
|
| 514 |
+
7398
|
| 515 |
+
],
|
| 516 |
+
"mp_ef": [],
|
| 517 |
+
"skill_type": [
|
| 518 |
+
"navigation"
|
| 519 |
+
]
|
| 520 |
+
},
|
| 521 |
+
{
|
| 522 |
+
"skill_idx": 19,
|
| 523 |
+
"skill_id": [
|
| 524 |
+
4
|
| 525 |
+
],
|
| 526 |
+
"skill_description": [
|
| 527 |
+
"place in"
|
| 528 |
+
],
|
| 529 |
+
"object_id": [
|
| 530 |
+
[
|
| 531 |
+
"bottle_of_tea_208",
|
| 532 |
+
"packing_box_210"
|
| 533 |
+
]
|
| 534 |
+
],
|
| 535 |
+
"manipulating_object_id": [
|
| 536 |
+
"bottle_of_tea_208"
|
| 537 |
+
],
|
| 538 |
+
"spatial_prefix": [],
|
| 539 |
+
"frame_duration": [
|
| 540 |
+
7399,
|
| 541 |
+
7800
|
| 542 |
+
],
|
| 543 |
+
"mp_ef": [],
|
| 544 |
+
"skill_type": [
|
| 545 |
+
"uncoordinated"
|
| 546 |
+
]
|
| 547 |
+
}
|
| 548 |
+
],
|
| 549 |
+
"primitive_annotation": [
|
| 550 |
+
{
|
| 551 |
+
"primitive_idx": 0,
|
| 552 |
+
"primitive_id": [
|
| 553 |
+
2,
|
| 554 |
+
91
|
| 555 |
+
],
|
| 556 |
+
"primitive_description": [
|
| 557 |
+
"pick up from",
|
| 558 |
+
"place on next to"
|
| 559 |
+
],
|
| 560 |
+
"object_id": [
|
| 561 |
+
[
|
| 562 |
+
"packing_box_210",
|
| 563 |
+
"countertop_kelker_0"
|
| 564 |
+
],
|
| 565 |
+
[
|
| 566 |
+
"packing_box_210",
|
| 567 |
+
"countertop_kelker_0",
|
| 568 |
+
"chopping_board_211"
|
| 569 |
+
]
|
| 570 |
+
],
|
| 571 |
+
"manipulating_object_id": [
|
| 572 |
+
"packing_box_210",
|
| 573 |
+
"packing_box_210"
|
| 574 |
+
],
|
| 575 |
+
"spatial_prefix": [
|
| 576 |
+
[],
|
| 577 |
+
[
|
| 578 |
+
[],
|
| 579 |
+
[],
|
| 580 |
+
[
|
| 581 |
+
"right"
|
| 582 |
+
]
|
| 583 |
+
]
|
| 584 |
+
],
|
| 585 |
+
"frame_duration": [
|
| 586 |
+
24,
|
| 587 |
+
834
|
| 588 |
+
],
|
| 589 |
+
"skill_idxes": [
|
| 590 |
+
0,
|
| 591 |
+
1,
|
| 592 |
+
2,
|
| 593 |
+
3
|
| 594 |
+
]
|
| 595 |
+
},
|
| 596 |
+
{
|
| 597 |
+
"primitive_idx": 1,
|
| 598 |
+
"primitive_id": [
|
| 599 |
+
2,
|
| 600 |
+
4
|
| 601 |
+
],
|
| 602 |
+
"primitive_description": [
|
| 603 |
+
"pick up from",
|
| 604 |
+
"place in"
|
| 605 |
+
],
|
| 606 |
+
"object_id": [
|
| 607 |
+
[
|
| 608 |
+
"chocolate_chip_cookie_207",
|
| 609 |
+
"chopping_board_211"
|
| 610 |
+
],
|
| 611 |
+
[
|
| 612 |
+
"chocolate_chip_cookie_207",
|
| 613 |
+
"packing_box_210"
|
| 614 |
+
]
|
| 615 |
+
],
|
| 616 |
+
"manipulating_object_id": [
|
| 617 |
+
"chocolate_chip_cookie_207",
|
| 618 |
+
"chocolate_chip_cookie_207"
|
| 619 |
+
],
|
| 620 |
+
"spatial_prefix": [],
|
| 621 |
+
"frame_duration": [
|
| 622 |
+
834,
|
| 623 |
+
2277
|
| 624 |
+
],
|
| 625 |
+
"skill_idxes": [
|
| 626 |
+
4,
|
| 627 |
+
5,
|
| 628 |
+
6
|
| 629 |
+
]
|
| 630 |
+
},
|
| 631 |
+
{
|
| 632 |
+
"primitive_idx": 2,
|
| 633 |
+
"primitive_id": [
|
| 634 |
+
2,
|
| 635 |
+
4
|
| 636 |
+
],
|
| 637 |
+
"primitive_description": [
|
| 638 |
+
"pick up from",
|
| 639 |
+
"place in"
|
| 640 |
+
],
|
| 641 |
+
"object_id": [
|
| 642 |
+
[
|
| 643 |
+
[
|
| 644 |
+
"half_apple_212",
|
| 645 |
+
"half_apple_213"
|
| 646 |
+
],
|
| 647 |
+
"chopping_board_211"
|
| 648 |
+
],
|
| 649 |
+
[
|
| 650 |
+
[
|
| 651 |
+
"half_apple_213",
|
| 652 |
+
"half_apple_212"
|
| 653 |
+
],
|
| 654 |
+
"packing_box_210"
|
| 655 |
+
]
|
| 656 |
+
],
|
| 657 |
+
"manipulating_object_id": [
|
| 658 |
+
[
|
| 659 |
+
"half_apple_212",
|
| 660 |
+
"half_apple_213"
|
| 661 |
+
],
|
| 662 |
+
[
|
| 663 |
+
"half_apple_213",
|
| 664 |
+
"half_apple_212"
|
| 665 |
+
]
|
| 666 |
+
],
|
| 667 |
+
"spatial_prefix": [],
|
| 668 |
+
"frame_duration": [
|
| 669 |
+
2278,
|
| 670 |
+
3421
|
| 671 |
+
],
|
| 672 |
+
"skill_idxes": [
|
| 673 |
+
7,
|
| 674 |
+
8,
|
| 675 |
+
9,
|
| 676 |
+
10,
|
| 677 |
+
11
|
| 678 |
+
]
|
| 679 |
+
},
|
| 680 |
+
{
|
| 681 |
+
"primitive_idx": 3,
|
| 682 |
+
"primitive_id": [
|
| 683 |
+
2,
|
| 684 |
+
4
|
| 685 |
+
],
|
| 686 |
+
"primitive_description": [
|
| 687 |
+
"pick up from",
|
| 688 |
+
"place in"
|
| 689 |
+
],
|
| 690 |
+
"object_id": [
|
| 691 |
+
[
|
| 692 |
+
"club_sandwich_209",
|
| 693 |
+
"chopping_board_211"
|
| 694 |
+
],
|
| 695 |
+
[
|
| 696 |
+
"club_sandwich_209",
|
| 697 |
+
"packing_box_210"
|
| 698 |
+
]
|
| 699 |
+
],
|
| 700 |
+
"manipulating_object_id": [
|
| 701 |
+
"club_sandwich_209",
|
| 702 |
+
"club_sandwich_209"
|
| 703 |
+
],
|
| 704 |
+
"spatial_prefix": [],
|
| 705 |
+
"frame_duration": [
|
| 706 |
+
3421,
|
| 707 |
+
4446
|
| 708 |
+
],
|
| 709 |
+
"skill_idxes": [
|
| 710 |
+
12,
|
| 711 |
+
13
|
| 712 |
+
]
|
| 713 |
+
},
|
| 714 |
+
{
|
| 715 |
+
"primitive_idx": 4,
|
| 716 |
+
"primitive_id": [],
|
| 717 |
+
"primitive_description": [],
|
| 718 |
+
"object_id": [],
|
| 719 |
+
"manipulating_object_id": [],
|
| 720 |
+
"spatial_prefix": [],
|
| 721 |
+
"frame_duration": [
|
| 722 |
+
4446,
|
| 723 |
+
7398
|
| 724 |
+
],
|
| 725 |
+
"skill_idxes": [
|
| 726 |
+
14,
|
| 727 |
+
15,
|
| 728 |
+
18
|
| 729 |
+
]
|
| 730 |
+
},
|
| 731 |
+
{
|
| 732 |
+
"primitive_idx": 5,
|
| 733 |
+
"primitive_id": [
|
| 734 |
+
2
|
| 735 |
+
],
|
| 736 |
+
"primitive_description": [
|
| 737 |
+
"pick up from"
|
| 738 |
+
],
|
| 739 |
+
"object_id": [
|
| 740 |
+
[
|
| 741 |
+
"bottle_of_tea_208",
|
| 742 |
+
"fridge_dszchb_0"
|
| 743 |
+
]
|
| 744 |
+
],
|
| 745 |
+
"manipulating_object_id": [
|
| 746 |
+
"bottle_of_tea_208"
|
| 747 |
+
],
|
| 748 |
+
"spatial_prefix": [
|
| 749 |
+
[
|
| 750 |
+
[],
|
| 751 |
+
[
|
| 752 |
+
"low_level"
|
| 753 |
+
]
|
| 754 |
+
]
|
| 755 |
+
],
|
| 756 |
+
"frame_duration": [
|
| 757 |
+
6052,
|
| 758 |
+
6572
|
| 759 |
+
],
|
| 760 |
+
"skill_idxes": [
|
| 761 |
+
16
|
| 762 |
+
]
|
| 763 |
+
},
|
| 764 |
+
{
|
| 765 |
+
"primitive_idx": 6,
|
| 766 |
+
"primitive_id": [
|
| 767 |
+
12
|
| 768 |
+
],
|
| 769 |
+
"primitive_description": [
|
| 770 |
+
"close door"
|
| 771 |
+
],
|
| 772 |
+
"object_id": [
|
| 773 |
+
[
|
| 774 |
+
"fridge_dszchb_0"
|
| 775 |
+
]
|
| 776 |
+
],
|
| 777 |
+
"manipulating_object_id": [],
|
| 778 |
+
"spatial_prefix": [],
|
| 779 |
+
"frame_duration": [
|
| 780 |
+
6572,
|
| 781 |
+
6927
|
| 782 |
+
],
|
| 783 |
+
"skill_idxes": [
|
| 784 |
+
17
|
| 785 |
+
]
|
| 786 |
+
},
|
| 787 |
+
{
|
| 788 |
+
"primitive_idx": 7,
|
| 789 |
+
"primitive_id": [
|
| 790 |
+
4
|
| 791 |
+
],
|
| 792 |
+
"primitive_description": [
|
| 793 |
+
"place in"
|
| 794 |
+
],
|
| 795 |
+
"object_id": [
|
| 796 |
+
[
|
| 797 |
+
"bottle_of_tea_208",
|
| 798 |
+
"packing_box_210"
|
| 799 |
+
]
|
| 800 |
+
],
|
| 801 |
+
"manipulating_object_id": [
|
| 802 |
+
"bottle_of_tea_208"
|
| 803 |
+
],
|
| 804 |
+
"spatial_prefix": [],
|
| 805 |
+
"frame_duration": [
|
| 806 |
+
7399,
|
| 807 |
+
7800
|
| 808 |
+
],
|
| 809 |
+
"skill_idxes": [
|
| 810 |
+
19
|
| 811 |
+
]
|
| 812 |
+
}
|
| 813 |
+
]
|
| 814 |
+
}
|
annotations/episode_00000181.json
ADDED
|
@@ -0,0 +1,812 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6960,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
6960
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
85
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
86,
|
| 56 |
+
371
|
| 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 |
+
"chopping_board_211"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
372,
|
| 80 |
+
494
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"right"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
494,
|
| 114 |
+
645
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
90
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"push to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207",
|
| 132 |
+
"chopping_board_211"
|
| 133 |
+
]
|
| 134 |
+
],
|
| 135 |
+
"manipulating_object_id": [
|
| 136 |
+
"chocolate_chip_cookie_207"
|
| 137 |
+
],
|
| 138 |
+
"spatial_prefix": [
|
| 139 |
+
[
|
| 140 |
+
"",
|
| 141 |
+
"to_the_edge_of"
|
| 142 |
+
]
|
| 143 |
+
],
|
| 144 |
+
"frame_duration": [
|
| 145 |
+
645,
|
| 146 |
+
1263
|
| 147 |
+
],
|
| 148 |
+
"mp_ef": [],
|
| 149 |
+
"skill_type": [
|
| 150 |
+
"uncoordinated"
|
| 151 |
+
]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 5,
|
| 155 |
+
"skill_id": [
|
| 156 |
+
2
|
| 157 |
+
],
|
| 158 |
+
"skill_description": [
|
| 159 |
+
"pick up from"
|
| 160 |
+
],
|
| 161 |
+
"object_id": [
|
| 162 |
+
[
|
| 163 |
+
"chocolate_chip_cookie_207",
|
| 164 |
+
"chopping_board_211"
|
| 165 |
+
]
|
| 166 |
+
],
|
| 167 |
+
"manipulating_object_id": [
|
| 168 |
+
"chocolate_chip_cookie_207"
|
| 169 |
+
],
|
| 170 |
+
"spatial_prefix": [],
|
| 171 |
+
"frame_duration": [
|
| 172 |
+
1263,
|
| 173 |
+
1649
|
| 174 |
+
],
|
| 175 |
+
"mp_ef": [],
|
| 176 |
+
"skill_type": [
|
| 177 |
+
"uncoordinated"
|
| 178 |
+
]
|
| 179 |
+
},
|
| 180 |
+
{
|
| 181 |
+
"skill_idx": 6,
|
| 182 |
+
"skill_id": [
|
| 183 |
+
4
|
| 184 |
+
],
|
| 185 |
+
"skill_description": [
|
| 186 |
+
"place in"
|
| 187 |
+
],
|
| 188 |
+
"object_id": [
|
| 189 |
+
[
|
| 190 |
+
"chocolate_chip_cookie_207",
|
| 191 |
+
"packing_box_210"
|
| 192 |
+
]
|
| 193 |
+
],
|
| 194 |
+
"manipulating_object_id": [
|
| 195 |
+
"chocolate_chip_cookie_207"
|
| 196 |
+
],
|
| 197 |
+
"spatial_prefix": [],
|
| 198 |
+
"frame_duration": [
|
| 199 |
+
1649,
|
| 200 |
+
1872
|
| 201 |
+
],
|
| 202 |
+
"mp_ef": [],
|
| 203 |
+
"skill_type": [
|
| 204 |
+
"uncoordinated"
|
| 205 |
+
]
|
| 206 |
+
},
|
| 207 |
+
{
|
| 208 |
+
"skill_idx": 7,
|
| 209 |
+
"skill_id": [
|
| 210 |
+
2
|
| 211 |
+
],
|
| 212 |
+
"skill_description": [
|
| 213 |
+
"pick up from"
|
| 214 |
+
],
|
| 215 |
+
"object_id": [
|
| 216 |
+
[
|
| 217 |
+
"half_apple_213",
|
| 218 |
+
"chopping_board_211"
|
| 219 |
+
]
|
| 220 |
+
],
|
| 221 |
+
"manipulating_object_id": [
|
| 222 |
+
"half_apple_213"
|
| 223 |
+
],
|
| 224 |
+
"spatial_prefix": [],
|
| 225 |
+
"frame_duration": [
|
| 226 |
+
1872,
|
| 227 |
+
2340
|
| 228 |
+
],
|
| 229 |
+
"mp_ef": [],
|
| 230 |
+
"skill_type": [
|
| 231 |
+
"uncoordinated"
|
| 232 |
+
]
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"skill_idx": 8,
|
| 236 |
+
"skill_id": [
|
| 237 |
+
2
|
| 238 |
+
],
|
| 239 |
+
"skill_description": [
|
| 240 |
+
"pick up from"
|
| 241 |
+
],
|
| 242 |
+
"object_id": [
|
| 243 |
+
[
|
| 244 |
+
"half_apple_212",
|
| 245 |
+
"chopping_board_211"
|
| 246 |
+
]
|
| 247 |
+
],
|
| 248 |
+
"manipulating_object_id": [
|
| 249 |
+
"half_apple_212"
|
| 250 |
+
],
|
| 251 |
+
"spatial_prefix": [],
|
| 252 |
+
"frame_duration": [
|
| 253 |
+
2340,
|
| 254 |
+
2582
|
| 255 |
+
],
|
| 256 |
+
"mp_ef": [],
|
| 257 |
+
"skill_type": [
|
| 258 |
+
"uncoordinated"
|
| 259 |
+
]
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"skill_idx": 9,
|
| 263 |
+
"skill_id": [
|
| 264 |
+
4
|
| 265 |
+
],
|
| 266 |
+
"skill_description": [
|
| 267 |
+
"place in"
|
| 268 |
+
],
|
| 269 |
+
"object_id": [
|
| 270 |
+
[
|
| 271 |
+
"half_apple_213",
|
| 272 |
+
"packing_box_210"
|
| 273 |
+
]
|
| 274 |
+
],
|
| 275 |
+
"manipulating_object_id": [
|
| 276 |
+
"half_apple_213"
|
| 277 |
+
],
|
| 278 |
+
"spatial_prefix": [],
|
| 279 |
+
"frame_duration": [
|
| 280 |
+
2582,
|
| 281 |
+
2721
|
| 282 |
+
],
|
| 283 |
+
"mp_ef": [],
|
| 284 |
+
"skill_type": [
|
| 285 |
+
"uncoordinated"
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"skill_idx": 10,
|
| 290 |
+
"skill_id": [
|
| 291 |
+
4
|
| 292 |
+
],
|
| 293 |
+
"skill_description": [
|
| 294 |
+
"place in"
|
| 295 |
+
],
|
| 296 |
+
"object_id": [
|
| 297 |
+
[
|
| 298 |
+
"half_apple_212",
|
| 299 |
+
"packing_box_210"
|
| 300 |
+
]
|
| 301 |
+
],
|
| 302 |
+
"manipulating_object_id": [
|
| 303 |
+
"half_apple_212"
|
| 304 |
+
],
|
| 305 |
+
"spatial_prefix": [],
|
| 306 |
+
"frame_duration": [
|
| 307 |
+
2721,
|
| 308 |
+
3025
|
| 309 |
+
],
|
| 310 |
+
"mp_ef": [],
|
| 311 |
+
"skill_type": [
|
| 312 |
+
"uncoordinated"
|
| 313 |
+
]
|
| 314 |
+
},
|
| 315 |
+
{
|
| 316 |
+
"skill_idx": 11,
|
| 317 |
+
"skill_id": [
|
| 318 |
+
2
|
| 319 |
+
],
|
| 320 |
+
"skill_description": [
|
| 321 |
+
"pick up from"
|
| 322 |
+
],
|
| 323 |
+
"object_id": [
|
| 324 |
+
[
|
| 325 |
+
"club_sandwich_209",
|
| 326 |
+
"chopping_board_211"
|
| 327 |
+
]
|
| 328 |
+
],
|
| 329 |
+
"manipulating_object_id": [],
|
| 330 |
+
"spatial_prefix": [],
|
| 331 |
+
"frame_duration": [
|
| 332 |
+
3025,
|
| 333 |
+
3435
|
| 334 |
+
],
|
| 335 |
+
"mp_ef": [],
|
| 336 |
+
"skill_type": [
|
| 337 |
+
"coordinated"
|
| 338 |
+
]
|
| 339 |
+
},
|
| 340 |
+
{
|
| 341 |
+
"skill_idx": 12,
|
| 342 |
+
"skill_id": [
|
| 343 |
+
1
|
| 344 |
+
],
|
| 345 |
+
"skill_description": [
|
| 346 |
+
"move to"
|
| 347 |
+
],
|
| 348 |
+
"object_id": [
|
| 349 |
+
[
|
| 350 |
+
"packing_box_210"
|
| 351 |
+
]
|
| 352 |
+
],
|
| 353 |
+
"manipulating_object_id": [],
|
| 354 |
+
"spatial_prefix": [],
|
| 355 |
+
"frame_duration": [
|
| 356 |
+
3435,
|
| 357 |
+
3511
|
| 358 |
+
],
|
| 359 |
+
"mp_ef": [],
|
| 360 |
+
"skill_type": [
|
| 361 |
+
"navigation"
|
| 362 |
+
]
|
| 363 |
+
},
|
| 364 |
+
{
|
| 365 |
+
"skill_idx": 13,
|
| 366 |
+
"skill_id": [
|
| 367 |
+
4
|
| 368 |
+
],
|
| 369 |
+
"skill_description": [
|
| 370 |
+
"place in"
|
| 371 |
+
],
|
| 372 |
+
"object_id": [
|
| 373 |
+
[
|
| 374 |
+
"club_sandwich_209",
|
| 375 |
+
"packing_box_210"
|
| 376 |
+
]
|
| 377 |
+
],
|
| 378 |
+
"manipulating_object_id": [
|
| 379 |
+
"club_sandwich_209"
|
| 380 |
+
],
|
| 381 |
+
"spatial_prefix": [],
|
| 382 |
+
"frame_duration": [
|
| 383 |
+
3511,
|
| 384 |
+
3895
|
| 385 |
+
],
|
| 386 |
+
"mp_ef": [],
|
| 387 |
+
"skill_type": [
|
| 388 |
+
"uncoordinated"
|
| 389 |
+
]
|
| 390 |
+
},
|
| 391 |
+
{
|
| 392 |
+
"skill_idx": 14,
|
| 393 |
+
"skill_id": [
|
| 394 |
+
1
|
| 395 |
+
],
|
| 396 |
+
"skill_description": [
|
| 397 |
+
"move to"
|
| 398 |
+
],
|
| 399 |
+
"object_id": [
|
| 400 |
+
[
|
| 401 |
+
"fridge_dszchb_0"
|
| 402 |
+
]
|
| 403 |
+
],
|
| 404 |
+
"manipulating_object_id": [],
|
| 405 |
+
"spatial_prefix": [],
|
| 406 |
+
"frame_duration": [
|
| 407 |
+
3895,
|
| 408 |
+
4421
|
| 409 |
+
],
|
| 410 |
+
"mp_ef": [],
|
| 411 |
+
"skill_type": [
|
| 412 |
+
"navigation"
|
| 413 |
+
]
|
| 414 |
+
},
|
| 415 |
+
{
|
| 416 |
+
"skill_idx": 15,
|
| 417 |
+
"skill_id": [
|
| 418 |
+
10
|
| 419 |
+
],
|
| 420 |
+
"skill_description": [
|
| 421 |
+
"open door"
|
| 422 |
+
],
|
| 423 |
+
"object_id": [
|
| 424 |
+
[
|
| 425 |
+
"fridge_dszchb_0"
|
| 426 |
+
]
|
| 427 |
+
],
|
| 428 |
+
"manipulating_object_id": [],
|
| 429 |
+
"spatial_prefix": [],
|
| 430 |
+
"frame_duration": [
|
| 431 |
+
4422,
|
| 432 |
+
5237
|
| 433 |
+
],
|
| 434 |
+
"mp_ef": [],
|
| 435 |
+
"skill_type": [
|
| 436 |
+
"coordinated"
|
| 437 |
+
]
|
| 438 |
+
},
|
| 439 |
+
{
|
| 440 |
+
"skill_idx": 16,
|
| 441 |
+
"skill_id": [
|
| 442 |
+
2
|
| 443 |
+
],
|
| 444 |
+
"skill_description": [
|
| 445 |
+
"pick up from"
|
| 446 |
+
],
|
| 447 |
+
"object_id": [
|
| 448 |
+
[
|
| 449 |
+
"bottle_of_tea_208",
|
| 450 |
+
"fridge_dszchb_0"
|
| 451 |
+
]
|
| 452 |
+
],
|
| 453 |
+
"manipulating_object_id": [
|
| 454 |
+
"bottle_of_tea_208"
|
| 455 |
+
],
|
| 456 |
+
"spatial_prefix": [
|
| 457 |
+
[
|
| 458 |
+
"",
|
| 459 |
+
"low_level"
|
| 460 |
+
]
|
| 461 |
+
],
|
| 462 |
+
"frame_duration": [
|
| 463 |
+
5237,
|
| 464 |
+
5781
|
| 465 |
+
],
|
| 466 |
+
"mp_ef": [],
|
| 467 |
+
"skill_type": [
|
| 468 |
+
"uncoordinated"
|
| 469 |
+
]
|
| 470 |
+
},
|
| 471 |
+
{
|
| 472 |
+
"skill_idx": 17,
|
| 473 |
+
"skill_id": [
|
| 474 |
+
12
|
| 475 |
+
],
|
| 476 |
+
"skill_description": [
|
| 477 |
+
"close door"
|
| 478 |
+
],
|
| 479 |
+
"object_id": [
|
| 480 |
+
[
|
| 481 |
+
"fridge_dszchb_0"
|
| 482 |
+
]
|
| 483 |
+
],
|
| 484 |
+
"manipulating_object_id": [],
|
| 485 |
+
"spatial_prefix": [],
|
| 486 |
+
"frame_duration": [
|
| 487 |
+
5781,
|
| 488 |
+
6322
|
| 489 |
+
],
|
| 490 |
+
"mp_ef": [],
|
| 491 |
+
"skill_type": [
|
| 492 |
+
"uncoordinated"
|
| 493 |
+
]
|
| 494 |
+
},
|
| 495 |
+
{
|
| 496 |
+
"skill_idx": 18,
|
| 497 |
+
"skill_id": [
|
| 498 |
+
1
|
| 499 |
+
],
|
| 500 |
+
"skill_description": [
|
| 501 |
+
"move to"
|
| 502 |
+
],
|
| 503 |
+
"object_id": [
|
| 504 |
+
[
|
| 505 |
+
"packing_box_210"
|
| 506 |
+
]
|
| 507 |
+
],
|
| 508 |
+
"manipulating_object_id": [],
|
| 509 |
+
"spatial_prefix": [],
|
| 510 |
+
"frame_duration": [
|
| 511 |
+
6322,
|
| 512 |
+
6608
|
| 513 |
+
],
|
| 514 |
+
"mp_ef": [],
|
| 515 |
+
"skill_type": [
|
| 516 |
+
"navigation"
|
| 517 |
+
]
|
| 518 |
+
},
|
| 519 |
+
{
|
| 520 |
+
"skill_idx": 19,
|
| 521 |
+
"skill_id": [
|
| 522 |
+
4
|
| 523 |
+
],
|
| 524 |
+
"skill_description": [
|
| 525 |
+
"place in"
|
| 526 |
+
],
|
| 527 |
+
"object_id": [
|
| 528 |
+
[
|
| 529 |
+
"bottle_of_tea_208",
|
| 530 |
+
"packing_box_210"
|
| 531 |
+
]
|
| 532 |
+
],
|
| 533 |
+
"manipulating_object_id": [
|
| 534 |
+
"bottle_of_tea_208"
|
| 535 |
+
],
|
| 536 |
+
"spatial_prefix": [],
|
| 537 |
+
"frame_duration": [
|
| 538 |
+
6608,
|
| 539 |
+
6960
|
| 540 |
+
],
|
| 541 |
+
"mp_ef": [],
|
| 542 |
+
"skill_type": [
|
| 543 |
+
"uncoordinated"
|
| 544 |
+
]
|
| 545 |
+
}
|
| 546 |
+
],
|
| 547 |
+
"primitive_annotation": [
|
| 548 |
+
{
|
| 549 |
+
"primitive_idx": 0,
|
| 550 |
+
"primitive_id": [
|
| 551 |
+
2,
|
| 552 |
+
91
|
| 553 |
+
],
|
| 554 |
+
"primitive_description": [
|
| 555 |
+
"pick up from",
|
| 556 |
+
"place on next to"
|
| 557 |
+
],
|
| 558 |
+
"object_id": [
|
| 559 |
+
[
|
| 560 |
+
"packing_box_210",
|
| 561 |
+
"countertop_kelker_0"
|
| 562 |
+
],
|
| 563 |
+
[
|
| 564 |
+
"packing_box_210",
|
| 565 |
+
"countertop_kelker_0",
|
| 566 |
+
"chopping_board_211"
|
| 567 |
+
]
|
| 568 |
+
],
|
| 569 |
+
"manipulating_object_id": [
|
| 570 |
+
"packing_box_210",
|
| 571 |
+
"packing_box_210"
|
| 572 |
+
],
|
| 573 |
+
"spatial_prefix": [
|
| 574 |
+
[],
|
| 575 |
+
[
|
| 576 |
+
[],
|
| 577 |
+
[],
|
| 578 |
+
[
|
| 579 |
+
"right"
|
| 580 |
+
]
|
| 581 |
+
]
|
| 582 |
+
],
|
| 583 |
+
"frame_duration": [
|
| 584 |
+
0,
|
| 585 |
+
645
|
| 586 |
+
],
|
| 587 |
+
"skill_idxes": [
|
| 588 |
+
0,
|
| 589 |
+
1,
|
| 590 |
+
2,
|
| 591 |
+
3
|
| 592 |
+
]
|
| 593 |
+
},
|
| 594 |
+
{
|
| 595 |
+
"primitive_idx": 1,
|
| 596 |
+
"primitive_id": [
|
| 597 |
+
2,
|
| 598 |
+
4
|
| 599 |
+
],
|
| 600 |
+
"primitive_description": [
|
| 601 |
+
"pick up from",
|
| 602 |
+
"place in"
|
| 603 |
+
],
|
| 604 |
+
"object_id": [
|
| 605 |
+
[
|
| 606 |
+
"chocolate_chip_cookie_207",
|
| 607 |
+
"chopping_board_211"
|
| 608 |
+
],
|
| 609 |
+
[
|
| 610 |
+
"chocolate_chip_cookie_207",
|
| 611 |
+
"packing_box_210"
|
| 612 |
+
]
|
| 613 |
+
],
|
| 614 |
+
"manipulating_object_id": [
|
| 615 |
+
"chocolate_chip_cookie_207",
|
| 616 |
+
"chocolate_chip_cookie_207"
|
| 617 |
+
],
|
| 618 |
+
"spatial_prefix": [],
|
| 619 |
+
"frame_duration": [
|
| 620 |
+
645,
|
| 621 |
+
1872
|
| 622 |
+
],
|
| 623 |
+
"skill_idxes": [
|
| 624 |
+
4,
|
| 625 |
+
5,
|
| 626 |
+
6
|
| 627 |
+
]
|
| 628 |
+
},
|
| 629 |
+
{
|
| 630 |
+
"primitive_idx": 2,
|
| 631 |
+
"primitive_id": [
|
| 632 |
+
2,
|
| 633 |
+
4
|
| 634 |
+
],
|
| 635 |
+
"primitive_description": [
|
| 636 |
+
"pick up from",
|
| 637 |
+
"place in"
|
| 638 |
+
],
|
| 639 |
+
"object_id": [
|
| 640 |
+
[
|
| 641 |
+
[
|
| 642 |
+
"half_apple_213",
|
| 643 |
+
"half_apple_212"
|
| 644 |
+
],
|
| 645 |
+
"chopping_board_211"
|
| 646 |
+
],
|
| 647 |
+
[
|
| 648 |
+
[
|
| 649 |
+
"half_apple_213",
|
| 650 |
+
"half_apple_212"
|
| 651 |
+
],
|
| 652 |
+
"packing_box_210"
|
| 653 |
+
]
|
| 654 |
+
],
|
| 655 |
+
"manipulating_object_id": [
|
| 656 |
+
[
|
| 657 |
+
"half_apple_213",
|
| 658 |
+
"half_apple_212"
|
| 659 |
+
],
|
| 660 |
+
[
|
| 661 |
+
"half_apple_213",
|
| 662 |
+
"half_apple_212"
|
| 663 |
+
]
|
| 664 |
+
],
|
| 665 |
+
"spatial_prefix": [],
|
| 666 |
+
"frame_duration": [
|
| 667 |
+
1872,
|
| 668 |
+
3025
|
| 669 |
+
],
|
| 670 |
+
"skill_idxes": [
|
| 671 |
+
7,
|
| 672 |
+
8,
|
| 673 |
+
9,
|
| 674 |
+
10
|
| 675 |
+
]
|
| 676 |
+
},
|
| 677 |
+
{
|
| 678 |
+
"primitive_idx": 3,
|
| 679 |
+
"primitive_id": [
|
| 680 |
+
2,
|
| 681 |
+
4
|
| 682 |
+
],
|
| 683 |
+
"primitive_description": [
|
| 684 |
+
"pick up from",
|
| 685 |
+
"place in"
|
| 686 |
+
],
|
| 687 |
+
"object_id": [
|
| 688 |
+
[
|
| 689 |
+
"club_sandwich_209",
|
| 690 |
+
"chopping_board_211"
|
| 691 |
+
],
|
| 692 |
+
[
|
| 693 |
+
"club_sandwich_209",
|
| 694 |
+
"packing_box_210"
|
| 695 |
+
]
|
| 696 |
+
],
|
| 697 |
+
"manipulating_object_id": [
|
| 698 |
+
[],
|
| 699 |
+
"club_sandwich_209"
|
| 700 |
+
],
|
| 701 |
+
"spatial_prefix": [],
|
| 702 |
+
"frame_duration": [
|
| 703 |
+
3025,
|
| 704 |
+
3895
|
| 705 |
+
],
|
| 706 |
+
"skill_idxes": [
|
| 707 |
+
11,
|
| 708 |
+
12,
|
| 709 |
+
13
|
| 710 |
+
]
|
| 711 |
+
},
|
| 712 |
+
{
|
| 713 |
+
"primitive_idx": 4,
|
| 714 |
+
"primitive_id": [],
|
| 715 |
+
"primitive_description": [],
|
| 716 |
+
"object_id": [],
|
| 717 |
+
"manipulating_object_id": [],
|
| 718 |
+
"spatial_prefix": [],
|
| 719 |
+
"frame_duration": [
|
| 720 |
+
3895,
|
| 721 |
+
6608
|
| 722 |
+
],
|
| 723 |
+
"skill_idxes": [
|
| 724 |
+
14,
|
| 725 |
+
15,
|
| 726 |
+
18
|
| 727 |
+
]
|
| 728 |
+
},
|
| 729 |
+
{
|
| 730 |
+
"primitive_idx": 5,
|
| 731 |
+
"primitive_id": [
|
| 732 |
+
2
|
| 733 |
+
],
|
| 734 |
+
"primitive_description": [
|
| 735 |
+
"pick up from"
|
| 736 |
+
],
|
| 737 |
+
"object_id": [
|
| 738 |
+
[
|
| 739 |
+
"bottle_of_tea_208",
|
| 740 |
+
"fridge_dszchb_0"
|
| 741 |
+
]
|
| 742 |
+
],
|
| 743 |
+
"manipulating_object_id": [
|
| 744 |
+
"bottle_of_tea_208"
|
| 745 |
+
],
|
| 746 |
+
"spatial_prefix": [
|
| 747 |
+
[
|
| 748 |
+
[],
|
| 749 |
+
[
|
| 750 |
+
"low_level"
|
| 751 |
+
]
|
| 752 |
+
]
|
| 753 |
+
],
|
| 754 |
+
"frame_duration": [
|
| 755 |
+
5237,
|
| 756 |
+
5781
|
| 757 |
+
],
|
| 758 |
+
"skill_idxes": [
|
| 759 |
+
16
|
| 760 |
+
]
|
| 761 |
+
},
|
| 762 |
+
{
|
| 763 |
+
"primitive_idx": 6,
|
| 764 |
+
"primitive_id": [
|
| 765 |
+
12
|
| 766 |
+
],
|
| 767 |
+
"primitive_description": [
|
| 768 |
+
"close door"
|
| 769 |
+
],
|
| 770 |
+
"object_id": [
|
| 771 |
+
[
|
| 772 |
+
"fridge_dszchb_0"
|
| 773 |
+
]
|
| 774 |
+
],
|
| 775 |
+
"manipulating_object_id": [],
|
| 776 |
+
"spatial_prefix": [],
|
| 777 |
+
"frame_duration": [
|
| 778 |
+
5781,
|
| 779 |
+
6322
|
| 780 |
+
],
|
| 781 |
+
"skill_idxes": [
|
| 782 |
+
17
|
| 783 |
+
]
|
| 784 |
+
},
|
| 785 |
+
{
|
| 786 |
+
"primitive_idx": 7,
|
| 787 |
+
"primitive_id": [
|
| 788 |
+
4
|
| 789 |
+
],
|
| 790 |
+
"primitive_description": [
|
| 791 |
+
"place in"
|
| 792 |
+
],
|
| 793 |
+
"object_id": [
|
| 794 |
+
[
|
| 795 |
+
"bottle_of_tea_208",
|
| 796 |
+
"packing_box_210"
|
| 797 |
+
]
|
| 798 |
+
],
|
| 799 |
+
"manipulating_object_id": [
|
| 800 |
+
"bottle_of_tea_208"
|
| 801 |
+
],
|
| 802 |
+
"spatial_prefix": [],
|
| 803 |
+
"frame_duration": [
|
| 804 |
+
6608,
|
| 805 |
+
6960
|
| 806 |
+
],
|
| 807 |
+
"skill_idxes": [
|
| 808 |
+
19
|
| 809 |
+
]
|
| 810 |
+
}
|
| 811 |
+
]
|
| 812 |
+
}
|
annotations/episode_00000191.json
ADDED
|
@@ -0,0 +1,756 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6783,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
6783
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
483
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
90
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"push to"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [
|
| 54 |
+
[
|
| 55 |
+
"",
|
| 56 |
+
"to_the_edge_of"
|
| 57 |
+
]
|
| 58 |
+
],
|
| 59 |
+
"frame_duration": [
|
| 60 |
+
483,
|
| 61 |
+
803
|
| 62 |
+
],
|
| 63 |
+
"mp_ef": [],
|
| 64 |
+
"skill_type": [
|
| 65 |
+
"uncoordinated"
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"skill_idx": 2,
|
| 70 |
+
"skill_id": [
|
| 71 |
+
90
|
| 72 |
+
],
|
| 73 |
+
"skill_description": [
|
| 74 |
+
"push to"
|
| 75 |
+
],
|
| 76 |
+
"object_id": [
|
| 77 |
+
[
|
| 78 |
+
"chocolate_chip_cookie_207",
|
| 79 |
+
"chopping_board_211"
|
| 80 |
+
]
|
| 81 |
+
],
|
| 82 |
+
"manipulating_object_id": [
|
| 83 |
+
"chocolate_chip_cookie_207"
|
| 84 |
+
],
|
| 85 |
+
"spatial_prefix": [
|
| 86 |
+
[
|
| 87 |
+
"",
|
| 88 |
+
"to_the_edge_of"
|
| 89 |
+
]
|
| 90 |
+
],
|
| 91 |
+
"frame_duration": [
|
| 92 |
+
804,
|
| 93 |
+
1198
|
| 94 |
+
],
|
| 95 |
+
"mp_ef": [],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"uncoordinated"
|
| 98 |
+
]
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"skill_idx": 3,
|
| 102 |
+
"skill_id": [
|
| 103 |
+
2
|
| 104 |
+
],
|
| 105 |
+
"skill_description": [
|
| 106 |
+
"pick up from"
|
| 107 |
+
],
|
| 108 |
+
"object_id": [
|
| 109 |
+
[
|
| 110 |
+
"chocolate_chip_cookie_207",
|
| 111 |
+
"chopping_board_211"
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"manipulating_object_id": [
|
| 115 |
+
"chocolate_chip_cookie_207"
|
| 116 |
+
],
|
| 117 |
+
"spatial_prefix": [],
|
| 118 |
+
"frame_duration": [
|
| 119 |
+
1198,
|
| 120 |
+
1488
|
| 121 |
+
],
|
| 122 |
+
"mp_ef": [],
|
| 123 |
+
"skill_type": [
|
| 124 |
+
"uncoordinated"
|
| 125 |
+
]
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"skill_idx": 4,
|
| 129 |
+
"skill_id": [
|
| 130 |
+
4
|
| 131 |
+
],
|
| 132 |
+
"skill_description": [
|
| 133 |
+
"place in"
|
| 134 |
+
],
|
| 135 |
+
"object_id": [
|
| 136 |
+
[
|
| 137 |
+
"chocolate_chip_cookie_207",
|
| 138 |
+
"packing_box_210"
|
| 139 |
+
]
|
| 140 |
+
],
|
| 141 |
+
"manipulating_object_id": [
|
| 142 |
+
"chocolate_chip_cookie_207"
|
| 143 |
+
],
|
| 144 |
+
"spatial_prefix": [],
|
| 145 |
+
"frame_duration": [
|
| 146 |
+
1488,
|
| 147 |
+
1664
|
| 148 |
+
],
|
| 149 |
+
"mp_ef": [],
|
| 150 |
+
"skill_type": [
|
| 151 |
+
"uncoordinated"
|
| 152 |
+
]
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"skill_idx": 5,
|
| 156 |
+
"skill_id": [
|
| 157 |
+
2
|
| 158 |
+
],
|
| 159 |
+
"skill_description": [
|
| 160 |
+
"pick up from"
|
| 161 |
+
],
|
| 162 |
+
"object_id": [
|
| 163 |
+
[
|
| 164 |
+
"half_apple_213",
|
| 165 |
+
"chopping_board_211"
|
| 166 |
+
]
|
| 167 |
+
],
|
| 168 |
+
"manipulating_object_id": [
|
| 169 |
+
"half_apple_213"
|
| 170 |
+
],
|
| 171 |
+
"spatial_prefix": [],
|
| 172 |
+
"frame_duration": [
|
| 173 |
+
1664,
|
| 174 |
+
2057
|
| 175 |
+
],
|
| 176 |
+
"mp_ef": [],
|
| 177 |
+
"skill_type": [
|
| 178 |
+
"uncoordinated"
|
| 179 |
+
]
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"skill_idx": 6,
|
| 183 |
+
"skill_id": [
|
| 184 |
+
2
|
| 185 |
+
],
|
| 186 |
+
"skill_description": [
|
| 187 |
+
"pick up from"
|
| 188 |
+
],
|
| 189 |
+
"object_id": [
|
| 190 |
+
[
|
| 191 |
+
"half_apple_212",
|
| 192 |
+
"chopping_board_211"
|
| 193 |
+
]
|
| 194 |
+
],
|
| 195 |
+
"manipulating_object_id": [
|
| 196 |
+
"half_apple_212"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
2057,
|
| 201 |
+
2401
|
| 202 |
+
],
|
| 203 |
+
"mp_ef": [],
|
| 204 |
+
"skill_type": [
|
| 205 |
+
"uncoordinated"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
{
|
| 209 |
+
"skill_idx": 7,
|
| 210 |
+
"skill_id": [
|
| 211 |
+
4
|
| 212 |
+
],
|
| 213 |
+
"skill_description": [
|
| 214 |
+
"place in"
|
| 215 |
+
],
|
| 216 |
+
"object_id": [
|
| 217 |
+
[
|
| 218 |
+
"half_apple_213",
|
| 219 |
+
"packing_box_210"
|
| 220 |
+
]
|
| 221 |
+
],
|
| 222 |
+
"manipulating_object_id": [
|
| 223 |
+
"half_apple_213"
|
| 224 |
+
],
|
| 225 |
+
"spatial_prefix": [],
|
| 226 |
+
"frame_duration": [
|
| 227 |
+
2401,
|
| 228 |
+
2537
|
| 229 |
+
],
|
| 230 |
+
"mp_ef": [],
|
| 231 |
+
"skill_type": [
|
| 232 |
+
"uncoordinated"
|
| 233 |
+
]
|
| 234 |
+
},
|
| 235 |
+
{
|
| 236 |
+
"skill_idx": 8,
|
| 237 |
+
"skill_id": [
|
| 238 |
+
4
|
| 239 |
+
],
|
| 240 |
+
"skill_description": [
|
| 241 |
+
"place in"
|
| 242 |
+
],
|
| 243 |
+
"object_id": [
|
| 244 |
+
[
|
| 245 |
+
"half_apple_212",
|
| 246 |
+
"packing_box_210"
|
| 247 |
+
]
|
| 248 |
+
],
|
| 249 |
+
"manipulating_object_id": [
|
| 250 |
+
"half_apple_212"
|
| 251 |
+
],
|
| 252 |
+
"spatial_prefix": [],
|
| 253 |
+
"frame_duration": [
|
| 254 |
+
2538,
|
| 255 |
+
2731
|
| 256 |
+
],
|
| 257 |
+
"mp_ef": [],
|
| 258 |
+
"skill_type": [
|
| 259 |
+
"uncoordinated"
|
| 260 |
+
]
|
| 261 |
+
},
|
| 262 |
+
{
|
| 263 |
+
"skill_idx": 9,
|
| 264 |
+
"skill_id": [
|
| 265 |
+
1
|
| 266 |
+
],
|
| 267 |
+
"skill_description": [
|
| 268 |
+
"move to"
|
| 269 |
+
],
|
| 270 |
+
"object_id": [
|
| 271 |
+
[
|
| 272 |
+
"club_sandwich_209"
|
| 273 |
+
]
|
| 274 |
+
],
|
| 275 |
+
"manipulating_object_id": [],
|
| 276 |
+
"spatial_prefix": [],
|
| 277 |
+
"frame_duration": [
|
| 278 |
+
2732,
|
| 279 |
+
2868
|
| 280 |
+
],
|
| 281 |
+
"mp_ef": [],
|
| 282 |
+
"skill_type": [
|
| 283 |
+
"navigation"
|
| 284 |
+
]
|
| 285 |
+
},
|
| 286 |
+
{
|
| 287 |
+
"skill_idx": 10,
|
| 288 |
+
"skill_id": [
|
| 289 |
+
2
|
| 290 |
+
],
|
| 291 |
+
"skill_description": [
|
| 292 |
+
"pick up from"
|
| 293 |
+
],
|
| 294 |
+
"object_id": [
|
| 295 |
+
[
|
| 296 |
+
"club_sandwich_209",
|
| 297 |
+
"chopping_board_211"
|
| 298 |
+
]
|
| 299 |
+
],
|
| 300 |
+
"manipulating_object_id": [
|
| 301 |
+
"club_sandwich_209"
|
| 302 |
+
],
|
| 303 |
+
"spatial_prefix": [],
|
| 304 |
+
"frame_duration": [
|
| 305 |
+
2868,
|
| 306 |
+
3123
|
| 307 |
+
],
|
| 308 |
+
"mp_ef": [],
|
| 309 |
+
"skill_type": [
|
| 310 |
+
"coordinated"
|
| 311 |
+
]
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"skill_idx": 11,
|
| 315 |
+
"skill_id": [
|
| 316 |
+
1
|
| 317 |
+
],
|
| 318 |
+
"skill_description": [
|
| 319 |
+
"move to"
|
| 320 |
+
],
|
| 321 |
+
"object_id": [
|
| 322 |
+
[
|
| 323 |
+
"packing_box_210"
|
| 324 |
+
]
|
| 325 |
+
],
|
| 326 |
+
"manipulating_object_id": [],
|
| 327 |
+
"spatial_prefix": [],
|
| 328 |
+
"frame_duration": [
|
| 329 |
+
3124,
|
| 330 |
+
3298
|
| 331 |
+
],
|
| 332 |
+
"mp_ef": [],
|
| 333 |
+
"skill_type": [
|
| 334 |
+
"navigation"
|
| 335 |
+
]
|
| 336 |
+
},
|
| 337 |
+
{
|
| 338 |
+
"skill_idx": 12,
|
| 339 |
+
"skill_id": [
|
| 340 |
+
4
|
| 341 |
+
],
|
| 342 |
+
"skill_description": [
|
| 343 |
+
"place in"
|
| 344 |
+
],
|
| 345 |
+
"object_id": [
|
| 346 |
+
[
|
| 347 |
+
"club_sandwich_209",
|
| 348 |
+
"packing_box_210"
|
| 349 |
+
]
|
| 350 |
+
],
|
| 351 |
+
"manipulating_object_id": [
|
| 352 |
+
"club_sandwich_209"
|
| 353 |
+
],
|
| 354 |
+
"spatial_prefix": [],
|
| 355 |
+
"frame_duration": [
|
| 356 |
+
3298,
|
| 357 |
+
3450
|
| 358 |
+
],
|
| 359 |
+
"mp_ef": [],
|
| 360 |
+
"skill_type": [
|
| 361 |
+
"uncoordinated"
|
| 362 |
+
]
|
| 363 |
+
},
|
| 364 |
+
{
|
| 365 |
+
"skill_idx": 13,
|
| 366 |
+
"skill_id": [
|
| 367 |
+
1
|
| 368 |
+
],
|
| 369 |
+
"skill_description": [
|
| 370 |
+
"move to"
|
| 371 |
+
],
|
| 372 |
+
"object_id": [
|
| 373 |
+
[
|
| 374 |
+
"fridge_dszchb_0"
|
| 375 |
+
]
|
| 376 |
+
],
|
| 377 |
+
"manipulating_object_id": [],
|
| 378 |
+
"spatial_prefix": [],
|
| 379 |
+
"frame_duration": [
|
| 380 |
+
3450,
|
| 381 |
+
4270
|
| 382 |
+
],
|
| 383 |
+
"mp_ef": [],
|
| 384 |
+
"skill_type": [
|
| 385 |
+
"navigation"
|
| 386 |
+
]
|
| 387 |
+
},
|
| 388 |
+
{
|
| 389 |
+
"skill_idx": 14,
|
| 390 |
+
"skill_id": [
|
| 391 |
+
10
|
| 392 |
+
],
|
| 393 |
+
"skill_description": [
|
| 394 |
+
"open door"
|
| 395 |
+
],
|
| 396 |
+
"object_id": [
|
| 397 |
+
[
|
| 398 |
+
"fridge_dszchb_0"
|
| 399 |
+
]
|
| 400 |
+
],
|
| 401 |
+
"manipulating_object_id": [],
|
| 402 |
+
"spatial_prefix": [],
|
| 403 |
+
"frame_duration": [
|
| 404 |
+
4270,
|
| 405 |
+
5070
|
| 406 |
+
],
|
| 407 |
+
"mp_ef": [],
|
| 408 |
+
"skill_type": [
|
| 409 |
+
"coordinated"
|
| 410 |
+
]
|
| 411 |
+
},
|
| 412 |
+
{
|
| 413 |
+
"skill_idx": 15,
|
| 414 |
+
"skill_id": [
|
| 415 |
+
2
|
| 416 |
+
],
|
| 417 |
+
"skill_description": [
|
| 418 |
+
"pick up from"
|
| 419 |
+
],
|
| 420 |
+
"object_id": [
|
| 421 |
+
[
|
| 422 |
+
"bottle_of_tea_208",
|
| 423 |
+
"fridge_dszchb_0"
|
| 424 |
+
]
|
| 425 |
+
],
|
| 426 |
+
"manipulating_object_id": [
|
| 427 |
+
"bottle_of_tea_208"
|
| 428 |
+
],
|
| 429 |
+
"spatial_prefix": [
|
| 430 |
+
[
|
| 431 |
+
"",
|
| 432 |
+
"low_level"
|
| 433 |
+
]
|
| 434 |
+
],
|
| 435 |
+
"frame_duration": [
|
| 436 |
+
5070,
|
| 437 |
+
5560
|
| 438 |
+
],
|
| 439 |
+
"mp_ef": [],
|
| 440 |
+
"skill_type": [
|
| 441 |
+
"uncoordinated"
|
| 442 |
+
]
|
| 443 |
+
},
|
| 444 |
+
{
|
| 445 |
+
"skill_idx": 16,
|
| 446 |
+
"skill_id": [
|
| 447 |
+
12
|
| 448 |
+
],
|
| 449 |
+
"skill_description": [
|
| 450 |
+
"close door"
|
| 451 |
+
],
|
| 452 |
+
"object_id": [
|
| 453 |
+
[
|
| 454 |
+
"fridge_dszchb_0"
|
| 455 |
+
]
|
| 456 |
+
],
|
| 457 |
+
"manipulating_object_id": [],
|
| 458 |
+
"spatial_prefix": [],
|
| 459 |
+
"frame_duration": [
|
| 460 |
+
5561,
|
| 461 |
+
5899
|
| 462 |
+
],
|
| 463 |
+
"mp_ef": [],
|
| 464 |
+
"skill_type": [
|
| 465 |
+
"uncoordinated"
|
| 466 |
+
]
|
| 467 |
+
},
|
| 468 |
+
{
|
| 469 |
+
"skill_idx": 17,
|
| 470 |
+
"skill_id": [
|
| 471 |
+
1
|
| 472 |
+
],
|
| 473 |
+
"skill_description": [
|
| 474 |
+
"move to"
|
| 475 |
+
],
|
| 476 |
+
"object_id": [
|
| 477 |
+
[
|
| 478 |
+
"packing_box_210"
|
| 479 |
+
]
|
| 480 |
+
],
|
| 481 |
+
"manipulating_object_id": [],
|
| 482 |
+
"spatial_prefix": [],
|
| 483 |
+
"frame_duration": [
|
| 484 |
+
5900,
|
| 485 |
+
6371
|
| 486 |
+
],
|
| 487 |
+
"mp_ef": [],
|
| 488 |
+
"skill_type": [
|
| 489 |
+
"navigation"
|
| 490 |
+
]
|
| 491 |
+
},
|
| 492 |
+
{
|
| 493 |
+
"skill_idx": 18,
|
| 494 |
+
"skill_id": [
|
| 495 |
+
4
|
| 496 |
+
],
|
| 497 |
+
"skill_description": [
|
| 498 |
+
"place in"
|
| 499 |
+
],
|
| 500 |
+
"object_id": [
|
| 501 |
+
[
|
| 502 |
+
"bottle_of_tea_208",
|
| 503 |
+
"packing_box_210"
|
| 504 |
+
]
|
| 505 |
+
],
|
| 506 |
+
"manipulating_object_id": [
|
| 507 |
+
"bottle_of_tea_208"
|
| 508 |
+
],
|
| 509 |
+
"spatial_prefix": [],
|
| 510 |
+
"frame_duration": [
|
| 511 |
+
6371,
|
| 512 |
+
6783
|
| 513 |
+
],
|
| 514 |
+
"mp_ef": [],
|
| 515 |
+
"skill_type": [
|
| 516 |
+
"uncoordinated"
|
| 517 |
+
]
|
| 518 |
+
}
|
| 519 |
+
],
|
| 520 |
+
"primitive_annotation": [
|
| 521 |
+
{
|
| 522 |
+
"primitive_idx": 0,
|
| 523 |
+
"primitive_id": [],
|
| 524 |
+
"primitive_description": [],
|
| 525 |
+
"object_id": [],
|
| 526 |
+
"manipulating_object_id": [],
|
| 527 |
+
"spatial_prefix": [],
|
| 528 |
+
"frame_duration": [
|
| 529 |
+
0,
|
| 530 |
+
803
|
| 531 |
+
],
|
| 532 |
+
"skill_idxes": [
|
| 533 |
+
0,
|
| 534 |
+
1
|
| 535 |
+
]
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"primitive_idx": 1,
|
| 539 |
+
"primitive_id": [
|
| 540 |
+
2,
|
| 541 |
+
4
|
| 542 |
+
],
|
| 543 |
+
"primitive_description": [
|
| 544 |
+
"pick up from",
|
| 545 |
+
"place in"
|
| 546 |
+
],
|
| 547 |
+
"object_id": [
|
| 548 |
+
[
|
| 549 |
+
"chocolate_chip_cookie_207",
|
| 550 |
+
"chopping_board_211"
|
| 551 |
+
],
|
| 552 |
+
[
|
| 553 |
+
"chocolate_chip_cookie_207",
|
| 554 |
+
"packing_box_210"
|
| 555 |
+
]
|
| 556 |
+
],
|
| 557 |
+
"manipulating_object_id": [
|
| 558 |
+
"chocolate_chip_cookie_207",
|
| 559 |
+
"chocolate_chip_cookie_207"
|
| 560 |
+
],
|
| 561 |
+
"spatial_prefix": [],
|
| 562 |
+
"frame_duration": [
|
| 563 |
+
804,
|
| 564 |
+
1664
|
| 565 |
+
],
|
| 566 |
+
"skill_idxes": [
|
| 567 |
+
2,
|
| 568 |
+
3,
|
| 569 |
+
4
|
| 570 |
+
]
|
| 571 |
+
},
|
| 572 |
+
{
|
| 573 |
+
"primitive_idx": 2,
|
| 574 |
+
"primitive_id": [
|
| 575 |
+
2,
|
| 576 |
+
4
|
| 577 |
+
],
|
| 578 |
+
"primitive_description": [
|
| 579 |
+
"pick up from",
|
| 580 |
+
"place in"
|
| 581 |
+
],
|
| 582 |
+
"object_id": [
|
| 583 |
+
[
|
| 584 |
+
[
|
| 585 |
+
"half_apple_213",
|
| 586 |
+
"half_apple_212"
|
| 587 |
+
],
|
| 588 |
+
"chopping_board_211"
|
| 589 |
+
],
|
| 590 |
+
[
|
| 591 |
+
[
|
| 592 |
+
"half_apple_213",
|
| 593 |
+
"half_apple_212"
|
| 594 |
+
],
|
| 595 |
+
"packing_box_210"
|
| 596 |
+
]
|
| 597 |
+
],
|
| 598 |
+
"manipulating_object_id": [
|
| 599 |
+
[
|
| 600 |
+
"half_apple_213",
|
| 601 |
+
"half_apple_212"
|
| 602 |
+
],
|
| 603 |
+
[
|
| 604 |
+
"half_apple_213",
|
| 605 |
+
"half_apple_212"
|
| 606 |
+
]
|
| 607 |
+
],
|
| 608 |
+
"spatial_prefix": [],
|
| 609 |
+
"frame_duration": [
|
| 610 |
+
1664,
|
| 611 |
+
2731
|
| 612 |
+
],
|
| 613 |
+
"skill_idxes": [
|
| 614 |
+
5,
|
| 615 |
+
6,
|
| 616 |
+
7,
|
| 617 |
+
8
|
| 618 |
+
]
|
| 619 |
+
},
|
| 620 |
+
{
|
| 621 |
+
"primitive_idx": 3,
|
| 622 |
+
"primitive_id": [
|
| 623 |
+
2,
|
| 624 |
+
4
|
| 625 |
+
],
|
| 626 |
+
"primitive_description": [
|
| 627 |
+
"pick up from",
|
| 628 |
+
"place in"
|
| 629 |
+
],
|
| 630 |
+
"object_id": [
|
| 631 |
+
[
|
| 632 |
+
"club_sandwich_209",
|
| 633 |
+
"chopping_board_211"
|
| 634 |
+
],
|
| 635 |
+
[
|
| 636 |
+
"club_sandwich_209",
|
| 637 |
+
"packing_box_210"
|
| 638 |
+
]
|
| 639 |
+
],
|
| 640 |
+
"manipulating_object_id": [
|
| 641 |
+
"club_sandwich_209",
|
| 642 |
+
"club_sandwich_209"
|
| 643 |
+
],
|
| 644 |
+
"spatial_prefix": [],
|
| 645 |
+
"frame_duration": [
|
| 646 |
+
2732,
|
| 647 |
+
3450
|
| 648 |
+
],
|
| 649 |
+
"skill_idxes": [
|
| 650 |
+
9,
|
| 651 |
+
10,
|
| 652 |
+
11,
|
| 653 |
+
12
|
| 654 |
+
]
|
| 655 |
+
},
|
| 656 |
+
{
|
| 657 |
+
"primitive_idx": 4,
|
| 658 |
+
"primitive_id": [],
|
| 659 |
+
"primitive_description": [],
|
| 660 |
+
"object_id": [],
|
| 661 |
+
"manipulating_object_id": [],
|
| 662 |
+
"spatial_prefix": [],
|
| 663 |
+
"frame_duration": [
|
| 664 |
+
3450,
|
| 665 |
+
6371
|
| 666 |
+
],
|
| 667 |
+
"skill_idxes": [
|
| 668 |
+
13,
|
| 669 |
+
14,
|
| 670 |
+
17
|
| 671 |
+
]
|
| 672 |
+
},
|
| 673 |
+
{
|
| 674 |
+
"primitive_idx": 5,
|
| 675 |
+
"primitive_id": [
|
| 676 |
+
2
|
| 677 |
+
],
|
| 678 |
+
"primitive_description": [
|
| 679 |
+
"pick up from"
|
| 680 |
+
],
|
| 681 |
+
"object_id": [
|
| 682 |
+
[
|
| 683 |
+
"bottle_of_tea_208",
|
| 684 |
+
"fridge_dszchb_0"
|
| 685 |
+
]
|
| 686 |
+
],
|
| 687 |
+
"manipulating_object_id": [
|
| 688 |
+
"bottle_of_tea_208"
|
| 689 |
+
],
|
| 690 |
+
"spatial_prefix": [
|
| 691 |
+
[
|
| 692 |
+
[],
|
| 693 |
+
[
|
| 694 |
+
"low_level"
|
| 695 |
+
]
|
| 696 |
+
]
|
| 697 |
+
],
|
| 698 |
+
"frame_duration": [
|
| 699 |
+
5070,
|
| 700 |
+
5560
|
| 701 |
+
],
|
| 702 |
+
"skill_idxes": [
|
| 703 |
+
15
|
| 704 |
+
]
|
| 705 |
+
},
|
| 706 |
+
{
|
| 707 |
+
"primitive_idx": 6,
|
| 708 |
+
"primitive_id": [
|
| 709 |
+
12
|
| 710 |
+
],
|
| 711 |
+
"primitive_description": [
|
| 712 |
+
"close door"
|
| 713 |
+
],
|
| 714 |
+
"object_id": [
|
| 715 |
+
[
|
| 716 |
+
"fridge_dszchb_0"
|
| 717 |
+
]
|
| 718 |
+
],
|
| 719 |
+
"manipulating_object_id": [],
|
| 720 |
+
"spatial_prefix": [],
|
| 721 |
+
"frame_duration": [
|
| 722 |
+
5561,
|
| 723 |
+
5899
|
| 724 |
+
],
|
| 725 |
+
"skill_idxes": [
|
| 726 |
+
16
|
| 727 |
+
]
|
| 728 |
+
},
|
| 729 |
+
{
|
| 730 |
+
"primitive_idx": 7,
|
| 731 |
+
"primitive_id": [
|
| 732 |
+
4
|
| 733 |
+
],
|
| 734 |
+
"primitive_description": [
|
| 735 |
+
"place in"
|
| 736 |
+
],
|
| 737 |
+
"object_id": [
|
| 738 |
+
[
|
| 739 |
+
"bottle_of_tea_208",
|
| 740 |
+
"packing_box_210"
|
| 741 |
+
]
|
| 742 |
+
],
|
| 743 |
+
"manipulating_object_id": [
|
| 744 |
+
"bottle_of_tea_208"
|
| 745 |
+
],
|
| 746 |
+
"spatial_prefix": [],
|
| 747 |
+
"frame_duration": [
|
| 748 |
+
6371,
|
| 749 |
+
6783
|
| 750 |
+
],
|
| 751 |
+
"skill_idxes": [
|
| 752 |
+
18
|
| 753 |
+
]
|
| 754 |
+
}
|
| 755 |
+
]
|
| 756 |
+
}
|
annotations/episode_00000200.json
ADDED
|
@@ -0,0 +1,839 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5610,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
5610
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
151
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
151,
|
| 56 |
+
489
|
| 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 |
+
"chopping_board_211"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
489,
|
| 80 |
+
652
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
652,
|
| 114 |
+
733
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
90
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"push to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207",
|
| 132 |
+
"chopping_board_211"
|
| 133 |
+
]
|
| 134 |
+
],
|
| 135 |
+
"manipulating_object_id": [
|
| 136 |
+
"chocolate_chip_cookie_207"
|
| 137 |
+
],
|
| 138 |
+
"spatial_prefix": [
|
| 139 |
+
[
|
| 140 |
+
"",
|
| 141 |
+
"to_the_edge_of"
|
| 142 |
+
]
|
| 143 |
+
],
|
| 144 |
+
"frame_duration": [
|
| 145 |
+
734,
|
| 146 |
+
1011
|
| 147 |
+
],
|
| 148 |
+
"mp_ef": [],
|
| 149 |
+
"skill_type": [
|
| 150 |
+
"uncoordinated"
|
| 151 |
+
]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 5,
|
| 155 |
+
"skill_id": [
|
| 156 |
+
2
|
| 157 |
+
],
|
| 158 |
+
"skill_description": [
|
| 159 |
+
"pick up from"
|
| 160 |
+
],
|
| 161 |
+
"object_id": [
|
| 162 |
+
[
|
| 163 |
+
"chocolate_chip_cookie_207",
|
| 164 |
+
"chopping_board_211"
|
| 165 |
+
]
|
| 166 |
+
],
|
| 167 |
+
"manipulating_object_id": [
|
| 168 |
+
"chocolate_chip_cookie_207"
|
| 169 |
+
],
|
| 170 |
+
"spatial_prefix": [],
|
| 171 |
+
"frame_duration": [
|
| 172 |
+
1011,
|
| 173 |
+
1287
|
| 174 |
+
],
|
| 175 |
+
"mp_ef": [],
|
| 176 |
+
"skill_type": [
|
| 177 |
+
"uncoordinated"
|
| 178 |
+
]
|
| 179 |
+
},
|
| 180 |
+
{
|
| 181 |
+
"skill_idx": 6,
|
| 182 |
+
"skill_id": [
|
| 183 |
+
4
|
| 184 |
+
],
|
| 185 |
+
"skill_description": [
|
| 186 |
+
"place in"
|
| 187 |
+
],
|
| 188 |
+
"object_id": [
|
| 189 |
+
[
|
| 190 |
+
"chocolate_chip_cookie_207",
|
| 191 |
+
"packing_box_210"
|
| 192 |
+
]
|
| 193 |
+
],
|
| 194 |
+
"manipulating_object_id": [
|
| 195 |
+
"chocolate_chip_cookie_207"
|
| 196 |
+
],
|
| 197 |
+
"spatial_prefix": [],
|
| 198 |
+
"frame_duration": [
|
| 199 |
+
1287,
|
| 200 |
+
1446
|
| 201 |
+
],
|
| 202 |
+
"mp_ef": [],
|
| 203 |
+
"skill_type": [
|
| 204 |
+
"uncoordinated"
|
| 205 |
+
]
|
| 206 |
+
},
|
| 207 |
+
{
|
| 208 |
+
"skill_idx": 7,
|
| 209 |
+
"skill_id": [
|
| 210 |
+
1
|
| 211 |
+
],
|
| 212 |
+
"skill_description": [
|
| 213 |
+
"move to"
|
| 214 |
+
],
|
| 215 |
+
"object_id": [
|
| 216 |
+
[
|
| 217 |
+
"half_apple_213"
|
| 218 |
+
]
|
| 219 |
+
],
|
| 220 |
+
"manipulating_object_id": [],
|
| 221 |
+
"spatial_prefix": [],
|
| 222 |
+
"frame_duration": [
|
| 223 |
+
1446,
|
| 224 |
+
1521
|
| 225 |
+
],
|
| 226 |
+
"mp_ef": [],
|
| 227 |
+
"skill_type": [
|
| 228 |
+
"navigation"
|
| 229 |
+
]
|
| 230 |
+
},
|
| 231 |
+
{
|
| 232 |
+
"skill_idx": 8,
|
| 233 |
+
"skill_id": [
|
| 234 |
+
2
|
| 235 |
+
],
|
| 236 |
+
"skill_description": [
|
| 237 |
+
"pick up from"
|
| 238 |
+
],
|
| 239 |
+
"object_id": [
|
| 240 |
+
[
|
| 241 |
+
"half_apple_213",
|
| 242 |
+
"chopping_board_211"
|
| 243 |
+
]
|
| 244 |
+
],
|
| 245 |
+
"manipulating_object_id": [
|
| 246 |
+
"half_apple_213"
|
| 247 |
+
],
|
| 248 |
+
"spatial_prefix": [],
|
| 249 |
+
"frame_duration": [
|
| 250 |
+
1521,
|
| 251 |
+
1677
|
| 252 |
+
],
|
| 253 |
+
"mp_ef": [],
|
| 254 |
+
"skill_type": [
|
| 255 |
+
"uncoordinated"
|
| 256 |
+
]
|
| 257 |
+
},
|
| 258 |
+
{
|
| 259 |
+
"skill_idx": 9,
|
| 260 |
+
"skill_id": [
|
| 261 |
+
2
|
| 262 |
+
],
|
| 263 |
+
"skill_description": [
|
| 264 |
+
"pick up from"
|
| 265 |
+
],
|
| 266 |
+
"object_id": [
|
| 267 |
+
[
|
| 268 |
+
"half_apple_212",
|
| 269 |
+
"chopping_board_211"
|
| 270 |
+
]
|
| 271 |
+
],
|
| 272 |
+
"manipulating_object_id": [
|
| 273 |
+
"half_apple_212"
|
| 274 |
+
],
|
| 275 |
+
"spatial_prefix": [],
|
| 276 |
+
"frame_duration": [
|
| 277 |
+
1677,
|
| 278 |
+
1902
|
| 279 |
+
],
|
| 280 |
+
"mp_ef": [],
|
| 281 |
+
"skill_type": [
|
| 282 |
+
"uncoordinated"
|
| 283 |
+
]
|
| 284 |
+
},
|
| 285 |
+
{
|
| 286 |
+
"skill_idx": 10,
|
| 287 |
+
"skill_id": [
|
| 288 |
+
1
|
| 289 |
+
],
|
| 290 |
+
"skill_description": [
|
| 291 |
+
"move to"
|
| 292 |
+
],
|
| 293 |
+
"object_id": [
|
| 294 |
+
[
|
| 295 |
+
"packing_box_210"
|
| 296 |
+
]
|
| 297 |
+
],
|
| 298 |
+
"manipulating_object_id": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [
|
| 301 |
+
1902,
|
| 302 |
+
1947
|
| 303 |
+
],
|
| 304 |
+
"mp_ef": [],
|
| 305 |
+
"skill_type": [
|
| 306 |
+
"navigation"
|
| 307 |
+
]
|
| 308 |
+
},
|
| 309 |
+
{
|
| 310 |
+
"skill_idx": 11,
|
| 311 |
+
"skill_id": [
|
| 312 |
+
4
|
| 313 |
+
],
|
| 314 |
+
"skill_description": [
|
| 315 |
+
"place in"
|
| 316 |
+
],
|
| 317 |
+
"object_id": [
|
| 318 |
+
[
|
| 319 |
+
"half_apple_212",
|
| 320 |
+
"packing_box_210"
|
| 321 |
+
]
|
| 322 |
+
],
|
| 323 |
+
"manipulating_object_id": [
|
| 324 |
+
"half_apple_212"
|
| 325 |
+
],
|
| 326 |
+
"spatial_prefix": [],
|
| 327 |
+
"frame_duration": [
|
| 328 |
+
1947,
|
| 329 |
+
2136
|
| 330 |
+
],
|
| 331 |
+
"mp_ef": [],
|
| 332 |
+
"skill_type": [
|
| 333 |
+
"uncoordinated"
|
| 334 |
+
]
|
| 335 |
+
},
|
| 336 |
+
{
|
| 337 |
+
"skill_idx": 12,
|
| 338 |
+
"skill_id": [
|
| 339 |
+
4
|
| 340 |
+
],
|
| 341 |
+
"skill_description": [
|
| 342 |
+
"place in"
|
| 343 |
+
],
|
| 344 |
+
"object_id": [
|
| 345 |
+
[
|
| 346 |
+
"half_apple_213",
|
| 347 |
+
"packing_box_210"
|
| 348 |
+
]
|
| 349 |
+
],
|
| 350 |
+
"manipulating_object_id": [
|
| 351 |
+
"half_apple_213"
|
| 352 |
+
],
|
| 353 |
+
"spatial_prefix": [],
|
| 354 |
+
"frame_duration": [
|
| 355 |
+
2136,
|
| 356 |
+
2304
|
| 357 |
+
],
|
| 358 |
+
"mp_ef": [],
|
| 359 |
+
"skill_type": [
|
| 360 |
+
"uncoordinated"
|
| 361 |
+
]
|
| 362 |
+
},
|
| 363 |
+
{
|
| 364 |
+
"skill_idx": 13,
|
| 365 |
+
"skill_id": [
|
| 366 |
+
2
|
| 367 |
+
],
|
| 368 |
+
"skill_description": [
|
| 369 |
+
"pick up from"
|
| 370 |
+
],
|
| 371 |
+
"object_id": [
|
| 372 |
+
[
|
| 373 |
+
"club_sandwich_209",
|
| 374 |
+
"chopping_board_211"
|
| 375 |
+
]
|
| 376 |
+
],
|
| 377 |
+
"manipulating_object_id": [
|
| 378 |
+
"club_sandwich_209"
|
| 379 |
+
],
|
| 380 |
+
"spatial_prefix": [],
|
| 381 |
+
"frame_duration": [
|
| 382 |
+
2304,
|
| 383 |
+
2673
|
| 384 |
+
],
|
| 385 |
+
"mp_ef": [],
|
| 386 |
+
"skill_type": [
|
| 387 |
+
"coordinated"
|
| 388 |
+
]
|
| 389 |
+
},
|
| 390 |
+
{
|
| 391 |
+
"skill_idx": 14,
|
| 392 |
+
"skill_id": [
|
| 393 |
+
4
|
| 394 |
+
],
|
| 395 |
+
"skill_description": [
|
| 396 |
+
"place in"
|
| 397 |
+
],
|
| 398 |
+
"object_id": [
|
| 399 |
+
[
|
| 400 |
+
"club_sandwich_209",
|
| 401 |
+
"packing_box_210"
|
| 402 |
+
]
|
| 403 |
+
],
|
| 404 |
+
"manipulating_object_id": [
|
| 405 |
+
"club_sandwich_209"
|
| 406 |
+
],
|
| 407 |
+
"spatial_prefix": [],
|
| 408 |
+
"frame_duration": [
|
| 409 |
+
2673,
|
| 410 |
+
2835
|
| 411 |
+
],
|
| 412 |
+
"mp_ef": [],
|
| 413 |
+
"skill_type": [
|
| 414 |
+
"uncoordinated"
|
| 415 |
+
]
|
| 416 |
+
},
|
| 417 |
+
{
|
| 418 |
+
"skill_idx": 15,
|
| 419 |
+
"skill_id": [
|
| 420 |
+
1
|
| 421 |
+
],
|
| 422 |
+
"skill_description": [
|
| 423 |
+
"move to"
|
| 424 |
+
],
|
| 425 |
+
"object_id": [
|
| 426 |
+
[
|
| 427 |
+
"fridge_dszchb_0"
|
| 428 |
+
]
|
| 429 |
+
],
|
| 430 |
+
"manipulating_object_id": [],
|
| 431 |
+
"spatial_prefix": [],
|
| 432 |
+
"frame_duration": [
|
| 433 |
+
2835,
|
| 434 |
+
3510
|
| 435 |
+
],
|
| 436 |
+
"mp_ef": [],
|
| 437 |
+
"skill_type": [
|
| 438 |
+
"navigation"
|
| 439 |
+
]
|
| 440 |
+
},
|
| 441 |
+
{
|
| 442 |
+
"skill_idx": 16,
|
| 443 |
+
"skill_id": [
|
| 444 |
+
10
|
| 445 |
+
],
|
| 446 |
+
"skill_description": [
|
| 447 |
+
"open door"
|
| 448 |
+
],
|
| 449 |
+
"object_id": [
|
| 450 |
+
[
|
| 451 |
+
"fridge_dszchb_0"
|
| 452 |
+
]
|
| 453 |
+
],
|
| 454 |
+
"manipulating_object_id": [],
|
| 455 |
+
"spatial_prefix": [],
|
| 456 |
+
"frame_duration": [
|
| 457 |
+
3510,
|
| 458 |
+
4090
|
| 459 |
+
],
|
| 460 |
+
"mp_ef": [],
|
| 461 |
+
"skill_type": [
|
| 462 |
+
"coordinated"
|
| 463 |
+
]
|
| 464 |
+
},
|
| 465 |
+
{
|
| 466 |
+
"skill_idx": 17,
|
| 467 |
+
"skill_id": [
|
| 468 |
+
2
|
| 469 |
+
],
|
| 470 |
+
"skill_description": [
|
| 471 |
+
"pick up from"
|
| 472 |
+
],
|
| 473 |
+
"object_id": [
|
| 474 |
+
[
|
| 475 |
+
"bottle_of_tea_208",
|
| 476 |
+
"fridge_dszchb_0"
|
| 477 |
+
]
|
| 478 |
+
],
|
| 479 |
+
"manipulating_object_id": [
|
| 480 |
+
"bottle_of_tea_208"
|
| 481 |
+
],
|
| 482 |
+
"spatial_prefix": [
|
| 483 |
+
[
|
| 484 |
+
"",
|
| 485 |
+
"low_level"
|
| 486 |
+
]
|
| 487 |
+
],
|
| 488 |
+
"frame_duration": [
|
| 489 |
+
4090,
|
| 490 |
+
4662
|
| 491 |
+
],
|
| 492 |
+
"mp_ef": [],
|
| 493 |
+
"skill_type": [
|
| 494 |
+
"uncoordinated"
|
| 495 |
+
]
|
| 496 |
+
},
|
| 497 |
+
{
|
| 498 |
+
"skill_idx": 18,
|
| 499 |
+
"skill_id": [
|
| 500 |
+
12
|
| 501 |
+
],
|
| 502 |
+
"skill_description": [
|
| 503 |
+
"close door"
|
| 504 |
+
],
|
| 505 |
+
"object_id": [
|
| 506 |
+
[
|
| 507 |
+
"fridge_dszchb_0"
|
| 508 |
+
]
|
| 509 |
+
],
|
| 510 |
+
"manipulating_object_id": [],
|
| 511 |
+
"spatial_prefix": [],
|
| 512 |
+
"frame_duration": [
|
| 513 |
+
4662,
|
| 514 |
+
4869
|
| 515 |
+
],
|
| 516 |
+
"mp_ef": [],
|
| 517 |
+
"skill_type": [
|
| 518 |
+
"uncoordinated"
|
| 519 |
+
]
|
| 520 |
+
},
|
| 521 |
+
{
|
| 522 |
+
"skill_idx": 19,
|
| 523 |
+
"skill_id": [
|
| 524 |
+
1
|
| 525 |
+
],
|
| 526 |
+
"skill_description": [
|
| 527 |
+
"move to"
|
| 528 |
+
],
|
| 529 |
+
"object_id": [
|
| 530 |
+
[
|
| 531 |
+
"packing_box_210"
|
| 532 |
+
]
|
| 533 |
+
],
|
| 534 |
+
"manipulating_object_id": [],
|
| 535 |
+
"spatial_prefix": [],
|
| 536 |
+
"frame_duration": [
|
| 537 |
+
4869,
|
| 538 |
+
5388
|
| 539 |
+
],
|
| 540 |
+
"mp_ef": [],
|
| 541 |
+
"skill_type": [
|
| 542 |
+
"navigation"
|
| 543 |
+
]
|
| 544 |
+
},
|
| 545 |
+
{
|
| 546 |
+
"skill_idx": 20,
|
| 547 |
+
"skill_id": [
|
| 548 |
+
4
|
| 549 |
+
],
|
| 550 |
+
"skill_description": [
|
| 551 |
+
"place in"
|
| 552 |
+
],
|
| 553 |
+
"object_id": [
|
| 554 |
+
[
|
| 555 |
+
"bottle_of_tea_208",
|
| 556 |
+
"packing_box_210"
|
| 557 |
+
]
|
| 558 |
+
],
|
| 559 |
+
"manipulating_object_id": [
|
| 560 |
+
"bottle_of_tea_208"
|
| 561 |
+
],
|
| 562 |
+
"spatial_prefix": [],
|
| 563 |
+
"frame_duration": [
|
| 564 |
+
5388,
|
| 565 |
+
5610
|
| 566 |
+
],
|
| 567 |
+
"mp_ef": [],
|
| 568 |
+
"skill_type": [
|
| 569 |
+
"uncoordinated"
|
| 570 |
+
]
|
| 571 |
+
}
|
| 572 |
+
],
|
| 573 |
+
"primitive_annotation": [
|
| 574 |
+
{
|
| 575 |
+
"primitive_idx": 0,
|
| 576 |
+
"primitive_id": [
|
| 577 |
+
2,
|
| 578 |
+
91
|
| 579 |
+
],
|
| 580 |
+
"primitive_description": [
|
| 581 |
+
"pick up from",
|
| 582 |
+
"place on next to"
|
| 583 |
+
],
|
| 584 |
+
"object_id": [
|
| 585 |
+
[
|
| 586 |
+
"packing_box_210",
|
| 587 |
+
"countertop_kelker_0"
|
| 588 |
+
],
|
| 589 |
+
[
|
| 590 |
+
"packing_box_210",
|
| 591 |
+
"countertop_kelker_0",
|
| 592 |
+
"chopping_board_211"
|
| 593 |
+
]
|
| 594 |
+
],
|
| 595 |
+
"manipulating_object_id": [
|
| 596 |
+
"packing_box_210",
|
| 597 |
+
"packing_box_210"
|
| 598 |
+
],
|
| 599 |
+
"spatial_prefix": [
|
| 600 |
+
[],
|
| 601 |
+
[
|
| 602 |
+
[],
|
| 603 |
+
[],
|
| 604 |
+
[
|
| 605 |
+
"left"
|
| 606 |
+
]
|
| 607 |
+
]
|
| 608 |
+
],
|
| 609 |
+
"frame_duration": [
|
| 610 |
+
0,
|
| 611 |
+
733
|
| 612 |
+
],
|
| 613 |
+
"skill_idxes": [
|
| 614 |
+
0,
|
| 615 |
+
1,
|
| 616 |
+
2,
|
| 617 |
+
3
|
| 618 |
+
]
|
| 619 |
+
},
|
| 620 |
+
{
|
| 621 |
+
"primitive_idx": 1,
|
| 622 |
+
"primitive_id": [
|
| 623 |
+
2,
|
| 624 |
+
4
|
| 625 |
+
],
|
| 626 |
+
"primitive_description": [
|
| 627 |
+
"pick up from",
|
| 628 |
+
"place in"
|
| 629 |
+
],
|
| 630 |
+
"object_id": [
|
| 631 |
+
[
|
| 632 |
+
"chocolate_chip_cookie_207",
|
| 633 |
+
"chopping_board_211"
|
| 634 |
+
],
|
| 635 |
+
[
|
| 636 |
+
"chocolate_chip_cookie_207",
|
| 637 |
+
"packing_box_210"
|
| 638 |
+
]
|
| 639 |
+
],
|
| 640 |
+
"manipulating_object_id": [
|
| 641 |
+
"chocolate_chip_cookie_207",
|
| 642 |
+
"chocolate_chip_cookie_207"
|
| 643 |
+
],
|
| 644 |
+
"spatial_prefix": [],
|
| 645 |
+
"frame_duration": [
|
| 646 |
+
734,
|
| 647 |
+
1446
|
| 648 |
+
],
|
| 649 |
+
"skill_idxes": [
|
| 650 |
+
4,
|
| 651 |
+
5,
|
| 652 |
+
6
|
| 653 |
+
]
|
| 654 |
+
},
|
| 655 |
+
{
|
| 656 |
+
"primitive_idx": 2,
|
| 657 |
+
"primitive_id": [
|
| 658 |
+
2,
|
| 659 |
+
4
|
| 660 |
+
],
|
| 661 |
+
"primitive_description": [
|
| 662 |
+
"pick up from",
|
| 663 |
+
"place in"
|
| 664 |
+
],
|
| 665 |
+
"object_id": [
|
| 666 |
+
[
|
| 667 |
+
[
|
| 668 |
+
"half_apple_213",
|
| 669 |
+
"half_apple_212"
|
| 670 |
+
],
|
| 671 |
+
"chopping_board_211"
|
| 672 |
+
],
|
| 673 |
+
[
|
| 674 |
+
[
|
| 675 |
+
"half_apple_212",
|
| 676 |
+
"half_apple_213"
|
| 677 |
+
],
|
| 678 |
+
"packing_box_210"
|
| 679 |
+
]
|
| 680 |
+
],
|
| 681 |
+
"manipulating_object_id": [
|
| 682 |
+
[
|
| 683 |
+
"half_apple_213",
|
| 684 |
+
"half_apple_212"
|
| 685 |
+
],
|
| 686 |
+
[
|
| 687 |
+
"half_apple_212",
|
| 688 |
+
"half_apple_213"
|
| 689 |
+
]
|
| 690 |
+
],
|
| 691 |
+
"spatial_prefix": [],
|
| 692 |
+
"frame_duration": [
|
| 693 |
+
1446,
|
| 694 |
+
2304
|
| 695 |
+
],
|
| 696 |
+
"skill_idxes": [
|
| 697 |
+
7,
|
| 698 |
+
8,
|
| 699 |
+
9,
|
| 700 |
+
10,
|
| 701 |
+
11,
|
| 702 |
+
12
|
| 703 |
+
]
|
| 704 |
+
},
|
| 705 |
+
{
|
| 706 |
+
"primitive_idx": 3,
|
| 707 |
+
"primitive_id": [
|
| 708 |
+
2,
|
| 709 |
+
4
|
| 710 |
+
],
|
| 711 |
+
"primitive_description": [
|
| 712 |
+
"pick up from",
|
| 713 |
+
"place in"
|
| 714 |
+
],
|
| 715 |
+
"object_id": [
|
| 716 |
+
[
|
| 717 |
+
"club_sandwich_209",
|
| 718 |
+
"chopping_board_211"
|
| 719 |
+
],
|
| 720 |
+
[
|
| 721 |
+
"club_sandwich_209",
|
| 722 |
+
"packing_box_210"
|
| 723 |
+
]
|
| 724 |
+
],
|
| 725 |
+
"manipulating_object_id": [
|
| 726 |
+
"club_sandwich_209",
|
| 727 |
+
"club_sandwich_209"
|
| 728 |
+
],
|
| 729 |
+
"spatial_prefix": [],
|
| 730 |
+
"frame_duration": [
|
| 731 |
+
2304,
|
| 732 |
+
2835
|
| 733 |
+
],
|
| 734 |
+
"skill_idxes": [
|
| 735 |
+
13,
|
| 736 |
+
14
|
| 737 |
+
]
|
| 738 |
+
},
|
| 739 |
+
{
|
| 740 |
+
"primitive_idx": 4,
|
| 741 |
+
"primitive_id": [],
|
| 742 |
+
"primitive_description": [],
|
| 743 |
+
"object_id": [],
|
| 744 |
+
"manipulating_object_id": [],
|
| 745 |
+
"spatial_prefix": [],
|
| 746 |
+
"frame_duration": [
|
| 747 |
+
2835,
|
| 748 |
+
5388
|
| 749 |
+
],
|
| 750 |
+
"skill_idxes": [
|
| 751 |
+
15,
|
| 752 |
+
16,
|
| 753 |
+
19
|
| 754 |
+
]
|
| 755 |
+
},
|
| 756 |
+
{
|
| 757 |
+
"primitive_idx": 5,
|
| 758 |
+
"primitive_id": [
|
| 759 |
+
2
|
| 760 |
+
],
|
| 761 |
+
"primitive_description": [
|
| 762 |
+
"pick up from"
|
| 763 |
+
],
|
| 764 |
+
"object_id": [
|
| 765 |
+
[
|
| 766 |
+
"bottle_of_tea_208",
|
| 767 |
+
"fridge_dszchb_0"
|
| 768 |
+
]
|
| 769 |
+
],
|
| 770 |
+
"manipulating_object_id": [
|
| 771 |
+
"bottle_of_tea_208"
|
| 772 |
+
],
|
| 773 |
+
"spatial_prefix": [
|
| 774 |
+
[
|
| 775 |
+
[],
|
| 776 |
+
[
|
| 777 |
+
"low_level"
|
| 778 |
+
]
|
| 779 |
+
]
|
| 780 |
+
],
|
| 781 |
+
"frame_duration": [
|
| 782 |
+
4090,
|
| 783 |
+
4662
|
| 784 |
+
],
|
| 785 |
+
"skill_idxes": [
|
| 786 |
+
17
|
| 787 |
+
]
|
| 788 |
+
},
|
| 789 |
+
{
|
| 790 |
+
"primitive_idx": 6,
|
| 791 |
+
"primitive_id": [
|
| 792 |
+
12
|
| 793 |
+
],
|
| 794 |
+
"primitive_description": [
|
| 795 |
+
"close door"
|
| 796 |
+
],
|
| 797 |
+
"object_id": [
|
| 798 |
+
[
|
| 799 |
+
"fridge_dszchb_0"
|
| 800 |
+
]
|
| 801 |
+
],
|
| 802 |
+
"manipulating_object_id": [],
|
| 803 |
+
"spatial_prefix": [],
|
| 804 |
+
"frame_duration": [
|
| 805 |
+
4662,
|
| 806 |
+
4869
|
| 807 |
+
],
|
| 808 |
+
"skill_idxes": [
|
| 809 |
+
18
|
| 810 |
+
]
|
| 811 |
+
},
|
| 812 |
+
{
|
| 813 |
+
"primitive_idx": 7,
|
| 814 |
+
"primitive_id": [
|
| 815 |
+
4
|
| 816 |
+
],
|
| 817 |
+
"primitive_description": [
|
| 818 |
+
"place in"
|
| 819 |
+
],
|
| 820 |
+
"object_id": [
|
| 821 |
+
[
|
| 822 |
+
"bottle_of_tea_208",
|
| 823 |
+
"packing_box_210"
|
| 824 |
+
]
|
| 825 |
+
],
|
| 826 |
+
"manipulating_object_id": [
|
| 827 |
+
"bottle_of_tea_208"
|
| 828 |
+
],
|
| 829 |
+
"spatial_prefix": [],
|
| 830 |
+
"frame_duration": [
|
| 831 |
+
5388,
|
| 832 |
+
5610
|
| 833 |
+
],
|
| 834 |
+
"skill_idxes": [
|
| 835 |
+
20
|
| 836 |
+
]
|
| 837 |
+
}
|
| 838 |
+
]
|
| 839 |
+
}
|
annotations/episode_00000202.json
ADDED
|
@@ -0,0 +1,681 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6603,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
6603
|
| 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 |
+
"chocolate_chip_cookie_207"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
302
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
90
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"push to"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"chocolate_chip_cookie_207",
|
| 47 |
+
"chopping_board_211"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"chocolate_chip_cookie_207"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [
|
| 54 |
+
[
|
| 55 |
+
"",
|
| 56 |
+
"to_the_edge_of"
|
| 57 |
+
]
|
| 58 |
+
],
|
| 59 |
+
"frame_duration": [
|
| 60 |
+
302,
|
| 61 |
+
735
|
| 62 |
+
],
|
| 63 |
+
"mp_ef": [],
|
| 64 |
+
"skill_type": [
|
| 65 |
+
"uncoordinated"
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"skill_idx": 2,
|
| 70 |
+
"skill_id": [
|
| 71 |
+
2
|
| 72 |
+
],
|
| 73 |
+
"skill_description": [
|
| 74 |
+
"pick up from"
|
| 75 |
+
],
|
| 76 |
+
"object_id": [
|
| 77 |
+
[
|
| 78 |
+
"chocolate_chip_cookie_207",
|
| 79 |
+
"chopping_board_211"
|
| 80 |
+
]
|
| 81 |
+
],
|
| 82 |
+
"manipulating_object_id": [
|
| 83 |
+
"chocolate_chip_cookie_207"
|
| 84 |
+
],
|
| 85 |
+
"spatial_prefix": [],
|
| 86 |
+
"frame_duration": [
|
| 87 |
+
735,
|
| 88 |
+
1003
|
| 89 |
+
],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": [
|
| 92 |
+
"uncoordinated"
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
{
|
| 96 |
+
"skill_idx": 3,
|
| 97 |
+
"skill_id": [
|
| 98 |
+
1
|
| 99 |
+
],
|
| 100 |
+
"skill_description": [
|
| 101 |
+
"move to"
|
| 102 |
+
],
|
| 103 |
+
"object_id": [
|
| 104 |
+
[
|
| 105 |
+
"packing_box_210"
|
| 106 |
+
]
|
| 107 |
+
],
|
| 108 |
+
"manipulating_object_id": [],
|
| 109 |
+
"spatial_prefix": [],
|
| 110 |
+
"frame_duration": [
|
| 111 |
+
1003,
|
| 112 |
+
1060
|
| 113 |
+
],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"navigation"
|
| 117 |
+
]
|
| 118 |
+
},
|
| 119 |
+
{
|
| 120 |
+
"skill_idx": 4,
|
| 121 |
+
"skill_id": [
|
| 122 |
+
4
|
| 123 |
+
],
|
| 124 |
+
"skill_description": [
|
| 125 |
+
"place in"
|
| 126 |
+
],
|
| 127 |
+
"object_id": [
|
| 128 |
+
[
|
| 129 |
+
"chocolate_chip_cookie_207",
|
| 130 |
+
"packing_box_210"
|
| 131 |
+
]
|
| 132 |
+
],
|
| 133 |
+
"manipulating_object_id": [
|
| 134 |
+
"chocolate_chip_cookie_207"
|
| 135 |
+
],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [
|
| 138 |
+
1060,
|
| 139 |
+
1291
|
| 140 |
+
],
|
| 141 |
+
"mp_ef": [],
|
| 142 |
+
"skill_type": [
|
| 143 |
+
"uncoordinated"
|
| 144 |
+
]
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"skill_idx": 5,
|
| 148 |
+
"skill_id": [
|
| 149 |
+
2
|
| 150 |
+
],
|
| 151 |
+
"skill_description": [
|
| 152 |
+
"pick up from"
|
| 153 |
+
],
|
| 154 |
+
"object_id": [
|
| 155 |
+
[
|
| 156 |
+
"half_apple_213",
|
| 157 |
+
"chopping_board_211"
|
| 158 |
+
]
|
| 159 |
+
],
|
| 160 |
+
"manipulating_object_id": [
|
| 161 |
+
"half_apple_213"
|
| 162 |
+
],
|
| 163 |
+
"spatial_prefix": [],
|
| 164 |
+
"frame_duration": [
|
| 165 |
+
1291,
|
| 166 |
+
1607
|
| 167 |
+
],
|
| 168 |
+
"mp_ef": [],
|
| 169 |
+
"skill_type": [
|
| 170 |
+
"uncoordinated"
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"skill_idx": 6,
|
| 175 |
+
"skill_id": [
|
| 176 |
+
2
|
| 177 |
+
],
|
| 178 |
+
"skill_description": [
|
| 179 |
+
"pick up from"
|
| 180 |
+
],
|
| 181 |
+
"object_id": [
|
| 182 |
+
[
|
| 183 |
+
"half_apple_212",
|
| 184 |
+
"chopping_board_211"
|
| 185 |
+
]
|
| 186 |
+
],
|
| 187 |
+
"manipulating_object_id": [
|
| 188 |
+
"half_apple_212"
|
| 189 |
+
],
|
| 190 |
+
"spatial_prefix": [],
|
| 191 |
+
"frame_duration": [
|
| 192 |
+
1607,
|
| 193 |
+
1891
|
| 194 |
+
],
|
| 195 |
+
"mp_ef": [],
|
| 196 |
+
"skill_type": [
|
| 197 |
+
"uncoordinated"
|
| 198 |
+
]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"skill_idx": 7,
|
| 202 |
+
"skill_id": [
|
| 203 |
+
4
|
| 204 |
+
],
|
| 205 |
+
"skill_description": [
|
| 206 |
+
"place in"
|
| 207 |
+
],
|
| 208 |
+
"object_id": [
|
| 209 |
+
[
|
| 210 |
+
"half_apple_213",
|
| 211 |
+
"packing_box_210"
|
| 212 |
+
]
|
| 213 |
+
],
|
| 214 |
+
"manipulating_object_id": [
|
| 215 |
+
"half_apple_213"
|
| 216 |
+
],
|
| 217 |
+
"spatial_prefix": [],
|
| 218 |
+
"frame_duration": [
|
| 219 |
+
1891,
|
| 220 |
+
2018
|
| 221 |
+
],
|
| 222 |
+
"mp_ef": [],
|
| 223 |
+
"skill_type": [
|
| 224 |
+
"uncoordinated"
|
| 225 |
+
]
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"skill_idx": 8,
|
| 229 |
+
"skill_id": [
|
| 230 |
+
4
|
| 231 |
+
],
|
| 232 |
+
"skill_description": [
|
| 233 |
+
"place in"
|
| 234 |
+
],
|
| 235 |
+
"object_id": [
|
| 236 |
+
[
|
| 237 |
+
"half_apple_212",
|
| 238 |
+
"packing_box_210"
|
| 239 |
+
]
|
| 240 |
+
],
|
| 241 |
+
"manipulating_object_id": [
|
| 242 |
+
"half_apple_212"
|
| 243 |
+
],
|
| 244 |
+
"spatial_prefix": [],
|
| 245 |
+
"frame_duration": [
|
| 246 |
+
2018,
|
| 247 |
+
2296
|
| 248 |
+
],
|
| 249 |
+
"mp_ef": [],
|
| 250 |
+
"skill_type": [
|
| 251 |
+
"uncoordinated"
|
| 252 |
+
]
|
| 253 |
+
},
|
| 254 |
+
{
|
| 255 |
+
"skill_idx": 9,
|
| 256 |
+
"skill_id": [
|
| 257 |
+
1
|
| 258 |
+
],
|
| 259 |
+
"skill_description": [
|
| 260 |
+
"move to"
|
| 261 |
+
],
|
| 262 |
+
"object_id": [
|
| 263 |
+
[
|
| 264 |
+
"club_sandwich_209"
|
| 265 |
+
]
|
| 266 |
+
],
|
| 267 |
+
"manipulating_object_id": [],
|
| 268 |
+
"spatial_prefix": [],
|
| 269 |
+
"frame_duration": [
|
| 270 |
+
2296,
|
| 271 |
+
2378
|
| 272 |
+
],
|
| 273 |
+
"mp_ef": [],
|
| 274 |
+
"skill_type": [
|
| 275 |
+
"navigation"
|
| 276 |
+
]
|
| 277 |
+
},
|
| 278 |
+
{
|
| 279 |
+
"skill_idx": 10,
|
| 280 |
+
"skill_id": [
|
| 281 |
+
2
|
| 282 |
+
],
|
| 283 |
+
"skill_description": [
|
| 284 |
+
"pick up from"
|
| 285 |
+
],
|
| 286 |
+
"object_id": [
|
| 287 |
+
[
|
| 288 |
+
"club_sandwich_209",
|
| 289 |
+
"chopping_board_211"
|
| 290 |
+
]
|
| 291 |
+
],
|
| 292 |
+
"manipulating_object_id": [
|
| 293 |
+
"club_sandwich_209"
|
| 294 |
+
],
|
| 295 |
+
"spatial_prefix": [],
|
| 296 |
+
"frame_duration": [
|
| 297 |
+
2378,
|
| 298 |
+
2898
|
| 299 |
+
],
|
| 300 |
+
"mp_ef": [],
|
| 301 |
+
"skill_type": [
|
| 302 |
+
"uncoordinated"
|
| 303 |
+
]
|
| 304 |
+
},
|
| 305 |
+
{
|
| 306 |
+
"skill_idx": 11,
|
| 307 |
+
"skill_id": [
|
| 308 |
+
1
|
| 309 |
+
],
|
| 310 |
+
"skill_description": [
|
| 311 |
+
"move to"
|
| 312 |
+
],
|
| 313 |
+
"object_id": [
|
| 314 |
+
[
|
| 315 |
+
"packing_box_210"
|
| 316 |
+
]
|
| 317 |
+
],
|
| 318 |
+
"manipulating_object_id": [],
|
| 319 |
+
"spatial_prefix": [],
|
| 320 |
+
"frame_duration": [
|
| 321 |
+
2898,
|
| 322 |
+
3016
|
| 323 |
+
],
|
| 324 |
+
"mp_ef": [],
|
| 325 |
+
"skill_type": [
|
| 326 |
+
"navigation"
|
| 327 |
+
]
|
| 328 |
+
},
|
| 329 |
+
{
|
| 330 |
+
"skill_idx": 12,
|
| 331 |
+
"skill_id": [
|
| 332 |
+
4
|
| 333 |
+
],
|
| 334 |
+
"skill_description": [
|
| 335 |
+
"place in"
|
| 336 |
+
],
|
| 337 |
+
"object_id": [
|
| 338 |
+
[
|
| 339 |
+
"club_sandwich_209",
|
| 340 |
+
"packing_box_210"
|
| 341 |
+
]
|
| 342 |
+
],
|
| 343 |
+
"manipulating_object_id": [
|
| 344 |
+
"club_sandwich_209"
|
| 345 |
+
],
|
| 346 |
+
"spatial_prefix": [],
|
| 347 |
+
"frame_duration": [
|
| 348 |
+
3016,
|
| 349 |
+
3276
|
| 350 |
+
],
|
| 351 |
+
"mp_ef": [],
|
| 352 |
+
"skill_type": [
|
| 353 |
+
"uncoordinated"
|
| 354 |
+
]
|
| 355 |
+
},
|
| 356 |
+
{
|
| 357 |
+
"skill_idx": 13,
|
| 358 |
+
"skill_id": [
|
| 359 |
+
1
|
| 360 |
+
],
|
| 361 |
+
"skill_description": [
|
| 362 |
+
"move to"
|
| 363 |
+
],
|
| 364 |
+
"object_id": [
|
| 365 |
+
[
|
| 366 |
+
"fridge_dszchb_0"
|
| 367 |
+
]
|
| 368 |
+
],
|
| 369 |
+
"manipulating_object_id": [],
|
| 370 |
+
"spatial_prefix": [],
|
| 371 |
+
"frame_duration": [
|
| 372 |
+
3276,
|
| 373 |
+
4041
|
| 374 |
+
],
|
| 375 |
+
"mp_ef": [],
|
| 376 |
+
"skill_type": [
|
| 377 |
+
"navigation"
|
| 378 |
+
]
|
| 379 |
+
},
|
| 380 |
+
{
|
| 381 |
+
"skill_idx": 14,
|
| 382 |
+
"skill_id": [
|
| 383 |
+
10
|
| 384 |
+
],
|
| 385 |
+
"skill_description": [
|
| 386 |
+
"open door"
|
| 387 |
+
],
|
| 388 |
+
"object_id": [
|
| 389 |
+
[
|
| 390 |
+
"fridge_dszchb_0"
|
| 391 |
+
]
|
| 392 |
+
],
|
| 393 |
+
"manipulating_object_id": [],
|
| 394 |
+
"spatial_prefix": [],
|
| 395 |
+
"frame_duration": [
|
| 396 |
+
4041,
|
| 397 |
+
4962
|
| 398 |
+
],
|
| 399 |
+
"mp_ef": [],
|
| 400 |
+
"skill_type": [
|
| 401 |
+
"coordinated"
|
| 402 |
+
]
|
| 403 |
+
},
|
| 404 |
+
{
|
| 405 |
+
"skill_idx": 15,
|
| 406 |
+
"skill_id": [
|
| 407 |
+
2
|
| 408 |
+
],
|
| 409 |
+
"skill_description": [
|
| 410 |
+
"pick up from"
|
| 411 |
+
],
|
| 412 |
+
"object_id": [
|
| 413 |
+
[
|
| 414 |
+
"bottle_of_tea_208",
|
| 415 |
+
"fridge_dszchb_0"
|
| 416 |
+
]
|
| 417 |
+
],
|
| 418 |
+
"manipulating_object_id": [
|
| 419 |
+
"bottle_of_tea_208"
|
| 420 |
+
],
|
| 421 |
+
"spatial_prefix": [
|
| 422 |
+
[
|
| 423 |
+
"",
|
| 424 |
+
"low_level"
|
| 425 |
+
]
|
| 426 |
+
],
|
| 427 |
+
"frame_duration": [
|
| 428 |
+
4962,
|
| 429 |
+
5469
|
| 430 |
+
],
|
| 431 |
+
"mp_ef": [],
|
| 432 |
+
"skill_type": [
|
| 433 |
+
"uncoordinated"
|
| 434 |
+
]
|
| 435 |
+
},
|
| 436 |
+
{
|
| 437 |
+
"skill_idx": 16,
|
| 438 |
+
"skill_id": [
|
| 439 |
+
12
|
| 440 |
+
],
|
| 441 |
+
"skill_description": [
|
| 442 |
+
"close door"
|
| 443 |
+
],
|
| 444 |
+
"object_id": [
|
| 445 |
+
[
|
| 446 |
+
"fridge_dszchb_0"
|
| 447 |
+
]
|
| 448 |
+
],
|
| 449 |
+
"manipulating_object_id": [],
|
| 450 |
+
"spatial_prefix": [],
|
| 451 |
+
"frame_duration": [
|
| 452 |
+
5469,
|
| 453 |
+
5849
|
| 454 |
+
],
|
| 455 |
+
"mp_ef": [],
|
| 456 |
+
"skill_type": [
|
| 457 |
+
"uncoordinated"
|
| 458 |
+
]
|
| 459 |
+
},
|
| 460 |
+
{
|
| 461 |
+
"skill_idx": 17,
|
| 462 |
+
"skill_id": [
|
| 463 |
+
1
|
| 464 |
+
],
|
| 465 |
+
"skill_description": [
|
| 466 |
+
"move to"
|
| 467 |
+
],
|
| 468 |
+
"object_id": [
|
| 469 |
+
[
|
| 470 |
+
"packing_box_210"
|
| 471 |
+
]
|
| 472 |
+
],
|
| 473 |
+
"manipulating_object_id": [],
|
| 474 |
+
"spatial_prefix": [],
|
| 475 |
+
"frame_duration": [
|
| 476 |
+
5849,
|
| 477 |
+
6135
|
| 478 |
+
],
|
| 479 |
+
"mp_ef": [],
|
| 480 |
+
"skill_type": [
|
| 481 |
+
"navigation"
|
| 482 |
+
]
|
| 483 |
+
},
|
| 484 |
+
{
|
| 485 |
+
"skill_idx": 18,
|
| 486 |
+
"skill_id": [
|
| 487 |
+
4
|
| 488 |
+
],
|
| 489 |
+
"skill_description": [
|
| 490 |
+
"place in"
|
| 491 |
+
],
|
| 492 |
+
"object_id": [
|
| 493 |
+
[
|
| 494 |
+
"bottle_of_tea_208",
|
| 495 |
+
"packing_box_210"
|
| 496 |
+
]
|
| 497 |
+
],
|
| 498 |
+
"manipulating_object_id": [
|
| 499 |
+
"bottle_of_tea_208"
|
| 500 |
+
],
|
| 501 |
+
"spatial_prefix": [],
|
| 502 |
+
"frame_duration": [
|
| 503 |
+
6135,
|
| 504 |
+
6603
|
| 505 |
+
],
|
| 506 |
+
"mp_ef": [],
|
| 507 |
+
"skill_type": [
|
| 508 |
+
"uncoordinated"
|
| 509 |
+
]
|
| 510 |
+
}
|
| 511 |
+
],
|
| 512 |
+
"primitive_annotation": [
|
| 513 |
+
{
|
| 514 |
+
"primitive_idx": 0,
|
| 515 |
+
"primitive_id": [
|
| 516 |
+
2,
|
| 517 |
+
4
|
| 518 |
+
],
|
| 519 |
+
"primitive_description": [
|
| 520 |
+
"pick up from",
|
| 521 |
+
"place in"
|
| 522 |
+
],
|
| 523 |
+
"object_id": [
|
| 524 |
+
[
|
| 525 |
+
"chocolate_chip_cookie_207",
|
| 526 |
+
"chopping_board_211"
|
| 527 |
+
],
|
| 528 |
+
[
|
| 529 |
+
"chocolate_chip_cookie_207",
|
| 530 |
+
"packing_box_210"
|
| 531 |
+
]
|
| 532 |
+
],
|
| 533 |
+
"manipulating_object_id": [
|
| 534 |
+
"chocolate_chip_cookie_207",
|
| 535 |
+
"chocolate_chip_cookie_207"
|
| 536 |
+
],
|
| 537 |
+
"spatial_prefix": [],
|
| 538 |
+
"frame_duration": [
|
| 539 |
+
0,
|
| 540 |
+
1291
|
| 541 |
+
],
|
| 542 |
+
"skill_idxes": [
|
| 543 |
+
0,
|
| 544 |
+
1,
|
| 545 |
+
2,
|
| 546 |
+
3,
|
| 547 |
+
4
|
| 548 |
+
]
|
| 549 |
+
},
|
| 550 |
+
{
|
| 551 |
+
"primitive_idx": 1,
|
| 552 |
+
"primitive_id": [
|
| 553 |
+
2,
|
| 554 |
+
4
|
| 555 |
+
],
|
| 556 |
+
"primitive_description": [
|
| 557 |
+
"pick up from",
|
| 558 |
+
"place in"
|
| 559 |
+
],
|
| 560 |
+
"object_id": [
|
| 561 |
+
[
|
| 562 |
+
[
|
| 563 |
+
"half_apple_213",
|
| 564 |
+
"half_apple_212"
|
| 565 |
+
],
|
| 566 |
+
"chopping_board_211"
|
| 567 |
+
],
|
| 568 |
+
[
|
| 569 |
+
[
|
| 570 |
+
"half_apple_213",
|
| 571 |
+
"half_apple_212"
|
| 572 |
+
],
|
| 573 |
+
"packing_box_210"
|
| 574 |
+
]
|
| 575 |
+
],
|
| 576 |
+
"manipulating_object_id": [
|
| 577 |
+
[
|
| 578 |
+
"half_apple_213",
|
| 579 |
+
"half_apple_212"
|
| 580 |
+
],
|
| 581 |
+
[
|
| 582 |
+
"half_apple_213",
|
| 583 |
+
"half_apple_212"
|
| 584 |
+
]
|
| 585 |
+
],
|
| 586 |
+
"spatial_prefix": [],
|
| 587 |
+
"frame_duration": [
|
| 588 |
+
1291,
|
| 589 |
+
2296
|
| 590 |
+
],
|
| 591 |
+
"skill_idxes": [
|
| 592 |
+
5,
|
| 593 |
+
6,
|
| 594 |
+
7,
|
| 595 |
+
8
|
| 596 |
+
]
|
| 597 |
+
},
|
| 598 |
+
{
|
| 599 |
+
"primitive_idx": 2,
|
| 600 |
+
"primitive_id": [
|
| 601 |
+
2,
|
| 602 |
+
4
|
| 603 |
+
],
|
| 604 |
+
"primitive_description": [
|
| 605 |
+
"pick up from",
|
| 606 |
+
"place in"
|
| 607 |
+
],
|
| 608 |
+
"object_id": [
|
| 609 |
+
[
|
| 610 |
+
"club_sandwich_209",
|
| 611 |
+
"chopping_board_211"
|
| 612 |
+
],
|
| 613 |
+
[
|
| 614 |
+
"club_sandwich_209",
|
| 615 |
+
"packing_box_210"
|
| 616 |
+
]
|
| 617 |
+
],
|
| 618 |
+
"manipulating_object_id": [
|
| 619 |
+
"club_sandwich_209",
|
| 620 |
+
"club_sandwich_209"
|
| 621 |
+
],
|
| 622 |
+
"spatial_prefix": [],
|
| 623 |
+
"frame_duration": [
|
| 624 |
+
2296,
|
| 625 |
+
3276
|
| 626 |
+
],
|
| 627 |
+
"skill_idxes": [
|
| 628 |
+
9,
|
| 629 |
+
10,
|
| 630 |
+
11,
|
| 631 |
+
12
|
| 632 |
+
]
|
| 633 |
+
},
|
| 634 |
+
{
|
| 635 |
+
"primitive_idx": 3,
|
| 636 |
+
"primitive_id": [
|
| 637 |
+
2,
|
| 638 |
+
4
|
| 639 |
+
],
|
| 640 |
+
"primitive_description": [
|
| 641 |
+
"pick up from",
|
| 642 |
+
"place in"
|
| 643 |
+
],
|
| 644 |
+
"object_id": [
|
| 645 |
+
[
|
| 646 |
+
"bottle_of_tea_208",
|
| 647 |
+
"fridge_dszchb_0"
|
| 648 |
+
],
|
| 649 |
+
[
|
| 650 |
+
"bottle_of_tea_208",
|
| 651 |
+
"packing_box_210"
|
| 652 |
+
]
|
| 653 |
+
],
|
| 654 |
+
"manipulating_object_id": [
|
| 655 |
+
"bottle_of_tea_208",
|
| 656 |
+
"bottle_of_tea_208"
|
| 657 |
+
],
|
| 658 |
+
"spatial_prefix": [
|
| 659 |
+
[
|
| 660 |
+
[],
|
| 661 |
+
[
|
| 662 |
+
"low_level"
|
| 663 |
+
]
|
| 664 |
+
],
|
| 665 |
+
[]
|
| 666 |
+
],
|
| 667 |
+
"frame_duration": [
|
| 668 |
+
3276,
|
| 669 |
+
6603
|
| 670 |
+
],
|
| 671 |
+
"skill_idxes": [
|
| 672 |
+
13,
|
| 673 |
+
14,
|
| 674 |
+
15,
|
| 675 |
+
16,
|
| 676 |
+
17,
|
| 677 |
+
18
|
| 678 |
+
]
|
| 679 |
+
}
|
| 680 |
+
]
|
| 681 |
+
}
|
annotations/episode_00000239.json
ADDED
|
@@ -0,0 +1,814 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6888,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
6888
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
324
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
324,
|
| 56 |
+
554
|
| 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 |
+
"chopping_board_211"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
557,
|
| 80 |
+
804
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
804,
|
| 114 |
+
907
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
90
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"push to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207",
|
| 132 |
+
"chopping_board_211"
|
| 133 |
+
]
|
| 134 |
+
],
|
| 135 |
+
"manipulating_object_id": [
|
| 136 |
+
"chocolate_chip_cookie_207"
|
| 137 |
+
],
|
| 138 |
+
"spatial_prefix": [
|
| 139 |
+
[
|
| 140 |
+
"",
|
| 141 |
+
"to_the_edge_of"
|
| 142 |
+
]
|
| 143 |
+
],
|
| 144 |
+
"frame_duration": [
|
| 145 |
+
907,
|
| 146 |
+
1291
|
| 147 |
+
],
|
| 148 |
+
"mp_ef": [],
|
| 149 |
+
"skill_type": [
|
| 150 |
+
"uncoordinated"
|
| 151 |
+
]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 5,
|
| 155 |
+
"skill_id": [
|
| 156 |
+
2
|
| 157 |
+
],
|
| 158 |
+
"skill_description": [
|
| 159 |
+
"pick up from"
|
| 160 |
+
],
|
| 161 |
+
"object_id": [
|
| 162 |
+
[
|
| 163 |
+
"chocolate_chip_cookie_207",
|
| 164 |
+
"chopping_board_211"
|
| 165 |
+
]
|
| 166 |
+
],
|
| 167 |
+
"manipulating_object_id": [
|
| 168 |
+
"chocolate_chip_cookie_207"
|
| 169 |
+
],
|
| 170 |
+
"spatial_prefix": [],
|
| 171 |
+
"frame_duration": [
|
| 172 |
+
1291,
|
| 173 |
+
1693
|
| 174 |
+
],
|
| 175 |
+
"mp_ef": [],
|
| 176 |
+
"skill_type": [
|
| 177 |
+
"uncoordinated"
|
| 178 |
+
]
|
| 179 |
+
},
|
| 180 |
+
{
|
| 181 |
+
"skill_idx": 6,
|
| 182 |
+
"skill_id": [
|
| 183 |
+
4
|
| 184 |
+
],
|
| 185 |
+
"skill_description": [
|
| 186 |
+
"place in"
|
| 187 |
+
],
|
| 188 |
+
"object_id": [
|
| 189 |
+
[
|
| 190 |
+
"chocolate_chip_cookie_207",
|
| 191 |
+
"packing_box_210"
|
| 192 |
+
]
|
| 193 |
+
],
|
| 194 |
+
"manipulating_object_id": [
|
| 195 |
+
"chocolate_chip_cookie_207"
|
| 196 |
+
],
|
| 197 |
+
"spatial_prefix": [],
|
| 198 |
+
"frame_duration": [
|
| 199 |
+
1693,
|
| 200 |
+
1933
|
| 201 |
+
],
|
| 202 |
+
"mp_ef": [],
|
| 203 |
+
"skill_type": [
|
| 204 |
+
"uncoordinated"
|
| 205 |
+
]
|
| 206 |
+
},
|
| 207 |
+
{
|
| 208 |
+
"skill_idx": 7,
|
| 209 |
+
"skill_id": [
|
| 210 |
+
2
|
| 211 |
+
],
|
| 212 |
+
"skill_description": [
|
| 213 |
+
"pick up from"
|
| 214 |
+
],
|
| 215 |
+
"object_id": [
|
| 216 |
+
[
|
| 217 |
+
"half_apple_212",
|
| 218 |
+
"chopping_board_211"
|
| 219 |
+
]
|
| 220 |
+
],
|
| 221 |
+
"manipulating_object_id": [
|
| 222 |
+
"half_apple_212"
|
| 223 |
+
],
|
| 224 |
+
"spatial_prefix": [],
|
| 225 |
+
"frame_duration": [
|
| 226 |
+
1933,
|
| 227 |
+
2253
|
| 228 |
+
],
|
| 229 |
+
"mp_ef": [],
|
| 230 |
+
"skill_type": [
|
| 231 |
+
"uncoordinated"
|
| 232 |
+
]
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"skill_idx": 8,
|
| 236 |
+
"skill_id": [
|
| 237 |
+
2
|
| 238 |
+
],
|
| 239 |
+
"skill_description": [
|
| 240 |
+
"pick up from"
|
| 241 |
+
],
|
| 242 |
+
"object_id": [
|
| 243 |
+
[
|
| 244 |
+
"half_apple_213",
|
| 245 |
+
"chopping_board_211"
|
| 246 |
+
]
|
| 247 |
+
],
|
| 248 |
+
"manipulating_object_id": [
|
| 249 |
+
"half_apple_213"
|
| 250 |
+
],
|
| 251 |
+
"spatial_prefix": [],
|
| 252 |
+
"frame_duration": [
|
| 253 |
+
2253,
|
| 254 |
+
2701
|
| 255 |
+
],
|
| 256 |
+
"mp_ef": [],
|
| 257 |
+
"skill_type": [
|
| 258 |
+
"uncoordinated"
|
| 259 |
+
]
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"skill_idx": 9,
|
| 263 |
+
"skill_id": [
|
| 264 |
+
4
|
| 265 |
+
],
|
| 266 |
+
"skill_description": [
|
| 267 |
+
"place in"
|
| 268 |
+
],
|
| 269 |
+
"object_id": [
|
| 270 |
+
[
|
| 271 |
+
"half_apple_213",
|
| 272 |
+
"packing_box_210"
|
| 273 |
+
]
|
| 274 |
+
],
|
| 275 |
+
"manipulating_object_id": [
|
| 276 |
+
"half_apple_213"
|
| 277 |
+
],
|
| 278 |
+
"spatial_prefix": [],
|
| 279 |
+
"frame_duration": [
|
| 280 |
+
2701,
|
| 281 |
+
2868
|
| 282 |
+
],
|
| 283 |
+
"mp_ef": [],
|
| 284 |
+
"skill_type": [
|
| 285 |
+
"uncoordinated"
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"skill_idx": 10,
|
| 290 |
+
"skill_id": [
|
| 291 |
+
4
|
| 292 |
+
],
|
| 293 |
+
"skill_description": [
|
| 294 |
+
"place in"
|
| 295 |
+
],
|
| 296 |
+
"object_id": [
|
| 297 |
+
[
|
| 298 |
+
"half_apple_212",
|
| 299 |
+
"packing_box_210"
|
| 300 |
+
]
|
| 301 |
+
],
|
| 302 |
+
"manipulating_object_id": [
|
| 303 |
+
"half_apple_212"
|
| 304 |
+
],
|
| 305 |
+
"spatial_prefix": [],
|
| 306 |
+
"frame_duration": [
|
| 307 |
+
2868,
|
| 308 |
+
3024
|
| 309 |
+
],
|
| 310 |
+
"mp_ef": [],
|
| 311 |
+
"skill_type": [
|
| 312 |
+
"uncoordinated"
|
| 313 |
+
]
|
| 314 |
+
},
|
| 315 |
+
{
|
| 316 |
+
"skill_idx": 11,
|
| 317 |
+
"skill_id": [
|
| 318 |
+
2
|
| 319 |
+
],
|
| 320 |
+
"skill_description": [
|
| 321 |
+
"pick up from"
|
| 322 |
+
],
|
| 323 |
+
"object_id": [
|
| 324 |
+
[
|
| 325 |
+
"club_sandwich_209",
|
| 326 |
+
"chopping_board_211"
|
| 327 |
+
]
|
| 328 |
+
],
|
| 329 |
+
"manipulating_object_id": [
|
| 330 |
+
"club_sandwich_209"
|
| 331 |
+
],
|
| 332 |
+
"spatial_prefix": [],
|
| 333 |
+
"frame_duration": [
|
| 334 |
+
3024,
|
| 335 |
+
3369
|
| 336 |
+
],
|
| 337 |
+
"mp_ef": [],
|
| 338 |
+
"skill_type": [
|
| 339 |
+
"uncoordinated"
|
| 340 |
+
]
|
| 341 |
+
},
|
| 342 |
+
{
|
| 343 |
+
"skill_idx": 12,
|
| 344 |
+
"skill_id": [
|
| 345 |
+
1
|
| 346 |
+
],
|
| 347 |
+
"skill_description": [
|
| 348 |
+
"move to"
|
| 349 |
+
],
|
| 350 |
+
"object_id": [
|
| 351 |
+
[
|
| 352 |
+
"packing_box_210"
|
| 353 |
+
]
|
| 354 |
+
],
|
| 355 |
+
"manipulating_object_id": [],
|
| 356 |
+
"spatial_prefix": [],
|
| 357 |
+
"frame_duration": [
|
| 358 |
+
3369,
|
| 359 |
+
3468
|
| 360 |
+
],
|
| 361 |
+
"mp_ef": [],
|
| 362 |
+
"skill_type": [
|
| 363 |
+
"navigation"
|
| 364 |
+
]
|
| 365 |
+
},
|
| 366 |
+
{
|
| 367 |
+
"skill_idx": 13,
|
| 368 |
+
"skill_id": [
|
| 369 |
+
4
|
| 370 |
+
],
|
| 371 |
+
"skill_description": [
|
| 372 |
+
"place in"
|
| 373 |
+
],
|
| 374 |
+
"object_id": [
|
| 375 |
+
[
|
| 376 |
+
"club_sandwich_209",
|
| 377 |
+
"packing_box_210"
|
| 378 |
+
]
|
| 379 |
+
],
|
| 380 |
+
"manipulating_object_id": [
|
| 381 |
+
"club_sandwich_209"
|
| 382 |
+
],
|
| 383 |
+
"spatial_prefix": [],
|
| 384 |
+
"frame_duration": [
|
| 385 |
+
3468,
|
| 386 |
+
3558
|
| 387 |
+
],
|
| 388 |
+
"mp_ef": [],
|
| 389 |
+
"skill_type": [
|
| 390 |
+
"uncoordinated"
|
| 391 |
+
]
|
| 392 |
+
},
|
| 393 |
+
{
|
| 394 |
+
"skill_idx": 14,
|
| 395 |
+
"skill_id": [
|
| 396 |
+
1
|
| 397 |
+
],
|
| 398 |
+
"skill_description": [
|
| 399 |
+
"move to"
|
| 400 |
+
],
|
| 401 |
+
"object_id": [
|
| 402 |
+
[
|
| 403 |
+
"fridge_dszchb_0"
|
| 404 |
+
]
|
| 405 |
+
],
|
| 406 |
+
"manipulating_object_id": [],
|
| 407 |
+
"spatial_prefix": [],
|
| 408 |
+
"frame_duration": [
|
| 409 |
+
3558,
|
| 410 |
+
4263
|
| 411 |
+
],
|
| 412 |
+
"mp_ef": [],
|
| 413 |
+
"skill_type": [
|
| 414 |
+
"navigation"
|
| 415 |
+
]
|
| 416 |
+
},
|
| 417 |
+
{
|
| 418 |
+
"skill_idx": 15,
|
| 419 |
+
"skill_id": [
|
| 420 |
+
10
|
| 421 |
+
],
|
| 422 |
+
"skill_description": [
|
| 423 |
+
"open door"
|
| 424 |
+
],
|
| 425 |
+
"object_id": [
|
| 426 |
+
[
|
| 427 |
+
"fridge_dszchb_0"
|
| 428 |
+
]
|
| 429 |
+
],
|
| 430 |
+
"manipulating_object_id": [],
|
| 431 |
+
"spatial_prefix": [],
|
| 432 |
+
"frame_duration": [
|
| 433 |
+
4263,
|
| 434 |
+
5136
|
| 435 |
+
],
|
| 436 |
+
"mp_ef": [],
|
| 437 |
+
"skill_type": [
|
| 438 |
+
"coordinated"
|
| 439 |
+
]
|
| 440 |
+
},
|
| 441 |
+
{
|
| 442 |
+
"skill_idx": 16,
|
| 443 |
+
"skill_id": [
|
| 444 |
+
2
|
| 445 |
+
],
|
| 446 |
+
"skill_description": [
|
| 447 |
+
"pick up from"
|
| 448 |
+
],
|
| 449 |
+
"object_id": [
|
| 450 |
+
[
|
| 451 |
+
"bottle_of_tea_208",
|
| 452 |
+
"fridge_dszchb_0"
|
| 453 |
+
]
|
| 454 |
+
],
|
| 455 |
+
"manipulating_object_id": [
|
| 456 |
+
"bottle_of_tea_208"
|
| 457 |
+
],
|
| 458 |
+
"spatial_prefix": [
|
| 459 |
+
[
|
| 460 |
+
"",
|
| 461 |
+
"low_level"
|
| 462 |
+
]
|
| 463 |
+
],
|
| 464 |
+
"frame_duration": [
|
| 465 |
+
5136,
|
| 466 |
+
5670
|
| 467 |
+
],
|
| 468 |
+
"mp_ef": [],
|
| 469 |
+
"skill_type": [
|
| 470 |
+
"uncoordinated"
|
| 471 |
+
]
|
| 472 |
+
},
|
| 473 |
+
{
|
| 474 |
+
"skill_idx": 17,
|
| 475 |
+
"skill_id": [
|
| 476 |
+
12
|
| 477 |
+
],
|
| 478 |
+
"skill_description": [
|
| 479 |
+
"close door"
|
| 480 |
+
],
|
| 481 |
+
"object_id": [
|
| 482 |
+
[
|
| 483 |
+
"fridge_dszchb_0"
|
| 484 |
+
]
|
| 485 |
+
],
|
| 486 |
+
"manipulating_object_id": [],
|
| 487 |
+
"spatial_prefix": [],
|
| 488 |
+
"frame_duration": [
|
| 489 |
+
5670,
|
| 490 |
+
5999
|
| 491 |
+
],
|
| 492 |
+
"mp_ef": [],
|
| 493 |
+
"skill_type": [
|
| 494 |
+
"uncoordinated"
|
| 495 |
+
]
|
| 496 |
+
},
|
| 497 |
+
{
|
| 498 |
+
"skill_idx": 18,
|
| 499 |
+
"skill_id": [
|
| 500 |
+
1
|
| 501 |
+
],
|
| 502 |
+
"skill_description": [
|
| 503 |
+
"move to"
|
| 504 |
+
],
|
| 505 |
+
"object_id": [
|
| 506 |
+
[
|
| 507 |
+
"packing_box_210"
|
| 508 |
+
]
|
| 509 |
+
],
|
| 510 |
+
"manipulating_object_id": [],
|
| 511 |
+
"spatial_prefix": [],
|
| 512 |
+
"frame_duration": [
|
| 513 |
+
5999,
|
| 514 |
+
6572
|
| 515 |
+
],
|
| 516 |
+
"mp_ef": [],
|
| 517 |
+
"skill_type": [
|
| 518 |
+
"navigation"
|
| 519 |
+
]
|
| 520 |
+
},
|
| 521 |
+
{
|
| 522 |
+
"skill_idx": 19,
|
| 523 |
+
"skill_id": [
|
| 524 |
+
4
|
| 525 |
+
],
|
| 526 |
+
"skill_description": [
|
| 527 |
+
"place in"
|
| 528 |
+
],
|
| 529 |
+
"object_id": [
|
| 530 |
+
[
|
| 531 |
+
"bottle_of_tea_208",
|
| 532 |
+
"packing_box_210"
|
| 533 |
+
]
|
| 534 |
+
],
|
| 535 |
+
"manipulating_object_id": [
|
| 536 |
+
"bottle_of_tea_208"
|
| 537 |
+
],
|
| 538 |
+
"spatial_prefix": [],
|
| 539 |
+
"frame_duration": [
|
| 540 |
+
6572,
|
| 541 |
+
6888
|
| 542 |
+
],
|
| 543 |
+
"mp_ef": [],
|
| 544 |
+
"skill_type": [
|
| 545 |
+
"uncoordinated"
|
| 546 |
+
]
|
| 547 |
+
}
|
| 548 |
+
],
|
| 549 |
+
"primitive_annotation": [
|
| 550 |
+
{
|
| 551 |
+
"primitive_idx": 0,
|
| 552 |
+
"primitive_id": [
|
| 553 |
+
2,
|
| 554 |
+
91
|
| 555 |
+
],
|
| 556 |
+
"primitive_description": [
|
| 557 |
+
"pick up from",
|
| 558 |
+
"place on next to"
|
| 559 |
+
],
|
| 560 |
+
"object_id": [
|
| 561 |
+
[
|
| 562 |
+
"packing_box_210",
|
| 563 |
+
"countertop_kelker_0"
|
| 564 |
+
],
|
| 565 |
+
[
|
| 566 |
+
"packing_box_210",
|
| 567 |
+
"countertop_kelker_0",
|
| 568 |
+
"chopping_board_211"
|
| 569 |
+
]
|
| 570 |
+
],
|
| 571 |
+
"manipulating_object_id": [
|
| 572 |
+
"packing_box_210",
|
| 573 |
+
"packing_box_210"
|
| 574 |
+
],
|
| 575 |
+
"spatial_prefix": [
|
| 576 |
+
[],
|
| 577 |
+
[
|
| 578 |
+
[],
|
| 579 |
+
[],
|
| 580 |
+
[
|
| 581 |
+
"left"
|
| 582 |
+
]
|
| 583 |
+
]
|
| 584 |
+
],
|
| 585 |
+
"frame_duration": [
|
| 586 |
+
0,
|
| 587 |
+
907
|
| 588 |
+
],
|
| 589 |
+
"skill_idxes": [
|
| 590 |
+
0,
|
| 591 |
+
1,
|
| 592 |
+
2,
|
| 593 |
+
3
|
| 594 |
+
]
|
| 595 |
+
},
|
| 596 |
+
{
|
| 597 |
+
"primitive_idx": 1,
|
| 598 |
+
"primitive_id": [
|
| 599 |
+
2,
|
| 600 |
+
4
|
| 601 |
+
],
|
| 602 |
+
"primitive_description": [
|
| 603 |
+
"pick up from",
|
| 604 |
+
"place in"
|
| 605 |
+
],
|
| 606 |
+
"object_id": [
|
| 607 |
+
[
|
| 608 |
+
"chocolate_chip_cookie_207",
|
| 609 |
+
"chopping_board_211"
|
| 610 |
+
],
|
| 611 |
+
[
|
| 612 |
+
"chocolate_chip_cookie_207",
|
| 613 |
+
"packing_box_210"
|
| 614 |
+
]
|
| 615 |
+
],
|
| 616 |
+
"manipulating_object_id": [
|
| 617 |
+
"chocolate_chip_cookie_207",
|
| 618 |
+
"chocolate_chip_cookie_207"
|
| 619 |
+
],
|
| 620 |
+
"spatial_prefix": [],
|
| 621 |
+
"frame_duration": [
|
| 622 |
+
907,
|
| 623 |
+
1933
|
| 624 |
+
],
|
| 625 |
+
"skill_idxes": [
|
| 626 |
+
4,
|
| 627 |
+
5,
|
| 628 |
+
6
|
| 629 |
+
]
|
| 630 |
+
},
|
| 631 |
+
{
|
| 632 |
+
"primitive_idx": 2,
|
| 633 |
+
"primitive_id": [
|
| 634 |
+
2,
|
| 635 |
+
4
|
| 636 |
+
],
|
| 637 |
+
"primitive_description": [
|
| 638 |
+
"pick up from",
|
| 639 |
+
"place in"
|
| 640 |
+
],
|
| 641 |
+
"object_id": [
|
| 642 |
+
[
|
| 643 |
+
[
|
| 644 |
+
"half_apple_212",
|
| 645 |
+
"half_apple_213"
|
| 646 |
+
],
|
| 647 |
+
"chopping_board_211"
|
| 648 |
+
],
|
| 649 |
+
[
|
| 650 |
+
[
|
| 651 |
+
"half_apple_213",
|
| 652 |
+
"half_apple_212"
|
| 653 |
+
],
|
| 654 |
+
"packing_box_210"
|
| 655 |
+
]
|
| 656 |
+
],
|
| 657 |
+
"manipulating_object_id": [
|
| 658 |
+
[
|
| 659 |
+
"half_apple_212",
|
| 660 |
+
"half_apple_213"
|
| 661 |
+
],
|
| 662 |
+
[
|
| 663 |
+
"half_apple_213",
|
| 664 |
+
"half_apple_212"
|
| 665 |
+
]
|
| 666 |
+
],
|
| 667 |
+
"spatial_prefix": [],
|
| 668 |
+
"frame_duration": [
|
| 669 |
+
1933,
|
| 670 |
+
3024
|
| 671 |
+
],
|
| 672 |
+
"skill_idxes": [
|
| 673 |
+
7,
|
| 674 |
+
8,
|
| 675 |
+
9,
|
| 676 |
+
10
|
| 677 |
+
]
|
| 678 |
+
},
|
| 679 |
+
{
|
| 680 |
+
"primitive_idx": 3,
|
| 681 |
+
"primitive_id": [
|
| 682 |
+
2,
|
| 683 |
+
4
|
| 684 |
+
],
|
| 685 |
+
"primitive_description": [
|
| 686 |
+
"pick up from",
|
| 687 |
+
"place in"
|
| 688 |
+
],
|
| 689 |
+
"object_id": [
|
| 690 |
+
[
|
| 691 |
+
"club_sandwich_209",
|
| 692 |
+
"chopping_board_211"
|
| 693 |
+
],
|
| 694 |
+
[
|
| 695 |
+
"club_sandwich_209",
|
| 696 |
+
"packing_box_210"
|
| 697 |
+
]
|
| 698 |
+
],
|
| 699 |
+
"manipulating_object_id": [
|
| 700 |
+
"club_sandwich_209",
|
| 701 |
+
"club_sandwich_209"
|
| 702 |
+
],
|
| 703 |
+
"spatial_prefix": [],
|
| 704 |
+
"frame_duration": [
|
| 705 |
+
3024,
|
| 706 |
+
3558
|
| 707 |
+
],
|
| 708 |
+
"skill_idxes": [
|
| 709 |
+
11,
|
| 710 |
+
12,
|
| 711 |
+
13
|
| 712 |
+
]
|
| 713 |
+
},
|
| 714 |
+
{
|
| 715 |
+
"primitive_idx": 4,
|
| 716 |
+
"primitive_id": [],
|
| 717 |
+
"primitive_description": [],
|
| 718 |
+
"object_id": [],
|
| 719 |
+
"manipulating_object_id": [],
|
| 720 |
+
"spatial_prefix": [],
|
| 721 |
+
"frame_duration": [
|
| 722 |
+
3558,
|
| 723 |
+
6572
|
| 724 |
+
],
|
| 725 |
+
"skill_idxes": [
|
| 726 |
+
14,
|
| 727 |
+
15,
|
| 728 |
+
18
|
| 729 |
+
]
|
| 730 |
+
},
|
| 731 |
+
{
|
| 732 |
+
"primitive_idx": 5,
|
| 733 |
+
"primitive_id": [
|
| 734 |
+
2
|
| 735 |
+
],
|
| 736 |
+
"primitive_description": [
|
| 737 |
+
"pick up from"
|
| 738 |
+
],
|
| 739 |
+
"object_id": [
|
| 740 |
+
[
|
| 741 |
+
"bottle_of_tea_208",
|
| 742 |
+
"fridge_dszchb_0"
|
| 743 |
+
]
|
| 744 |
+
],
|
| 745 |
+
"manipulating_object_id": [
|
| 746 |
+
"bottle_of_tea_208"
|
| 747 |
+
],
|
| 748 |
+
"spatial_prefix": [
|
| 749 |
+
[
|
| 750 |
+
[],
|
| 751 |
+
[
|
| 752 |
+
"low_level"
|
| 753 |
+
]
|
| 754 |
+
]
|
| 755 |
+
],
|
| 756 |
+
"frame_duration": [
|
| 757 |
+
5136,
|
| 758 |
+
5670
|
| 759 |
+
],
|
| 760 |
+
"skill_idxes": [
|
| 761 |
+
16
|
| 762 |
+
]
|
| 763 |
+
},
|
| 764 |
+
{
|
| 765 |
+
"primitive_idx": 6,
|
| 766 |
+
"primitive_id": [
|
| 767 |
+
12
|
| 768 |
+
],
|
| 769 |
+
"primitive_description": [
|
| 770 |
+
"close door"
|
| 771 |
+
],
|
| 772 |
+
"object_id": [
|
| 773 |
+
[
|
| 774 |
+
"fridge_dszchb_0"
|
| 775 |
+
]
|
| 776 |
+
],
|
| 777 |
+
"manipulating_object_id": [],
|
| 778 |
+
"spatial_prefix": [],
|
| 779 |
+
"frame_duration": [
|
| 780 |
+
5670,
|
| 781 |
+
5999
|
| 782 |
+
],
|
| 783 |
+
"skill_idxes": [
|
| 784 |
+
17
|
| 785 |
+
]
|
| 786 |
+
},
|
| 787 |
+
{
|
| 788 |
+
"primitive_idx": 7,
|
| 789 |
+
"primitive_id": [
|
| 790 |
+
4
|
| 791 |
+
],
|
| 792 |
+
"primitive_description": [
|
| 793 |
+
"place in"
|
| 794 |
+
],
|
| 795 |
+
"object_id": [
|
| 796 |
+
[
|
| 797 |
+
"bottle_of_tea_208",
|
| 798 |
+
"packing_box_210"
|
| 799 |
+
]
|
| 800 |
+
],
|
| 801 |
+
"manipulating_object_id": [
|
| 802 |
+
"bottle_of_tea_208"
|
| 803 |
+
],
|
| 804 |
+
"spatial_prefix": [],
|
| 805 |
+
"frame_duration": [
|
| 806 |
+
6572,
|
| 807 |
+
6888
|
| 808 |
+
],
|
| 809 |
+
"skill_idxes": [
|
| 810 |
+
19
|
| 811 |
+
]
|
| 812 |
+
}
|
| 813 |
+
]
|
| 814 |
+
}
|
annotations/episode_00000253.json
ADDED
|
@@ -0,0 +1,889 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8406,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
8406
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
696
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
697,
|
| 56 |
+
935
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
935,
|
| 80 |
+
1040
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"burner_mjvqii_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"right"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
1041,
|
| 114 |
+
1265
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
2
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"pick up from"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"club_sandwich_209",
|
| 132 |
+
"chopping_board_211"
|
| 133 |
+
]
|
| 134 |
+
],
|
| 135 |
+
"manipulating_object_id": [
|
| 136 |
+
"club_sandwich_209"
|
| 137 |
+
],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
1265,
|
| 141 |
+
1864
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": [],
|
| 144 |
+
"skill_type": [
|
| 145 |
+
"uncoordinated"
|
| 146 |
+
]
|
| 147 |
+
},
|
| 148 |
+
{
|
| 149 |
+
"skill_idx": 5,
|
| 150 |
+
"skill_id": [
|
| 151 |
+
1
|
| 152 |
+
],
|
| 153 |
+
"skill_description": [
|
| 154 |
+
"move to"
|
| 155 |
+
],
|
| 156 |
+
"object_id": [
|
| 157 |
+
[
|
| 158 |
+
"packing_box_210"
|
| 159 |
+
]
|
| 160 |
+
],
|
| 161 |
+
"manipulating_object_id": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [
|
| 164 |
+
1864,
|
| 165 |
+
1965
|
| 166 |
+
],
|
| 167 |
+
"mp_ef": [],
|
| 168 |
+
"skill_type": [
|
| 169 |
+
"navigation"
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"skill_idx": 6,
|
| 174 |
+
"skill_id": [
|
| 175 |
+
4
|
| 176 |
+
],
|
| 177 |
+
"skill_description": [
|
| 178 |
+
"place in"
|
| 179 |
+
],
|
| 180 |
+
"object_id": [
|
| 181 |
+
[
|
| 182 |
+
"club_sandwich_209",
|
| 183 |
+
"packing_box_210"
|
| 184 |
+
]
|
| 185 |
+
],
|
| 186 |
+
"manipulating_object_id": [
|
| 187 |
+
"club_sandwich_209"
|
| 188 |
+
],
|
| 189 |
+
"spatial_prefix": [],
|
| 190 |
+
"frame_duration": [
|
| 191 |
+
1966,
|
| 192 |
+
2358
|
| 193 |
+
],
|
| 194 |
+
"mp_ef": [],
|
| 195 |
+
"skill_type": [
|
| 196 |
+
"uncoordinated"
|
| 197 |
+
]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"skill_idx": 7,
|
| 201 |
+
"skill_id": [
|
| 202 |
+
2
|
| 203 |
+
],
|
| 204 |
+
"skill_description": [
|
| 205 |
+
"pick up from"
|
| 206 |
+
],
|
| 207 |
+
"object_id": [
|
| 208 |
+
[
|
| 209 |
+
"half_apple_213",
|
| 210 |
+
"chopping_board_211"
|
| 211 |
+
]
|
| 212 |
+
],
|
| 213 |
+
"manipulating_object_id": [
|
| 214 |
+
"half_apple_213"
|
| 215 |
+
],
|
| 216 |
+
"spatial_prefix": [],
|
| 217 |
+
"frame_duration": [
|
| 218 |
+
2358,
|
| 219 |
+
2631
|
| 220 |
+
],
|
| 221 |
+
"mp_ef": [],
|
| 222 |
+
"skill_type": [
|
| 223 |
+
"uncoordinated"
|
| 224 |
+
]
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"skill_idx": 8,
|
| 228 |
+
"skill_id": [
|
| 229 |
+
2
|
| 230 |
+
],
|
| 231 |
+
"skill_description": [
|
| 232 |
+
"pick up from"
|
| 233 |
+
],
|
| 234 |
+
"object_id": [
|
| 235 |
+
[
|
| 236 |
+
"half_apple_212",
|
| 237 |
+
"chopping_board_211"
|
| 238 |
+
]
|
| 239 |
+
],
|
| 240 |
+
"manipulating_object_id": [
|
| 241 |
+
"half_apple_212"
|
| 242 |
+
],
|
| 243 |
+
"spatial_prefix": [],
|
| 244 |
+
"frame_duration": [
|
| 245 |
+
2631,
|
| 246 |
+
3217
|
| 247 |
+
],
|
| 248 |
+
"mp_ef": [],
|
| 249 |
+
"skill_type": [
|
| 250 |
+
"uncoordinated"
|
| 251 |
+
]
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"skill_idx": 9,
|
| 255 |
+
"skill_id": [
|
| 256 |
+
1
|
| 257 |
+
],
|
| 258 |
+
"skill_description": [
|
| 259 |
+
"move to"
|
| 260 |
+
],
|
| 261 |
+
"object_id": [
|
| 262 |
+
[
|
| 263 |
+
"packing_box_210"
|
| 264 |
+
]
|
| 265 |
+
],
|
| 266 |
+
"manipulating_object_id": [],
|
| 267 |
+
"spatial_prefix": [],
|
| 268 |
+
"frame_duration": [
|
| 269 |
+
3217,
|
| 270 |
+
3317
|
| 271 |
+
],
|
| 272 |
+
"mp_ef": [],
|
| 273 |
+
"skill_type": [
|
| 274 |
+
"navigation"
|
| 275 |
+
]
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"skill_idx": 10,
|
| 279 |
+
"skill_id": [
|
| 280 |
+
4
|
| 281 |
+
],
|
| 282 |
+
"skill_description": [
|
| 283 |
+
"place in"
|
| 284 |
+
],
|
| 285 |
+
"object_id": [
|
| 286 |
+
[
|
| 287 |
+
"half_apple_213",
|
| 288 |
+
"packing_box_210"
|
| 289 |
+
]
|
| 290 |
+
],
|
| 291 |
+
"manipulating_object_id": [
|
| 292 |
+
"half_apple_213"
|
| 293 |
+
],
|
| 294 |
+
"spatial_prefix": [],
|
| 295 |
+
"frame_duration": [
|
| 296 |
+
3317,
|
| 297 |
+
3537
|
| 298 |
+
],
|
| 299 |
+
"mp_ef": [],
|
| 300 |
+
"skill_type": [
|
| 301 |
+
"uncoordinated"
|
| 302 |
+
]
|
| 303 |
+
},
|
| 304 |
+
{
|
| 305 |
+
"skill_idx": 11,
|
| 306 |
+
"skill_id": [
|
| 307 |
+
4
|
| 308 |
+
],
|
| 309 |
+
"skill_description": [
|
| 310 |
+
"place in"
|
| 311 |
+
],
|
| 312 |
+
"object_id": [
|
| 313 |
+
[
|
| 314 |
+
"half_apple_212",
|
| 315 |
+
"packing_box_210"
|
| 316 |
+
]
|
| 317 |
+
],
|
| 318 |
+
"manipulating_object_id": [
|
| 319 |
+
"half_apple_212"
|
| 320 |
+
],
|
| 321 |
+
"spatial_prefix": [],
|
| 322 |
+
"frame_duration": [
|
| 323 |
+
3537,
|
| 324 |
+
3702
|
| 325 |
+
],
|
| 326 |
+
"mp_ef": [],
|
| 327 |
+
"skill_type": [
|
| 328 |
+
"uncoordinated"
|
| 329 |
+
]
|
| 330 |
+
},
|
| 331 |
+
{
|
| 332 |
+
"skill_idx": 12,
|
| 333 |
+
"skill_id": [
|
| 334 |
+
1
|
| 335 |
+
],
|
| 336 |
+
"skill_description": [
|
| 337 |
+
"move to"
|
| 338 |
+
],
|
| 339 |
+
"object_id": [
|
| 340 |
+
[
|
| 341 |
+
"chocolate_chip_cookie_207"
|
| 342 |
+
]
|
| 343 |
+
],
|
| 344 |
+
"manipulating_object_id": [],
|
| 345 |
+
"spatial_prefix": [],
|
| 346 |
+
"frame_duration": [
|
| 347 |
+
3702,
|
| 348 |
+
4020
|
| 349 |
+
],
|
| 350 |
+
"mp_ef": [],
|
| 351 |
+
"skill_type": [
|
| 352 |
+
"navigation"
|
| 353 |
+
]
|
| 354 |
+
},
|
| 355 |
+
{
|
| 356 |
+
"skill_idx": 13,
|
| 357 |
+
"skill_id": [
|
| 358 |
+
90
|
| 359 |
+
],
|
| 360 |
+
"skill_description": [
|
| 361 |
+
"push to"
|
| 362 |
+
],
|
| 363 |
+
"object_id": [
|
| 364 |
+
[
|
| 365 |
+
"chocolate_chip_cookie_207",
|
| 366 |
+
"chopping_board_211"
|
| 367 |
+
]
|
| 368 |
+
],
|
| 369 |
+
"manipulating_object_id": [
|
| 370 |
+
"chocolate_chip_cookie_207"
|
| 371 |
+
],
|
| 372 |
+
"spatial_prefix": [
|
| 373 |
+
[
|
| 374 |
+
"",
|
| 375 |
+
"to_the_edge_of"
|
| 376 |
+
]
|
| 377 |
+
],
|
| 378 |
+
"frame_duration": [
|
| 379 |
+
4020,
|
| 380 |
+
4340
|
| 381 |
+
],
|
| 382 |
+
"mp_ef": [],
|
| 383 |
+
"skill_type": [
|
| 384 |
+
"uncoordinated"
|
| 385 |
+
]
|
| 386 |
+
},
|
| 387 |
+
{
|
| 388 |
+
"skill_idx": 14,
|
| 389 |
+
"skill_id": [
|
| 390 |
+
2
|
| 391 |
+
],
|
| 392 |
+
"skill_description": [
|
| 393 |
+
"pick up from"
|
| 394 |
+
],
|
| 395 |
+
"object_id": [
|
| 396 |
+
[
|
| 397 |
+
"chocolate_chip_cookie_207",
|
| 398 |
+
"chopping_board_211"
|
| 399 |
+
]
|
| 400 |
+
],
|
| 401 |
+
"manipulating_object_id": [
|
| 402 |
+
"chocolate_chip_cookie_207"
|
| 403 |
+
],
|
| 404 |
+
"spatial_prefix": [],
|
| 405 |
+
"frame_duration": [
|
| 406 |
+
4341,
|
| 407 |
+
4473
|
| 408 |
+
],
|
| 409 |
+
"mp_ef": [],
|
| 410 |
+
"skill_type": [
|
| 411 |
+
"uncoordinated"
|
| 412 |
+
]
|
| 413 |
+
},
|
| 414 |
+
{
|
| 415 |
+
"skill_idx": 15,
|
| 416 |
+
"skill_id": [
|
| 417 |
+
1
|
| 418 |
+
],
|
| 419 |
+
"skill_description": [
|
| 420 |
+
"move to"
|
| 421 |
+
],
|
| 422 |
+
"object_id": [
|
| 423 |
+
[
|
| 424 |
+
"packing_box_210"
|
| 425 |
+
]
|
| 426 |
+
],
|
| 427 |
+
"manipulating_object_id": [],
|
| 428 |
+
"spatial_prefix": [],
|
| 429 |
+
"frame_duration": [
|
| 430 |
+
4473,
|
| 431 |
+
4692
|
| 432 |
+
],
|
| 433 |
+
"mp_ef": [],
|
| 434 |
+
"skill_type": [
|
| 435 |
+
"navigation"
|
| 436 |
+
]
|
| 437 |
+
},
|
| 438 |
+
{
|
| 439 |
+
"skill_idx": 16,
|
| 440 |
+
"skill_id": [
|
| 441 |
+
4
|
| 442 |
+
],
|
| 443 |
+
"skill_description": [
|
| 444 |
+
"place in"
|
| 445 |
+
],
|
| 446 |
+
"object_id": [
|
| 447 |
+
[
|
| 448 |
+
"chocolate_chip_cookie_207",
|
| 449 |
+
"packing_box_210"
|
| 450 |
+
]
|
| 451 |
+
],
|
| 452 |
+
"manipulating_object_id": [
|
| 453 |
+
"chocolate_chip_cookie_207"
|
| 454 |
+
],
|
| 455 |
+
"spatial_prefix": [],
|
| 456 |
+
"frame_duration": [
|
| 457 |
+
4692,
|
| 458 |
+
4905
|
| 459 |
+
],
|
| 460 |
+
"mp_ef": [],
|
| 461 |
+
"skill_type": [
|
| 462 |
+
"uncoordinated"
|
| 463 |
+
]
|
| 464 |
+
},
|
| 465 |
+
{
|
| 466 |
+
"skill_idx": 17,
|
| 467 |
+
"skill_id": [
|
| 468 |
+
1
|
| 469 |
+
],
|
| 470 |
+
"skill_description": [
|
| 471 |
+
"move to"
|
| 472 |
+
],
|
| 473 |
+
"object_id": [
|
| 474 |
+
[
|
| 475 |
+
"fridge_dszchb_0"
|
| 476 |
+
]
|
| 477 |
+
],
|
| 478 |
+
"manipulating_object_id": [],
|
| 479 |
+
"spatial_prefix": [],
|
| 480 |
+
"frame_duration": [
|
| 481 |
+
4905,
|
| 482 |
+
5652
|
| 483 |
+
],
|
| 484 |
+
"mp_ef": [],
|
| 485 |
+
"skill_type": [
|
| 486 |
+
"navigation"
|
| 487 |
+
]
|
| 488 |
+
},
|
| 489 |
+
{
|
| 490 |
+
"skill_idx": 18,
|
| 491 |
+
"skill_id": [
|
| 492 |
+
10
|
| 493 |
+
],
|
| 494 |
+
"skill_description": [
|
| 495 |
+
"open door"
|
| 496 |
+
],
|
| 497 |
+
"object_id": [
|
| 498 |
+
[
|
| 499 |
+
"fridge_dszchb_0"
|
| 500 |
+
]
|
| 501 |
+
],
|
| 502 |
+
"manipulating_object_id": [],
|
| 503 |
+
"spatial_prefix": [],
|
| 504 |
+
"frame_duration": [
|
| 505 |
+
5652,
|
| 506 |
+
6521
|
| 507 |
+
],
|
| 508 |
+
"mp_ef": [],
|
| 509 |
+
"skill_type": [
|
| 510 |
+
"coordinated"
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
+
{
|
| 514 |
+
"skill_idx": 19,
|
| 515 |
+
"skill_id": [
|
| 516 |
+
2
|
| 517 |
+
],
|
| 518 |
+
"skill_description": [
|
| 519 |
+
"pick up from"
|
| 520 |
+
],
|
| 521 |
+
"object_id": [
|
| 522 |
+
[
|
| 523 |
+
"bottle_of_tea_208",
|
| 524 |
+
"fridge_dszchb_0"
|
| 525 |
+
]
|
| 526 |
+
],
|
| 527 |
+
"manipulating_object_id": [
|
| 528 |
+
"bottle_of_tea_208"
|
| 529 |
+
],
|
| 530 |
+
"spatial_prefix": [
|
| 531 |
+
[
|
| 532 |
+
"",
|
| 533 |
+
"high_level"
|
| 534 |
+
]
|
| 535 |
+
],
|
| 536 |
+
"frame_duration": [
|
| 537 |
+
6521,
|
| 538 |
+
6908
|
| 539 |
+
],
|
| 540 |
+
"mp_ef": [],
|
| 541 |
+
"skill_type": [
|
| 542 |
+
"uncoordinated"
|
| 543 |
+
]
|
| 544 |
+
},
|
| 545 |
+
{
|
| 546 |
+
"skill_idx": 20,
|
| 547 |
+
"skill_id": [
|
| 548 |
+
12
|
| 549 |
+
],
|
| 550 |
+
"skill_description": [
|
| 551 |
+
"close door"
|
| 552 |
+
],
|
| 553 |
+
"object_id": [
|
| 554 |
+
[
|
| 555 |
+
"fridge_dszchb_0"
|
| 556 |
+
]
|
| 557 |
+
],
|
| 558 |
+
"manipulating_object_id": [],
|
| 559 |
+
"spatial_prefix": [],
|
| 560 |
+
"frame_duration": [
|
| 561 |
+
6908,
|
| 562 |
+
7651
|
| 563 |
+
],
|
| 564 |
+
"mp_ef": [],
|
| 565 |
+
"skill_type": [
|
| 566 |
+
"uncoordinated"
|
| 567 |
+
]
|
| 568 |
+
},
|
| 569 |
+
{
|
| 570 |
+
"skill_idx": 21,
|
| 571 |
+
"skill_id": [
|
| 572 |
+
1
|
| 573 |
+
],
|
| 574 |
+
"skill_description": [
|
| 575 |
+
"move to"
|
| 576 |
+
],
|
| 577 |
+
"object_id": [
|
| 578 |
+
[
|
| 579 |
+
"packing_box_210"
|
| 580 |
+
]
|
| 581 |
+
],
|
| 582 |
+
"manipulating_object_id": [],
|
| 583 |
+
"spatial_prefix": [],
|
| 584 |
+
"frame_duration": [
|
| 585 |
+
7651,
|
| 586 |
+
7975
|
| 587 |
+
],
|
| 588 |
+
"mp_ef": [],
|
| 589 |
+
"skill_type": [
|
| 590 |
+
"navigation"
|
| 591 |
+
]
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"skill_idx": 22,
|
| 595 |
+
"skill_id": [
|
| 596 |
+
4
|
| 597 |
+
],
|
| 598 |
+
"skill_description": [
|
| 599 |
+
"place in"
|
| 600 |
+
],
|
| 601 |
+
"object_id": [
|
| 602 |
+
[
|
| 603 |
+
"bottle_of_tea_208",
|
| 604 |
+
"packing_box_210"
|
| 605 |
+
]
|
| 606 |
+
],
|
| 607 |
+
"manipulating_object_id": [
|
| 608 |
+
"bottle_of_tea_208"
|
| 609 |
+
],
|
| 610 |
+
"spatial_prefix": [],
|
| 611 |
+
"frame_duration": [
|
| 612 |
+
7975,
|
| 613 |
+
8406
|
| 614 |
+
],
|
| 615 |
+
"mp_ef": [],
|
| 616 |
+
"skill_type": [
|
| 617 |
+
"uncoordinated"
|
| 618 |
+
]
|
| 619 |
+
}
|
| 620 |
+
],
|
| 621 |
+
"primitive_annotation": [
|
| 622 |
+
{
|
| 623 |
+
"primitive_idx": 0,
|
| 624 |
+
"primitive_id": [
|
| 625 |
+
2,
|
| 626 |
+
91
|
| 627 |
+
],
|
| 628 |
+
"primitive_description": [
|
| 629 |
+
"pick up from",
|
| 630 |
+
"place on next to"
|
| 631 |
+
],
|
| 632 |
+
"object_id": [
|
| 633 |
+
[
|
| 634 |
+
"packing_box_210",
|
| 635 |
+
"countertop_kelker_0"
|
| 636 |
+
],
|
| 637 |
+
[
|
| 638 |
+
"packing_box_210",
|
| 639 |
+
"burner_mjvqii_0",
|
| 640 |
+
"chopping_board_211"
|
| 641 |
+
]
|
| 642 |
+
],
|
| 643 |
+
"manipulating_object_id": [
|
| 644 |
+
"packing_box_210",
|
| 645 |
+
"packing_box_210"
|
| 646 |
+
],
|
| 647 |
+
"spatial_prefix": [
|
| 648 |
+
[],
|
| 649 |
+
[
|
| 650 |
+
[],
|
| 651 |
+
[],
|
| 652 |
+
[
|
| 653 |
+
"right"
|
| 654 |
+
]
|
| 655 |
+
]
|
| 656 |
+
],
|
| 657 |
+
"frame_duration": [
|
| 658 |
+
0,
|
| 659 |
+
1265
|
| 660 |
+
],
|
| 661 |
+
"skill_idxes": [
|
| 662 |
+
0,
|
| 663 |
+
1,
|
| 664 |
+
2,
|
| 665 |
+
3
|
| 666 |
+
]
|
| 667 |
+
},
|
| 668 |
+
{
|
| 669 |
+
"primitive_idx": 1,
|
| 670 |
+
"primitive_id": [
|
| 671 |
+
2,
|
| 672 |
+
4
|
| 673 |
+
],
|
| 674 |
+
"primitive_description": [
|
| 675 |
+
"pick up from",
|
| 676 |
+
"place in"
|
| 677 |
+
],
|
| 678 |
+
"object_id": [
|
| 679 |
+
[
|
| 680 |
+
"club_sandwich_209",
|
| 681 |
+
"chopping_board_211"
|
| 682 |
+
],
|
| 683 |
+
[
|
| 684 |
+
"club_sandwich_209",
|
| 685 |
+
"packing_box_210"
|
| 686 |
+
]
|
| 687 |
+
],
|
| 688 |
+
"manipulating_object_id": [
|
| 689 |
+
"club_sandwich_209",
|
| 690 |
+
"club_sandwich_209"
|
| 691 |
+
],
|
| 692 |
+
"spatial_prefix": [],
|
| 693 |
+
"frame_duration": [
|
| 694 |
+
1265,
|
| 695 |
+
2358
|
| 696 |
+
],
|
| 697 |
+
"skill_idxes": [
|
| 698 |
+
4,
|
| 699 |
+
5,
|
| 700 |
+
6
|
| 701 |
+
]
|
| 702 |
+
},
|
| 703 |
+
{
|
| 704 |
+
"primitive_idx": 2,
|
| 705 |
+
"primitive_id": [
|
| 706 |
+
2,
|
| 707 |
+
4
|
| 708 |
+
],
|
| 709 |
+
"primitive_description": [
|
| 710 |
+
"pick up from",
|
| 711 |
+
"place in"
|
| 712 |
+
],
|
| 713 |
+
"object_id": [
|
| 714 |
+
[
|
| 715 |
+
[
|
| 716 |
+
"half_apple_213",
|
| 717 |
+
"half_apple_212"
|
| 718 |
+
],
|
| 719 |
+
"chopping_board_211"
|
| 720 |
+
],
|
| 721 |
+
[
|
| 722 |
+
[
|
| 723 |
+
"half_apple_213",
|
| 724 |
+
"half_apple_212"
|
| 725 |
+
],
|
| 726 |
+
"packing_box_210"
|
| 727 |
+
]
|
| 728 |
+
],
|
| 729 |
+
"manipulating_object_id": [
|
| 730 |
+
[
|
| 731 |
+
"half_apple_213",
|
| 732 |
+
"half_apple_212"
|
| 733 |
+
],
|
| 734 |
+
[
|
| 735 |
+
"half_apple_213",
|
| 736 |
+
"half_apple_212"
|
| 737 |
+
]
|
| 738 |
+
],
|
| 739 |
+
"spatial_prefix": [],
|
| 740 |
+
"frame_duration": [
|
| 741 |
+
2358,
|
| 742 |
+
3702
|
| 743 |
+
],
|
| 744 |
+
"skill_idxes": [
|
| 745 |
+
7,
|
| 746 |
+
8,
|
| 747 |
+
9,
|
| 748 |
+
10,
|
| 749 |
+
11
|
| 750 |
+
]
|
| 751 |
+
},
|
| 752 |
+
{
|
| 753 |
+
"primitive_idx": 3,
|
| 754 |
+
"primitive_id": [
|
| 755 |
+
2,
|
| 756 |
+
4
|
| 757 |
+
],
|
| 758 |
+
"primitive_description": [
|
| 759 |
+
"pick up from",
|
| 760 |
+
"place in"
|
| 761 |
+
],
|
| 762 |
+
"object_id": [
|
| 763 |
+
[
|
| 764 |
+
"chocolate_chip_cookie_207",
|
| 765 |
+
"chopping_board_211"
|
| 766 |
+
],
|
| 767 |
+
[
|
| 768 |
+
"chocolate_chip_cookie_207",
|
| 769 |
+
"packing_box_210"
|
| 770 |
+
]
|
| 771 |
+
],
|
| 772 |
+
"manipulating_object_id": [
|
| 773 |
+
"chocolate_chip_cookie_207",
|
| 774 |
+
"chocolate_chip_cookie_207"
|
| 775 |
+
],
|
| 776 |
+
"spatial_prefix": [],
|
| 777 |
+
"frame_duration": [
|
| 778 |
+
3702,
|
| 779 |
+
4905
|
| 780 |
+
],
|
| 781 |
+
"skill_idxes": [
|
| 782 |
+
12,
|
| 783 |
+
13,
|
| 784 |
+
14,
|
| 785 |
+
15,
|
| 786 |
+
16
|
| 787 |
+
]
|
| 788 |
+
},
|
| 789 |
+
{
|
| 790 |
+
"primitive_idx": 4,
|
| 791 |
+
"primitive_id": [],
|
| 792 |
+
"primitive_description": [],
|
| 793 |
+
"object_id": [],
|
| 794 |
+
"manipulating_object_id": [],
|
| 795 |
+
"spatial_prefix": [],
|
| 796 |
+
"frame_duration": [
|
| 797 |
+
4905,
|
| 798 |
+
7975
|
| 799 |
+
],
|
| 800 |
+
"skill_idxes": [
|
| 801 |
+
17,
|
| 802 |
+
18,
|
| 803 |
+
21
|
| 804 |
+
]
|
| 805 |
+
},
|
| 806 |
+
{
|
| 807 |
+
"primitive_idx": 5,
|
| 808 |
+
"primitive_id": [
|
| 809 |
+
2
|
| 810 |
+
],
|
| 811 |
+
"primitive_description": [
|
| 812 |
+
"pick up from"
|
| 813 |
+
],
|
| 814 |
+
"object_id": [
|
| 815 |
+
[
|
| 816 |
+
"bottle_of_tea_208",
|
| 817 |
+
"fridge_dszchb_0"
|
| 818 |
+
]
|
| 819 |
+
],
|
| 820 |
+
"manipulating_object_id": [
|
| 821 |
+
"bottle_of_tea_208"
|
| 822 |
+
],
|
| 823 |
+
"spatial_prefix": [
|
| 824 |
+
[
|
| 825 |
+
[],
|
| 826 |
+
[
|
| 827 |
+
"high_level"
|
| 828 |
+
]
|
| 829 |
+
]
|
| 830 |
+
],
|
| 831 |
+
"frame_duration": [
|
| 832 |
+
6521,
|
| 833 |
+
6908
|
| 834 |
+
],
|
| 835 |
+
"skill_idxes": [
|
| 836 |
+
19
|
| 837 |
+
]
|
| 838 |
+
},
|
| 839 |
+
{
|
| 840 |
+
"primitive_idx": 6,
|
| 841 |
+
"primitive_id": [
|
| 842 |
+
12
|
| 843 |
+
],
|
| 844 |
+
"primitive_description": [
|
| 845 |
+
"close door"
|
| 846 |
+
],
|
| 847 |
+
"object_id": [
|
| 848 |
+
[
|
| 849 |
+
"fridge_dszchb_0"
|
| 850 |
+
]
|
| 851 |
+
],
|
| 852 |
+
"manipulating_object_id": [],
|
| 853 |
+
"spatial_prefix": [],
|
| 854 |
+
"frame_duration": [
|
| 855 |
+
6908,
|
| 856 |
+
7651
|
| 857 |
+
],
|
| 858 |
+
"skill_idxes": [
|
| 859 |
+
20
|
| 860 |
+
]
|
| 861 |
+
},
|
| 862 |
+
{
|
| 863 |
+
"primitive_idx": 7,
|
| 864 |
+
"primitive_id": [
|
| 865 |
+
4
|
| 866 |
+
],
|
| 867 |
+
"primitive_description": [
|
| 868 |
+
"place in"
|
| 869 |
+
],
|
| 870 |
+
"object_id": [
|
| 871 |
+
[
|
| 872 |
+
"bottle_of_tea_208",
|
| 873 |
+
"packing_box_210"
|
| 874 |
+
]
|
| 875 |
+
],
|
| 876 |
+
"manipulating_object_id": [
|
| 877 |
+
"bottle_of_tea_208"
|
| 878 |
+
],
|
| 879 |
+
"spatial_prefix": [],
|
| 880 |
+
"frame_duration": [
|
| 881 |
+
7975,
|
| 882 |
+
8406
|
| 883 |
+
],
|
| 884 |
+
"skill_idxes": [
|
| 885 |
+
22
|
| 886 |
+
]
|
| 887 |
+
}
|
| 888 |
+
]
|
| 889 |
+
}
|
annotations/episode_00000254.json
ADDED
|
@@ -0,0 +1,939 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8571,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
8571
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
264
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
264,
|
| 56 |
+
477
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
477,
|
| 80 |
+
537
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"burner_mjvqii_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"right"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
537,
|
| 114 |
+
636
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"half_apple_213"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
636,
|
| 138 |
+
756
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
2
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"pick up from"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"half_apple_213",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"half_apple_213"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [
|
| 164 |
+
756,
|
| 165 |
+
965
|
| 166 |
+
],
|
| 167 |
+
"mp_ef": [],
|
| 168 |
+
"skill_type": [
|
| 169 |
+
"uncoordinated"
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"skill_idx": 6,
|
| 174 |
+
"skill_id": [
|
| 175 |
+
2
|
| 176 |
+
],
|
| 177 |
+
"skill_description": [
|
| 178 |
+
"pick up from"
|
| 179 |
+
],
|
| 180 |
+
"object_id": [
|
| 181 |
+
[
|
| 182 |
+
"half_apple_212",
|
| 183 |
+
"chopping_board_211"
|
| 184 |
+
]
|
| 185 |
+
],
|
| 186 |
+
"manipulating_object_id": [
|
| 187 |
+
"half_apple_212"
|
| 188 |
+
],
|
| 189 |
+
"spatial_prefix": [],
|
| 190 |
+
"frame_duration": [
|
| 191 |
+
965,
|
| 192 |
+
1557
|
| 193 |
+
],
|
| 194 |
+
"mp_ef": [],
|
| 195 |
+
"skill_type": [
|
| 196 |
+
"uncoordinated"
|
| 197 |
+
]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"skill_idx": 7,
|
| 201 |
+
"skill_id": [
|
| 202 |
+
1
|
| 203 |
+
],
|
| 204 |
+
"skill_description": [
|
| 205 |
+
"move to"
|
| 206 |
+
],
|
| 207 |
+
"object_id": [
|
| 208 |
+
[
|
| 209 |
+
"packing_box_210"
|
| 210 |
+
]
|
| 211 |
+
],
|
| 212 |
+
"manipulating_object_id": [],
|
| 213 |
+
"spatial_prefix": [],
|
| 214 |
+
"frame_duration": [
|
| 215 |
+
1557,
|
| 216 |
+
1764
|
| 217 |
+
],
|
| 218 |
+
"mp_ef": [],
|
| 219 |
+
"skill_type": [
|
| 220 |
+
"navigation"
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"skill_idx": 8,
|
| 225 |
+
"skill_id": [
|
| 226 |
+
4
|
| 227 |
+
],
|
| 228 |
+
"skill_description": [
|
| 229 |
+
"place in"
|
| 230 |
+
],
|
| 231 |
+
"object_id": [
|
| 232 |
+
[
|
| 233 |
+
"half_apple_213",
|
| 234 |
+
"packing_box_210"
|
| 235 |
+
]
|
| 236 |
+
],
|
| 237 |
+
"manipulating_object_id": [
|
| 238 |
+
"half_apple_213"
|
| 239 |
+
],
|
| 240 |
+
"spatial_prefix": [],
|
| 241 |
+
"frame_duration": [
|
| 242 |
+
1764,
|
| 243 |
+
2100
|
| 244 |
+
],
|
| 245 |
+
"mp_ef": [],
|
| 246 |
+
"skill_type": [
|
| 247 |
+
"uncoordinated"
|
| 248 |
+
]
|
| 249 |
+
},
|
| 250 |
+
{
|
| 251 |
+
"skill_idx": 9,
|
| 252 |
+
"skill_id": [
|
| 253 |
+
4
|
| 254 |
+
],
|
| 255 |
+
"skill_description": [
|
| 256 |
+
"place in"
|
| 257 |
+
],
|
| 258 |
+
"object_id": [
|
| 259 |
+
[
|
| 260 |
+
"half_apple_212",
|
| 261 |
+
"packing_box_210"
|
| 262 |
+
]
|
| 263 |
+
],
|
| 264 |
+
"manipulating_object_id": [
|
| 265 |
+
"half_apple_212"
|
| 266 |
+
],
|
| 267 |
+
"spatial_prefix": [],
|
| 268 |
+
"frame_duration": [
|
| 269 |
+
2100,
|
| 270 |
+
2552
|
| 271 |
+
],
|
| 272 |
+
"mp_ef": [],
|
| 273 |
+
"skill_type": [
|
| 274 |
+
"uncoordinated"
|
| 275 |
+
]
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"skill_idx": 10,
|
| 279 |
+
"skill_id": [
|
| 280 |
+
1
|
| 281 |
+
],
|
| 282 |
+
"skill_description": [
|
| 283 |
+
"move to"
|
| 284 |
+
],
|
| 285 |
+
"object_id": [
|
| 286 |
+
[
|
| 287 |
+
"club_sandwich_209"
|
| 288 |
+
]
|
| 289 |
+
],
|
| 290 |
+
"manipulating_object_id": [],
|
| 291 |
+
"spatial_prefix": [],
|
| 292 |
+
"frame_duration": [
|
| 293 |
+
2552,
|
| 294 |
+
2739
|
| 295 |
+
],
|
| 296 |
+
"mp_ef": [],
|
| 297 |
+
"skill_type": [
|
| 298 |
+
"navigation"
|
| 299 |
+
]
|
| 300 |
+
},
|
| 301 |
+
{
|
| 302 |
+
"skill_idx": 11,
|
| 303 |
+
"skill_id": [
|
| 304 |
+
2
|
| 305 |
+
],
|
| 306 |
+
"skill_description": [
|
| 307 |
+
"pick up from"
|
| 308 |
+
],
|
| 309 |
+
"object_id": [
|
| 310 |
+
[
|
| 311 |
+
"club_sandwich_209",
|
| 312 |
+
"chopping_board_211"
|
| 313 |
+
]
|
| 314 |
+
],
|
| 315 |
+
"manipulating_object_id": [
|
| 316 |
+
"club_sandwich_209"
|
| 317 |
+
],
|
| 318 |
+
"spatial_prefix": [],
|
| 319 |
+
"frame_duration": [
|
| 320 |
+
2739,
|
| 321 |
+
3236
|
| 322 |
+
],
|
| 323 |
+
"mp_ef": [],
|
| 324 |
+
"skill_type": [
|
| 325 |
+
"uncoordinated"
|
| 326 |
+
]
|
| 327 |
+
},
|
| 328 |
+
{
|
| 329 |
+
"skill_idx": 12,
|
| 330 |
+
"skill_id": [
|
| 331 |
+
1
|
| 332 |
+
],
|
| 333 |
+
"skill_description": [
|
| 334 |
+
"move to"
|
| 335 |
+
],
|
| 336 |
+
"object_id": [
|
| 337 |
+
[
|
| 338 |
+
"packing_box_210"
|
| 339 |
+
]
|
| 340 |
+
],
|
| 341 |
+
"manipulating_object_id": [],
|
| 342 |
+
"spatial_prefix": [],
|
| 343 |
+
"frame_duration": [
|
| 344 |
+
3236,
|
| 345 |
+
3320
|
| 346 |
+
],
|
| 347 |
+
"mp_ef": [],
|
| 348 |
+
"skill_type": [
|
| 349 |
+
"navigation"
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"skill_idx": 13,
|
| 354 |
+
"skill_id": [
|
| 355 |
+
4
|
| 356 |
+
],
|
| 357 |
+
"skill_description": [
|
| 358 |
+
"place in"
|
| 359 |
+
],
|
| 360 |
+
"object_id": [
|
| 361 |
+
[
|
| 362 |
+
"club_sandwich_209",
|
| 363 |
+
"packing_box_210"
|
| 364 |
+
]
|
| 365 |
+
],
|
| 366 |
+
"manipulating_object_id": [
|
| 367 |
+
"club_sandwich_209"
|
| 368 |
+
],
|
| 369 |
+
"spatial_prefix": [],
|
| 370 |
+
"frame_duration": [
|
| 371 |
+
3320,
|
| 372 |
+
3490
|
| 373 |
+
],
|
| 374 |
+
"mp_ef": [],
|
| 375 |
+
"skill_type": [
|
| 376 |
+
"uncoordinated"
|
| 377 |
+
]
|
| 378 |
+
},
|
| 379 |
+
{
|
| 380 |
+
"skill_idx": 14,
|
| 381 |
+
"skill_id": [
|
| 382 |
+
1
|
| 383 |
+
],
|
| 384 |
+
"skill_description": [
|
| 385 |
+
"move to"
|
| 386 |
+
],
|
| 387 |
+
"object_id": [
|
| 388 |
+
[
|
| 389 |
+
"chocolate_chip_cookie_207"
|
| 390 |
+
]
|
| 391 |
+
],
|
| 392 |
+
"manipulating_object_id": [],
|
| 393 |
+
"spatial_prefix": [],
|
| 394 |
+
"frame_duration": [
|
| 395 |
+
3490,
|
| 396 |
+
3733
|
| 397 |
+
],
|
| 398 |
+
"mp_ef": [],
|
| 399 |
+
"skill_type": [
|
| 400 |
+
"navigation"
|
| 401 |
+
]
|
| 402 |
+
},
|
| 403 |
+
{
|
| 404 |
+
"skill_idx": 15,
|
| 405 |
+
"skill_id": [
|
| 406 |
+
90
|
| 407 |
+
],
|
| 408 |
+
"skill_description": [
|
| 409 |
+
"push to"
|
| 410 |
+
],
|
| 411 |
+
"object_id": [
|
| 412 |
+
[
|
| 413 |
+
"chocolate_chip_cookie_207",
|
| 414 |
+
"chopping_board_211"
|
| 415 |
+
]
|
| 416 |
+
],
|
| 417 |
+
"manipulating_object_id": [
|
| 418 |
+
"chocolate_chip_cookie_207"
|
| 419 |
+
],
|
| 420 |
+
"spatial_prefix": [
|
| 421 |
+
[
|
| 422 |
+
"",
|
| 423 |
+
"to_the_edge_of"
|
| 424 |
+
]
|
| 425 |
+
],
|
| 426 |
+
"frame_duration": [
|
| 427 |
+
3733,
|
| 428 |
+
4227
|
| 429 |
+
],
|
| 430 |
+
"mp_ef": [],
|
| 431 |
+
"skill_type": [
|
| 432 |
+
"uncoordinated"
|
| 433 |
+
]
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"skill_idx": 16,
|
| 437 |
+
"skill_id": [
|
| 438 |
+
2
|
| 439 |
+
],
|
| 440 |
+
"skill_description": [
|
| 441 |
+
"pick up from"
|
| 442 |
+
],
|
| 443 |
+
"object_id": [
|
| 444 |
+
[
|
| 445 |
+
"chocolate_chip_cookie_207",
|
| 446 |
+
"chopping_board_211"
|
| 447 |
+
]
|
| 448 |
+
],
|
| 449 |
+
"manipulating_object_id": [
|
| 450 |
+
"chocolate_chip_cookie_207"
|
| 451 |
+
],
|
| 452 |
+
"spatial_prefix": [],
|
| 453 |
+
"frame_duration": [
|
| 454 |
+
4227,
|
| 455 |
+
4305
|
| 456 |
+
],
|
| 457 |
+
"mp_ef": [],
|
| 458 |
+
"skill_type": [
|
| 459 |
+
"uncoordinated"
|
| 460 |
+
]
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"skill_idx": 17,
|
| 464 |
+
"skill_id": [
|
| 465 |
+
1
|
| 466 |
+
],
|
| 467 |
+
"skill_description": [
|
| 468 |
+
"move to"
|
| 469 |
+
],
|
| 470 |
+
"object_id": [
|
| 471 |
+
[
|
| 472 |
+
"packing_box_210"
|
| 473 |
+
]
|
| 474 |
+
],
|
| 475 |
+
"manipulating_object_id": [],
|
| 476 |
+
"spatial_prefix": [],
|
| 477 |
+
"frame_duration": [
|
| 478 |
+
4305,
|
| 479 |
+
4476
|
| 480 |
+
],
|
| 481 |
+
"mp_ef": [],
|
| 482 |
+
"skill_type": [
|
| 483 |
+
"navigation"
|
| 484 |
+
]
|
| 485 |
+
},
|
| 486 |
+
{
|
| 487 |
+
"skill_idx": 18,
|
| 488 |
+
"skill_id": [
|
| 489 |
+
4
|
| 490 |
+
],
|
| 491 |
+
"skill_description": [
|
| 492 |
+
"place in"
|
| 493 |
+
],
|
| 494 |
+
"object_id": [
|
| 495 |
+
[
|
| 496 |
+
"chocolate_chip_cookie_207",
|
| 497 |
+
"packing_box_210"
|
| 498 |
+
]
|
| 499 |
+
],
|
| 500 |
+
"manipulating_object_id": [
|
| 501 |
+
"chocolate_chip_cookie_207"
|
| 502 |
+
],
|
| 503 |
+
"spatial_prefix": [],
|
| 504 |
+
"frame_duration": [
|
| 505 |
+
4476,
|
| 506 |
+
4767
|
| 507 |
+
],
|
| 508 |
+
"mp_ef": [],
|
| 509 |
+
"skill_type": [
|
| 510 |
+
"uncoordinated"
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
+
{
|
| 514 |
+
"skill_idx": 19,
|
| 515 |
+
"skill_id": [
|
| 516 |
+
1
|
| 517 |
+
],
|
| 518 |
+
"skill_description": [
|
| 519 |
+
"move to"
|
| 520 |
+
],
|
| 521 |
+
"object_id": [
|
| 522 |
+
[
|
| 523 |
+
"fridge_dszchb_0"
|
| 524 |
+
]
|
| 525 |
+
],
|
| 526 |
+
"manipulating_object_id": [],
|
| 527 |
+
"spatial_prefix": [],
|
| 528 |
+
"frame_duration": [
|
| 529 |
+
4767,
|
| 530 |
+
5490
|
| 531 |
+
],
|
| 532 |
+
"mp_ef": [],
|
| 533 |
+
"skill_type": [
|
| 534 |
+
"navigation"
|
| 535 |
+
]
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"skill_idx": 20,
|
| 539 |
+
"skill_id": [
|
| 540 |
+
10
|
| 541 |
+
],
|
| 542 |
+
"skill_description": [
|
| 543 |
+
"open door"
|
| 544 |
+
],
|
| 545 |
+
"object_id": [
|
| 546 |
+
[
|
| 547 |
+
"fridge_dszchb_0"
|
| 548 |
+
]
|
| 549 |
+
],
|
| 550 |
+
"manipulating_object_id": [],
|
| 551 |
+
"spatial_prefix": [],
|
| 552 |
+
"frame_duration": [
|
| 553 |
+
5490,
|
| 554 |
+
6323
|
| 555 |
+
],
|
| 556 |
+
"mp_ef": [],
|
| 557 |
+
"skill_type": [
|
| 558 |
+
"coordinated"
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
{
|
| 562 |
+
"skill_idx": 21,
|
| 563 |
+
"skill_id": [
|
| 564 |
+
2
|
| 565 |
+
],
|
| 566 |
+
"skill_description": [
|
| 567 |
+
"pick up from"
|
| 568 |
+
],
|
| 569 |
+
"object_id": [
|
| 570 |
+
[
|
| 571 |
+
"bottle_of_tea_208",
|
| 572 |
+
"fridge_dszchb_0"
|
| 573 |
+
]
|
| 574 |
+
],
|
| 575 |
+
"manipulating_object_id": [
|
| 576 |
+
"bottle_of_tea_208"
|
| 577 |
+
],
|
| 578 |
+
"spatial_prefix": [
|
| 579 |
+
[
|
| 580 |
+
"",
|
| 581 |
+
"high_level"
|
| 582 |
+
]
|
| 583 |
+
],
|
| 584 |
+
"frame_duration": [
|
| 585 |
+
6323,
|
| 586 |
+
6762
|
| 587 |
+
],
|
| 588 |
+
"mp_ef": [],
|
| 589 |
+
"skill_type": [
|
| 590 |
+
"uncoordinated"
|
| 591 |
+
]
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"skill_idx": 22,
|
| 595 |
+
"skill_id": [
|
| 596 |
+
12
|
| 597 |
+
],
|
| 598 |
+
"skill_description": [
|
| 599 |
+
"close door"
|
| 600 |
+
],
|
| 601 |
+
"object_id": [
|
| 602 |
+
[
|
| 603 |
+
"fridge_dszchb_0"
|
| 604 |
+
]
|
| 605 |
+
],
|
| 606 |
+
"manipulating_object_id": [],
|
| 607 |
+
"spatial_prefix": [],
|
| 608 |
+
"frame_duration": [
|
| 609 |
+
6762,
|
| 610 |
+
7612
|
| 611 |
+
],
|
| 612 |
+
"mp_ef": [],
|
| 613 |
+
"skill_type": [
|
| 614 |
+
"uncoordinated"
|
| 615 |
+
]
|
| 616 |
+
},
|
| 617 |
+
{
|
| 618 |
+
"skill_idx": 23,
|
| 619 |
+
"skill_id": [
|
| 620 |
+
1
|
| 621 |
+
],
|
| 622 |
+
"skill_description": [
|
| 623 |
+
"move to"
|
| 624 |
+
],
|
| 625 |
+
"object_id": [
|
| 626 |
+
[
|
| 627 |
+
"packing_box_210"
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
"manipulating_object_id": [],
|
| 631 |
+
"spatial_prefix": [],
|
| 632 |
+
"frame_duration": [
|
| 633 |
+
7612,
|
| 634 |
+
7917
|
| 635 |
+
],
|
| 636 |
+
"mp_ef": [],
|
| 637 |
+
"skill_type": [
|
| 638 |
+
"navigation"
|
| 639 |
+
]
|
| 640 |
+
},
|
| 641 |
+
{
|
| 642 |
+
"skill_idx": 24,
|
| 643 |
+
"skill_id": [
|
| 644 |
+
4
|
| 645 |
+
],
|
| 646 |
+
"skill_description": [
|
| 647 |
+
"place in"
|
| 648 |
+
],
|
| 649 |
+
"object_id": [
|
| 650 |
+
[
|
| 651 |
+
"bottle_of_tea_208",
|
| 652 |
+
"packing_box_210"
|
| 653 |
+
]
|
| 654 |
+
],
|
| 655 |
+
"manipulating_object_id": [
|
| 656 |
+
"bottle_of_tea_208"
|
| 657 |
+
],
|
| 658 |
+
"spatial_prefix": [],
|
| 659 |
+
"frame_duration": [
|
| 660 |
+
7917,
|
| 661 |
+
8571
|
| 662 |
+
],
|
| 663 |
+
"mp_ef": [],
|
| 664 |
+
"skill_type": [
|
| 665 |
+
"uncoordinated"
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
],
|
| 669 |
+
"primitive_annotation": [
|
| 670 |
+
{
|
| 671 |
+
"primitive_idx": 0,
|
| 672 |
+
"primitive_id": [
|
| 673 |
+
2,
|
| 674 |
+
91
|
| 675 |
+
],
|
| 676 |
+
"primitive_description": [
|
| 677 |
+
"pick up from",
|
| 678 |
+
"place on next to"
|
| 679 |
+
],
|
| 680 |
+
"object_id": [
|
| 681 |
+
[
|
| 682 |
+
"packing_box_210",
|
| 683 |
+
"countertop_kelker_0"
|
| 684 |
+
],
|
| 685 |
+
[
|
| 686 |
+
"packing_box_210",
|
| 687 |
+
"burner_mjvqii_0",
|
| 688 |
+
"chopping_board_211"
|
| 689 |
+
]
|
| 690 |
+
],
|
| 691 |
+
"manipulating_object_id": [
|
| 692 |
+
"packing_box_210",
|
| 693 |
+
"packing_box_210"
|
| 694 |
+
],
|
| 695 |
+
"spatial_prefix": [
|
| 696 |
+
[],
|
| 697 |
+
[
|
| 698 |
+
[],
|
| 699 |
+
[],
|
| 700 |
+
[
|
| 701 |
+
"right"
|
| 702 |
+
]
|
| 703 |
+
]
|
| 704 |
+
],
|
| 705 |
+
"frame_duration": [
|
| 706 |
+
0,
|
| 707 |
+
636
|
| 708 |
+
],
|
| 709 |
+
"skill_idxes": [
|
| 710 |
+
0,
|
| 711 |
+
1,
|
| 712 |
+
2,
|
| 713 |
+
3
|
| 714 |
+
]
|
| 715 |
+
},
|
| 716 |
+
{
|
| 717 |
+
"primitive_idx": 1,
|
| 718 |
+
"primitive_id": [
|
| 719 |
+
2,
|
| 720 |
+
4
|
| 721 |
+
],
|
| 722 |
+
"primitive_description": [
|
| 723 |
+
"pick up from",
|
| 724 |
+
"place in"
|
| 725 |
+
],
|
| 726 |
+
"object_id": [
|
| 727 |
+
[
|
| 728 |
+
[
|
| 729 |
+
"half_apple_213",
|
| 730 |
+
"half_apple_212"
|
| 731 |
+
],
|
| 732 |
+
"chopping_board_211"
|
| 733 |
+
],
|
| 734 |
+
[
|
| 735 |
+
[
|
| 736 |
+
"half_apple_213",
|
| 737 |
+
"half_apple_212"
|
| 738 |
+
],
|
| 739 |
+
"packing_box_210"
|
| 740 |
+
]
|
| 741 |
+
],
|
| 742 |
+
"manipulating_object_id": [
|
| 743 |
+
[
|
| 744 |
+
"half_apple_213",
|
| 745 |
+
"half_apple_212"
|
| 746 |
+
],
|
| 747 |
+
[
|
| 748 |
+
"half_apple_213",
|
| 749 |
+
"half_apple_212"
|
| 750 |
+
]
|
| 751 |
+
],
|
| 752 |
+
"spatial_prefix": [],
|
| 753 |
+
"frame_duration": [
|
| 754 |
+
636,
|
| 755 |
+
2552
|
| 756 |
+
],
|
| 757 |
+
"skill_idxes": [
|
| 758 |
+
4,
|
| 759 |
+
5,
|
| 760 |
+
6,
|
| 761 |
+
7,
|
| 762 |
+
8,
|
| 763 |
+
9
|
| 764 |
+
]
|
| 765 |
+
},
|
| 766 |
+
{
|
| 767 |
+
"primitive_idx": 2,
|
| 768 |
+
"primitive_id": [
|
| 769 |
+
2,
|
| 770 |
+
4
|
| 771 |
+
],
|
| 772 |
+
"primitive_description": [
|
| 773 |
+
"pick up from",
|
| 774 |
+
"place in"
|
| 775 |
+
],
|
| 776 |
+
"object_id": [
|
| 777 |
+
[
|
| 778 |
+
"club_sandwich_209",
|
| 779 |
+
"chopping_board_211"
|
| 780 |
+
],
|
| 781 |
+
[
|
| 782 |
+
"club_sandwich_209",
|
| 783 |
+
"packing_box_210"
|
| 784 |
+
]
|
| 785 |
+
],
|
| 786 |
+
"manipulating_object_id": [
|
| 787 |
+
"club_sandwich_209",
|
| 788 |
+
"club_sandwich_209"
|
| 789 |
+
],
|
| 790 |
+
"spatial_prefix": [],
|
| 791 |
+
"frame_duration": [
|
| 792 |
+
2552,
|
| 793 |
+
3490
|
| 794 |
+
],
|
| 795 |
+
"skill_idxes": [
|
| 796 |
+
10,
|
| 797 |
+
11,
|
| 798 |
+
12,
|
| 799 |
+
13
|
| 800 |
+
]
|
| 801 |
+
},
|
| 802 |
+
{
|
| 803 |
+
"primitive_idx": 3,
|
| 804 |
+
"primitive_id": [
|
| 805 |
+
2,
|
| 806 |
+
4
|
| 807 |
+
],
|
| 808 |
+
"primitive_description": [
|
| 809 |
+
"pick up from",
|
| 810 |
+
"place in"
|
| 811 |
+
],
|
| 812 |
+
"object_id": [
|
| 813 |
+
[
|
| 814 |
+
"chocolate_chip_cookie_207",
|
| 815 |
+
"chopping_board_211"
|
| 816 |
+
],
|
| 817 |
+
[
|
| 818 |
+
"chocolate_chip_cookie_207",
|
| 819 |
+
"packing_box_210"
|
| 820 |
+
]
|
| 821 |
+
],
|
| 822 |
+
"manipulating_object_id": [
|
| 823 |
+
"chocolate_chip_cookie_207",
|
| 824 |
+
"chocolate_chip_cookie_207"
|
| 825 |
+
],
|
| 826 |
+
"spatial_prefix": [],
|
| 827 |
+
"frame_duration": [
|
| 828 |
+
3490,
|
| 829 |
+
4767
|
| 830 |
+
],
|
| 831 |
+
"skill_idxes": [
|
| 832 |
+
14,
|
| 833 |
+
15,
|
| 834 |
+
16,
|
| 835 |
+
17,
|
| 836 |
+
18
|
| 837 |
+
]
|
| 838 |
+
},
|
| 839 |
+
{
|
| 840 |
+
"primitive_idx": 4,
|
| 841 |
+
"primitive_id": [],
|
| 842 |
+
"primitive_description": [],
|
| 843 |
+
"object_id": [],
|
| 844 |
+
"manipulating_object_id": [],
|
| 845 |
+
"spatial_prefix": [],
|
| 846 |
+
"frame_duration": [
|
| 847 |
+
4767,
|
| 848 |
+
7917
|
| 849 |
+
],
|
| 850 |
+
"skill_idxes": [
|
| 851 |
+
19,
|
| 852 |
+
20,
|
| 853 |
+
23
|
| 854 |
+
]
|
| 855 |
+
},
|
| 856 |
+
{
|
| 857 |
+
"primitive_idx": 5,
|
| 858 |
+
"primitive_id": [
|
| 859 |
+
2
|
| 860 |
+
],
|
| 861 |
+
"primitive_description": [
|
| 862 |
+
"pick up from"
|
| 863 |
+
],
|
| 864 |
+
"object_id": [
|
| 865 |
+
[
|
| 866 |
+
"bottle_of_tea_208",
|
| 867 |
+
"fridge_dszchb_0"
|
| 868 |
+
]
|
| 869 |
+
],
|
| 870 |
+
"manipulating_object_id": [
|
| 871 |
+
"bottle_of_tea_208"
|
| 872 |
+
],
|
| 873 |
+
"spatial_prefix": [
|
| 874 |
+
[
|
| 875 |
+
[],
|
| 876 |
+
[
|
| 877 |
+
"high_level"
|
| 878 |
+
]
|
| 879 |
+
]
|
| 880 |
+
],
|
| 881 |
+
"frame_duration": [
|
| 882 |
+
6323,
|
| 883 |
+
6762
|
| 884 |
+
],
|
| 885 |
+
"skill_idxes": [
|
| 886 |
+
21
|
| 887 |
+
]
|
| 888 |
+
},
|
| 889 |
+
{
|
| 890 |
+
"primitive_idx": 6,
|
| 891 |
+
"primitive_id": [
|
| 892 |
+
12
|
| 893 |
+
],
|
| 894 |
+
"primitive_description": [
|
| 895 |
+
"close door"
|
| 896 |
+
],
|
| 897 |
+
"object_id": [
|
| 898 |
+
[
|
| 899 |
+
"fridge_dszchb_0"
|
| 900 |
+
]
|
| 901 |
+
],
|
| 902 |
+
"manipulating_object_id": [],
|
| 903 |
+
"spatial_prefix": [],
|
| 904 |
+
"frame_duration": [
|
| 905 |
+
6762,
|
| 906 |
+
7612
|
| 907 |
+
],
|
| 908 |
+
"skill_idxes": [
|
| 909 |
+
22
|
| 910 |
+
]
|
| 911 |
+
},
|
| 912 |
+
{
|
| 913 |
+
"primitive_idx": 7,
|
| 914 |
+
"primitive_id": [
|
| 915 |
+
4
|
| 916 |
+
],
|
| 917 |
+
"primitive_description": [
|
| 918 |
+
"place in"
|
| 919 |
+
],
|
| 920 |
+
"object_id": [
|
| 921 |
+
[
|
| 922 |
+
"bottle_of_tea_208",
|
| 923 |
+
"packing_box_210"
|
| 924 |
+
]
|
| 925 |
+
],
|
| 926 |
+
"manipulating_object_id": [
|
| 927 |
+
"bottle_of_tea_208"
|
| 928 |
+
],
|
| 929 |
+
"spatial_prefix": [],
|
| 930 |
+
"frame_duration": [
|
| 931 |
+
7917,
|
| 932 |
+
8571
|
| 933 |
+
],
|
| 934 |
+
"skill_idxes": [
|
| 935 |
+
24
|
| 936 |
+
]
|
| 937 |
+
}
|
| 938 |
+
]
|
| 939 |
+
}
|
annotations/episode_00000263.json
ADDED
|
@@ -0,0 +1,914 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9941,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
57,
|
| 8 |
+
9998
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
57,
|
| 29 |
+
528
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
528,
|
| 56 |
+
693
|
| 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 |
+
"burner_mjvqii_0"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
693,
|
| 80 |
+
844
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"burner_mjvqii_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"right"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
844,
|
| 114 |
+
935
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"club_sandwich_209"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
935,
|
| 138 |
+
1031
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
2
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"pick up from"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"club_sandwich_209",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"club_sandwich_209"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [
|
| 164 |
+
1031,
|
| 165 |
+
1844
|
| 166 |
+
],
|
| 167 |
+
"mp_ef": [],
|
| 168 |
+
"skill_type": [
|
| 169 |
+
"uncoordinated"
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"skill_idx": 6,
|
| 174 |
+
"skill_id": [
|
| 175 |
+
1
|
| 176 |
+
],
|
| 177 |
+
"skill_description": [
|
| 178 |
+
"move to"
|
| 179 |
+
],
|
| 180 |
+
"object_id": [
|
| 181 |
+
[
|
| 182 |
+
"packing_box_210"
|
| 183 |
+
]
|
| 184 |
+
],
|
| 185 |
+
"manipulating_object_id": [],
|
| 186 |
+
"spatial_prefix": [],
|
| 187 |
+
"frame_duration": [
|
| 188 |
+
1844,
|
| 189 |
+
1898
|
| 190 |
+
],
|
| 191 |
+
"mp_ef": [],
|
| 192 |
+
"skill_type": [
|
| 193 |
+
"navigation"
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
{
|
| 197 |
+
"skill_idx": 7,
|
| 198 |
+
"skill_id": [
|
| 199 |
+
4
|
| 200 |
+
],
|
| 201 |
+
"skill_description": [
|
| 202 |
+
"place in"
|
| 203 |
+
],
|
| 204 |
+
"object_id": [
|
| 205 |
+
[
|
| 206 |
+
"club_sandwich_209",
|
| 207 |
+
"packing_box_210"
|
| 208 |
+
]
|
| 209 |
+
],
|
| 210 |
+
"manipulating_object_id": [
|
| 211 |
+
"club_sandwich_209"
|
| 212 |
+
],
|
| 213 |
+
"spatial_prefix": [],
|
| 214 |
+
"frame_duration": [
|
| 215 |
+
1898,
|
| 216 |
+
2121
|
| 217 |
+
],
|
| 218 |
+
"mp_ef": [],
|
| 219 |
+
"skill_type": [
|
| 220 |
+
"uncoordinated"
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"skill_idx": 8,
|
| 225 |
+
"skill_id": [
|
| 226 |
+
2
|
| 227 |
+
],
|
| 228 |
+
"skill_description": [
|
| 229 |
+
"pick up from"
|
| 230 |
+
],
|
| 231 |
+
"object_id": [
|
| 232 |
+
[
|
| 233 |
+
"half_apple_213",
|
| 234 |
+
"chopping_board_211"
|
| 235 |
+
]
|
| 236 |
+
],
|
| 237 |
+
"manipulating_object_id": [
|
| 238 |
+
"half_apple_213"
|
| 239 |
+
],
|
| 240 |
+
"spatial_prefix": [],
|
| 241 |
+
"frame_duration": [
|
| 242 |
+
2122,
|
| 243 |
+
2708
|
| 244 |
+
],
|
| 245 |
+
"mp_ef": [],
|
| 246 |
+
"skill_type": [
|
| 247 |
+
"uncoordinated"
|
| 248 |
+
]
|
| 249 |
+
},
|
| 250 |
+
{
|
| 251 |
+
"skill_idx": 9,
|
| 252 |
+
"skill_id": [
|
| 253 |
+
2
|
| 254 |
+
],
|
| 255 |
+
"skill_description": [
|
| 256 |
+
"pick up from"
|
| 257 |
+
],
|
| 258 |
+
"object_id": [
|
| 259 |
+
[
|
| 260 |
+
"half_apple_212",
|
| 261 |
+
"chopping_board_211"
|
| 262 |
+
]
|
| 263 |
+
],
|
| 264 |
+
"manipulating_object_id": [
|
| 265 |
+
"half_apple_212"
|
| 266 |
+
],
|
| 267 |
+
"spatial_prefix": [],
|
| 268 |
+
"frame_duration": [
|
| 269 |
+
2708,
|
| 270 |
+
3045
|
| 271 |
+
],
|
| 272 |
+
"mp_ef": [],
|
| 273 |
+
"skill_type": [
|
| 274 |
+
"uncoordinated"
|
| 275 |
+
]
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"skill_idx": 10,
|
| 279 |
+
"skill_id": [
|
| 280 |
+
1
|
| 281 |
+
],
|
| 282 |
+
"skill_description": [
|
| 283 |
+
"move to"
|
| 284 |
+
],
|
| 285 |
+
"object_id": [
|
| 286 |
+
[
|
| 287 |
+
"packing_box_210"
|
| 288 |
+
]
|
| 289 |
+
],
|
| 290 |
+
"manipulating_object_id": [],
|
| 291 |
+
"spatial_prefix": [],
|
| 292 |
+
"frame_duration": [
|
| 293 |
+
3045,
|
| 294 |
+
3198
|
| 295 |
+
],
|
| 296 |
+
"mp_ef": [],
|
| 297 |
+
"skill_type": [
|
| 298 |
+
"navigation"
|
| 299 |
+
]
|
| 300 |
+
},
|
| 301 |
+
{
|
| 302 |
+
"skill_idx": 11,
|
| 303 |
+
"skill_id": [
|
| 304 |
+
4
|
| 305 |
+
],
|
| 306 |
+
"skill_description": [
|
| 307 |
+
"place in"
|
| 308 |
+
],
|
| 309 |
+
"object_id": [
|
| 310 |
+
[
|
| 311 |
+
"half_apple_213",
|
| 312 |
+
"packing_box_210"
|
| 313 |
+
]
|
| 314 |
+
],
|
| 315 |
+
"manipulating_object_id": [
|
| 316 |
+
"half_apple_213"
|
| 317 |
+
],
|
| 318 |
+
"spatial_prefix": [],
|
| 319 |
+
"frame_duration": [
|
| 320 |
+
3198,
|
| 321 |
+
3362
|
| 322 |
+
],
|
| 323 |
+
"mp_ef": [],
|
| 324 |
+
"skill_type": [
|
| 325 |
+
"uncoordinated"
|
| 326 |
+
]
|
| 327 |
+
},
|
| 328 |
+
{
|
| 329 |
+
"skill_idx": 12,
|
| 330 |
+
"skill_id": [
|
| 331 |
+
4
|
| 332 |
+
],
|
| 333 |
+
"skill_description": [
|
| 334 |
+
"place in"
|
| 335 |
+
],
|
| 336 |
+
"object_id": [
|
| 337 |
+
[
|
| 338 |
+
"half_apple_212",
|
| 339 |
+
"packing_box_210"
|
| 340 |
+
]
|
| 341 |
+
],
|
| 342 |
+
"manipulating_object_id": [
|
| 343 |
+
"half_apple_212"
|
| 344 |
+
],
|
| 345 |
+
"spatial_prefix": [],
|
| 346 |
+
"frame_duration": [
|
| 347 |
+
3362,
|
| 348 |
+
4019
|
| 349 |
+
],
|
| 350 |
+
"mp_ef": [],
|
| 351 |
+
"skill_type": [
|
| 352 |
+
"uncoordinated"
|
| 353 |
+
]
|
| 354 |
+
},
|
| 355 |
+
{
|
| 356 |
+
"skill_idx": 13,
|
| 357 |
+
"skill_id": [
|
| 358 |
+
1
|
| 359 |
+
],
|
| 360 |
+
"skill_description": [
|
| 361 |
+
"move to"
|
| 362 |
+
],
|
| 363 |
+
"object_id": [
|
| 364 |
+
[
|
| 365 |
+
"chocolate_chip_cookie_207"
|
| 366 |
+
]
|
| 367 |
+
],
|
| 368 |
+
"manipulating_object_id": [],
|
| 369 |
+
"spatial_prefix": [],
|
| 370 |
+
"frame_duration": [
|
| 371 |
+
4019,
|
| 372 |
+
4211
|
| 373 |
+
],
|
| 374 |
+
"mp_ef": [],
|
| 375 |
+
"skill_type": [
|
| 376 |
+
"navigation"
|
| 377 |
+
]
|
| 378 |
+
},
|
| 379 |
+
{
|
| 380 |
+
"skill_idx": 14,
|
| 381 |
+
"skill_id": [
|
| 382 |
+
90
|
| 383 |
+
],
|
| 384 |
+
"skill_description": [
|
| 385 |
+
"push to"
|
| 386 |
+
],
|
| 387 |
+
"object_id": [
|
| 388 |
+
[
|
| 389 |
+
"chocolate_chip_cookie_207",
|
| 390 |
+
"chopping_board_211"
|
| 391 |
+
]
|
| 392 |
+
],
|
| 393 |
+
"manipulating_object_id": [
|
| 394 |
+
"chocolate_chip_cookie_207"
|
| 395 |
+
],
|
| 396 |
+
"spatial_prefix": [
|
| 397 |
+
[
|
| 398 |
+
"",
|
| 399 |
+
"to_the_edge_of"
|
| 400 |
+
]
|
| 401 |
+
],
|
| 402 |
+
"frame_duration": [
|
| 403 |
+
4211,
|
| 404 |
+
5240
|
| 405 |
+
],
|
| 406 |
+
"mp_ef": [],
|
| 407 |
+
"skill_type": [
|
| 408 |
+
"uncoordinated"
|
| 409 |
+
]
|
| 410 |
+
},
|
| 411 |
+
{
|
| 412 |
+
"skill_idx": 15,
|
| 413 |
+
"skill_id": [
|
| 414 |
+
2
|
| 415 |
+
],
|
| 416 |
+
"skill_description": [
|
| 417 |
+
"pick up from"
|
| 418 |
+
],
|
| 419 |
+
"object_id": [
|
| 420 |
+
[
|
| 421 |
+
"chocolate_chip_cookie_207",
|
| 422 |
+
"chopping_board_211"
|
| 423 |
+
]
|
| 424 |
+
],
|
| 425 |
+
"manipulating_object_id": [
|
| 426 |
+
"chocolate_chip_cookie_207"
|
| 427 |
+
],
|
| 428 |
+
"spatial_prefix": [],
|
| 429 |
+
"frame_duration": [
|
| 430 |
+
5240,
|
| 431 |
+
5458
|
| 432 |
+
],
|
| 433 |
+
"mp_ef": [],
|
| 434 |
+
"skill_type": [
|
| 435 |
+
"uncoordinated"
|
| 436 |
+
]
|
| 437 |
+
},
|
| 438 |
+
{
|
| 439 |
+
"skill_idx": 16,
|
| 440 |
+
"skill_id": [
|
| 441 |
+
1
|
| 442 |
+
],
|
| 443 |
+
"skill_description": [
|
| 444 |
+
"move to"
|
| 445 |
+
],
|
| 446 |
+
"object_id": [
|
| 447 |
+
[
|
| 448 |
+
"packing_box_210"
|
| 449 |
+
]
|
| 450 |
+
],
|
| 451 |
+
"manipulating_object_id": [],
|
| 452 |
+
"spatial_prefix": [],
|
| 453 |
+
"frame_duration": [
|
| 454 |
+
5458,
|
| 455 |
+
5774
|
| 456 |
+
],
|
| 457 |
+
"mp_ef": [],
|
| 458 |
+
"skill_type": [
|
| 459 |
+
"navigation"
|
| 460 |
+
]
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"skill_idx": 17,
|
| 464 |
+
"skill_id": [
|
| 465 |
+
4
|
| 466 |
+
],
|
| 467 |
+
"skill_description": [
|
| 468 |
+
"place in"
|
| 469 |
+
],
|
| 470 |
+
"object_id": [
|
| 471 |
+
[
|
| 472 |
+
"chocolate_chip_cookie_207",
|
| 473 |
+
"packing_box_210"
|
| 474 |
+
]
|
| 475 |
+
],
|
| 476 |
+
"manipulating_object_id": [
|
| 477 |
+
"chocolate_chip_cookie_207"
|
| 478 |
+
],
|
| 479 |
+
"spatial_prefix": [],
|
| 480 |
+
"frame_duration": [
|
| 481 |
+
5774,
|
| 482 |
+
6212
|
| 483 |
+
],
|
| 484 |
+
"mp_ef": [],
|
| 485 |
+
"skill_type": [
|
| 486 |
+
"uncoordinated"
|
| 487 |
+
]
|
| 488 |
+
},
|
| 489 |
+
{
|
| 490 |
+
"skill_idx": 18,
|
| 491 |
+
"skill_id": [
|
| 492 |
+
1
|
| 493 |
+
],
|
| 494 |
+
"skill_description": [
|
| 495 |
+
"move to"
|
| 496 |
+
],
|
| 497 |
+
"object_id": [
|
| 498 |
+
[
|
| 499 |
+
"fridge_dszchb_0"
|
| 500 |
+
]
|
| 501 |
+
],
|
| 502 |
+
"manipulating_object_id": [],
|
| 503 |
+
"spatial_prefix": [],
|
| 504 |
+
"frame_duration": [
|
| 505 |
+
6212,
|
| 506 |
+
6826
|
| 507 |
+
],
|
| 508 |
+
"mp_ef": [],
|
| 509 |
+
"skill_type": [
|
| 510 |
+
"navigation"
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
+
{
|
| 514 |
+
"skill_idx": 19,
|
| 515 |
+
"skill_id": [
|
| 516 |
+
10
|
| 517 |
+
],
|
| 518 |
+
"skill_description": [
|
| 519 |
+
"open door"
|
| 520 |
+
],
|
| 521 |
+
"object_id": [
|
| 522 |
+
[
|
| 523 |
+
"fridge_dszchb_0"
|
| 524 |
+
]
|
| 525 |
+
],
|
| 526 |
+
"manipulating_object_id": [],
|
| 527 |
+
"spatial_prefix": [],
|
| 528 |
+
"frame_duration": [
|
| 529 |
+
6826,
|
| 530 |
+
7658
|
| 531 |
+
],
|
| 532 |
+
"mp_ef": [],
|
| 533 |
+
"skill_type": [
|
| 534 |
+
"coordinated"
|
| 535 |
+
]
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"skill_idx": 20,
|
| 539 |
+
"skill_id": [
|
| 540 |
+
2
|
| 541 |
+
],
|
| 542 |
+
"skill_description": [
|
| 543 |
+
"pick up from"
|
| 544 |
+
],
|
| 545 |
+
"object_id": [
|
| 546 |
+
[
|
| 547 |
+
"bottle_of_tea_208",
|
| 548 |
+
"fridge_dszchb_0"
|
| 549 |
+
]
|
| 550 |
+
],
|
| 551 |
+
"manipulating_object_id": [
|
| 552 |
+
"bottle_of_tea_208"
|
| 553 |
+
],
|
| 554 |
+
"spatial_prefix": [
|
| 555 |
+
[
|
| 556 |
+
"",
|
| 557 |
+
"low_level"
|
| 558 |
+
]
|
| 559 |
+
],
|
| 560 |
+
"frame_duration": [
|
| 561 |
+
7658,
|
| 562 |
+
8334
|
| 563 |
+
],
|
| 564 |
+
"mp_ef": [],
|
| 565 |
+
"skill_type": [
|
| 566 |
+
"uncoordinated"
|
| 567 |
+
]
|
| 568 |
+
},
|
| 569 |
+
{
|
| 570 |
+
"skill_idx": 21,
|
| 571 |
+
"skill_id": [
|
| 572 |
+
12
|
| 573 |
+
],
|
| 574 |
+
"skill_description": [
|
| 575 |
+
"close door"
|
| 576 |
+
],
|
| 577 |
+
"object_id": [
|
| 578 |
+
[
|
| 579 |
+
"fridge_dszchb_0"
|
| 580 |
+
]
|
| 581 |
+
],
|
| 582 |
+
"manipulating_object_id": [],
|
| 583 |
+
"spatial_prefix": [],
|
| 584 |
+
"frame_duration": [
|
| 585 |
+
8334,
|
| 586 |
+
9215
|
| 587 |
+
],
|
| 588 |
+
"mp_ef": [],
|
| 589 |
+
"skill_type": [
|
| 590 |
+
"uncoordinated"
|
| 591 |
+
]
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"skill_idx": 22,
|
| 595 |
+
"skill_id": [
|
| 596 |
+
1
|
| 597 |
+
],
|
| 598 |
+
"skill_description": [
|
| 599 |
+
"move to"
|
| 600 |
+
],
|
| 601 |
+
"object_id": [
|
| 602 |
+
[
|
| 603 |
+
"packing_box_210"
|
| 604 |
+
]
|
| 605 |
+
],
|
| 606 |
+
"manipulating_object_id": [],
|
| 607 |
+
"spatial_prefix": [],
|
| 608 |
+
"frame_duration": [
|
| 609 |
+
9215,
|
| 610 |
+
9632
|
| 611 |
+
],
|
| 612 |
+
"mp_ef": [],
|
| 613 |
+
"skill_type": [
|
| 614 |
+
"navigation"
|
| 615 |
+
]
|
| 616 |
+
},
|
| 617 |
+
{
|
| 618 |
+
"skill_idx": 23,
|
| 619 |
+
"skill_id": [
|
| 620 |
+
4
|
| 621 |
+
],
|
| 622 |
+
"skill_description": [
|
| 623 |
+
"place in"
|
| 624 |
+
],
|
| 625 |
+
"object_id": [
|
| 626 |
+
[
|
| 627 |
+
"bottle_of_tea_208",
|
| 628 |
+
"packing_box_210"
|
| 629 |
+
]
|
| 630 |
+
],
|
| 631 |
+
"manipulating_object_id": [
|
| 632 |
+
"bottle_of_tea_208"
|
| 633 |
+
],
|
| 634 |
+
"spatial_prefix": [],
|
| 635 |
+
"frame_duration": [
|
| 636 |
+
9632,
|
| 637 |
+
9998
|
| 638 |
+
],
|
| 639 |
+
"mp_ef": [],
|
| 640 |
+
"skill_type": [
|
| 641 |
+
"uncoordinated"
|
| 642 |
+
]
|
| 643 |
+
}
|
| 644 |
+
],
|
| 645 |
+
"primitive_annotation": [
|
| 646 |
+
{
|
| 647 |
+
"primitive_idx": 0,
|
| 648 |
+
"primitive_id": [
|
| 649 |
+
2,
|
| 650 |
+
91
|
| 651 |
+
],
|
| 652 |
+
"primitive_description": [
|
| 653 |
+
"pick up from",
|
| 654 |
+
"place on next to"
|
| 655 |
+
],
|
| 656 |
+
"object_id": [
|
| 657 |
+
[
|
| 658 |
+
"packing_box_210",
|
| 659 |
+
"countertop_kelker_0"
|
| 660 |
+
],
|
| 661 |
+
[
|
| 662 |
+
"packing_box_210",
|
| 663 |
+
"burner_mjvqii_0",
|
| 664 |
+
"chopping_board_211"
|
| 665 |
+
]
|
| 666 |
+
],
|
| 667 |
+
"manipulating_object_id": [
|
| 668 |
+
"packing_box_210",
|
| 669 |
+
"packing_box_210"
|
| 670 |
+
],
|
| 671 |
+
"spatial_prefix": [
|
| 672 |
+
[],
|
| 673 |
+
[
|
| 674 |
+
[],
|
| 675 |
+
[],
|
| 676 |
+
[
|
| 677 |
+
"right"
|
| 678 |
+
]
|
| 679 |
+
]
|
| 680 |
+
],
|
| 681 |
+
"frame_duration": [
|
| 682 |
+
57,
|
| 683 |
+
935
|
| 684 |
+
],
|
| 685 |
+
"skill_idxes": [
|
| 686 |
+
0,
|
| 687 |
+
1,
|
| 688 |
+
2,
|
| 689 |
+
3
|
| 690 |
+
]
|
| 691 |
+
},
|
| 692 |
+
{
|
| 693 |
+
"primitive_idx": 1,
|
| 694 |
+
"primitive_id": [
|
| 695 |
+
2,
|
| 696 |
+
4
|
| 697 |
+
],
|
| 698 |
+
"primitive_description": [
|
| 699 |
+
"pick up from",
|
| 700 |
+
"place in"
|
| 701 |
+
],
|
| 702 |
+
"object_id": [
|
| 703 |
+
[
|
| 704 |
+
"club_sandwich_209",
|
| 705 |
+
"chopping_board_211"
|
| 706 |
+
],
|
| 707 |
+
[
|
| 708 |
+
"club_sandwich_209",
|
| 709 |
+
"packing_box_210"
|
| 710 |
+
]
|
| 711 |
+
],
|
| 712 |
+
"manipulating_object_id": [
|
| 713 |
+
"club_sandwich_209",
|
| 714 |
+
"club_sandwich_209"
|
| 715 |
+
],
|
| 716 |
+
"spatial_prefix": [],
|
| 717 |
+
"frame_duration": [
|
| 718 |
+
935,
|
| 719 |
+
2121
|
| 720 |
+
],
|
| 721 |
+
"skill_idxes": [
|
| 722 |
+
4,
|
| 723 |
+
5,
|
| 724 |
+
6,
|
| 725 |
+
7
|
| 726 |
+
]
|
| 727 |
+
},
|
| 728 |
+
{
|
| 729 |
+
"primitive_idx": 2,
|
| 730 |
+
"primitive_id": [
|
| 731 |
+
2,
|
| 732 |
+
4
|
| 733 |
+
],
|
| 734 |
+
"primitive_description": [
|
| 735 |
+
"pick up from",
|
| 736 |
+
"place in"
|
| 737 |
+
],
|
| 738 |
+
"object_id": [
|
| 739 |
+
[
|
| 740 |
+
[
|
| 741 |
+
"half_apple_213",
|
| 742 |
+
"half_apple_212"
|
| 743 |
+
],
|
| 744 |
+
"chopping_board_211"
|
| 745 |
+
],
|
| 746 |
+
[
|
| 747 |
+
[
|
| 748 |
+
"half_apple_213",
|
| 749 |
+
"half_apple_212"
|
| 750 |
+
],
|
| 751 |
+
"packing_box_210"
|
| 752 |
+
]
|
| 753 |
+
],
|
| 754 |
+
"manipulating_object_id": [
|
| 755 |
+
[
|
| 756 |
+
"half_apple_213",
|
| 757 |
+
"half_apple_212"
|
| 758 |
+
],
|
| 759 |
+
[
|
| 760 |
+
"half_apple_213",
|
| 761 |
+
"half_apple_212"
|
| 762 |
+
]
|
| 763 |
+
],
|
| 764 |
+
"spatial_prefix": [],
|
| 765 |
+
"frame_duration": [
|
| 766 |
+
2122,
|
| 767 |
+
4019
|
| 768 |
+
],
|
| 769 |
+
"skill_idxes": [
|
| 770 |
+
8,
|
| 771 |
+
9,
|
| 772 |
+
10,
|
| 773 |
+
11,
|
| 774 |
+
12
|
| 775 |
+
]
|
| 776 |
+
},
|
| 777 |
+
{
|
| 778 |
+
"primitive_idx": 3,
|
| 779 |
+
"primitive_id": [
|
| 780 |
+
2,
|
| 781 |
+
4
|
| 782 |
+
],
|
| 783 |
+
"primitive_description": [
|
| 784 |
+
"pick up from",
|
| 785 |
+
"place in"
|
| 786 |
+
],
|
| 787 |
+
"object_id": [
|
| 788 |
+
[
|
| 789 |
+
"chocolate_chip_cookie_207",
|
| 790 |
+
"chopping_board_211"
|
| 791 |
+
],
|
| 792 |
+
[
|
| 793 |
+
"chocolate_chip_cookie_207",
|
| 794 |
+
"packing_box_210"
|
| 795 |
+
]
|
| 796 |
+
],
|
| 797 |
+
"manipulating_object_id": [
|
| 798 |
+
"chocolate_chip_cookie_207",
|
| 799 |
+
"chocolate_chip_cookie_207"
|
| 800 |
+
],
|
| 801 |
+
"spatial_prefix": [],
|
| 802 |
+
"frame_duration": [
|
| 803 |
+
4019,
|
| 804 |
+
6212
|
| 805 |
+
],
|
| 806 |
+
"skill_idxes": [
|
| 807 |
+
13,
|
| 808 |
+
14,
|
| 809 |
+
15,
|
| 810 |
+
16,
|
| 811 |
+
17
|
| 812 |
+
]
|
| 813 |
+
},
|
| 814 |
+
{
|
| 815 |
+
"primitive_idx": 4,
|
| 816 |
+
"primitive_id": [],
|
| 817 |
+
"primitive_description": [],
|
| 818 |
+
"object_id": [],
|
| 819 |
+
"manipulating_object_id": [],
|
| 820 |
+
"spatial_prefix": [],
|
| 821 |
+
"frame_duration": [
|
| 822 |
+
6212,
|
| 823 |
+
9632
|
| 824 |
+
],
|
| 825 |
+
"skill_idxes": [
|
| 826 |
+
18,
|
| 827 |
+
19,
|
| 828 |
+
22
|
| 829 |
+
]
|
| 830 |
+
},
|
| 831 |
+
{
|
| 832 |
+
"primitive_idx": 5,
|
| 833 |
+
"primitive_id": [
|
| 834 |
+
2
|
| 835 |
+
],
|
| 836 |
+
"primitive_description": [
|
| 837 |
+
"pick up from"
|
| 838 |
+
],
|
| 839 |
+
"object_id": [
|
| 840 |
+
[
|
| 841 |
+
"bottle_of_tea_208",
|
| 842 |
+
"fridge_dszchb_0"
|
| 843 |
+
]
|
| 844 |
+
],
|
| 845 |
+
"manipulating_object_id": [
|
| 846 |
+
"bottle_of_tea_208"
|
| 847 |
+
],
|
| 848 |
+
"spatial_prefix": [
|
| 849 |
+
[
|
| 850 |
+
[],
|
| 851 |
+
[
|
| 852 |
+
"low_level"
|
| 853 |
+
]
|
| 854 |
+
]
|
| 855 |
+
],
|
| 856 |
+
"frame_duration": [
|
| 857 |
+
7658,
|
| 858 |
+
8334
|
| 859 |
+
],
|
| 860 |
+
"skill_idxes": [
|
| 861 |
+
20
|
| 862 |
+
]
|
| 863 |
+
},
|
| 864 |
+
{
|
| 865 |
+
"primitive_idx": 6,
|
| 866 |
+
"primitive_id": [
|
| 867 |
+
12
|
| 868 |
+
],
|
| 869 |
+
"primitive_description": [
|
| 870 |
+
"close door"
|
| 871 |
+
],
|
| 872 |
+
"object_id": [
|
| 873 |
+
[
|
| 874 |
+
"fridge_dszchb_0"
|
| 875 |
+
]
|
| 876 |
+
],
|
| 877 |
+
"manipulating_object_id": [],
|
| 878 |
+
"spatial_prefix": [],
|
| 879 |
+
"frame_duration": [
|
| 880 |
+
8334,
|
| 881 |
+
9215
|
| 882 |
+
],
|
| 883 |
+
"skill_idxes": [
|
| 884 |
+
21
|
| 885 |
+
]
|
| 886 |
+
},
|
| 887 |
+
{
|
| 888 |
+
"primitive_idx": 7,
|
| 889 |
+
"primitive_id": [
|
| 890 |
+
4
|
| 891 |
+
],
|
| 892 |
+
"primitive_description": [
|
| 893 |
+
"place in"
|
| 894 |
+
],
|
| 895 |
+
"object_id": [
|
| 896 |
+
[
|
| 897 |
+
"bottle_of_tea_208",
|
| 898 |
+
"packing_box_210"
|
| 899 |
+
]
|
| 900 |
+
],
|
| 901 |
+
"manipulating_object_id": [
|
| 902 |
+
"bottle_of_tea_208"
|
| 903 |
+
],
|
| 904 |
+
"spatial_prefix": [],
|
| 905 |
+
"frame_duration": [
|
| 906 |
+
9632,
|
| 907 |
+
9998
|
| 908 |
+
],
|
| 909 |
+
"skill_idxes": [
|
| 910 |
+
23
|
| 911 |
+
]
|
| 912 |
+
}
|
| 913 |
+
]
|
| 914 |
+
}
|
annotations/episode_00000277.json
ADDED
|
@@ -0,0 +1,752 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6155,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
6155
|
| 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 |
+
"club_sandwich_209"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 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 |
+
"club_sandwich_209",
|
| 47 |
+
"chopping_board_211"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"club_sandwich_209"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
441,
|
| 56 |
+
993
|
| 57 |
+
],
|
| 58 |
+
"mp_ef": [],
|
| 59 |
+
"skill_type": [
|
| 60 |
+
"coordinated"
|
| 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 |
+
"packing_box_210"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
993,
|
| 80 |
+
1094
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
4
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place in"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"club_sandwich_209",
|
| 98 |
+
"packing_box_210"
|
| 99 |
+
]
|
| 100 |
+
],
|
| 101 |
+
"manipulating_object_id": [
|
| 102 |
+
"club_sandwich_209"
|
| 103 |
+
],
|
| 104 |
+
"spatial_prefix": [],
|
| 105 |
+
"frame_duration": [
|
| 106 |
+
1094,
|
| 107 |
+
1299
|
| 108 |
+
],
|
| 109 |
+
"mp_ef": [],
|
| 110 |
+
"skill_type": [
|
| 111 |
+
"uncoordinated"
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"skill_idx": 4,
|
| 116 |
+
"skill_id": [
|
| 117 |
+
2
|
| 118 |
+
],
|
| 119 |
+
"skill_description": [
|
| 120 |
+
"pick up from"
|
| 121 |
+
],
|
| 122 |
+
"object_id": [
|
| 123 |
+
[
|
| 124 |
+
"half_apple_213",
|
| 125 |
+
"chopping_board_211"
|
| 126 |
+
]
|
| 127 |
+
],
|
| 128 |
+
"manipulating_object_id": [
|
| 129 |
+
"half_apple_213"
|
| 130 |
+
],
|
| 131 |
+
"spatial_prefix": [],
|
| 132 |
+
"frame_duration": [
|
| 133 |
+
1299,
|
| 134 |
+
1589
|
| 135 |
+
],
|
| 136 |
+
"mp_ef": [],
|
| 137 |
+
"skill_type": [
|
| 138 |
+
"uncoordinated"
|
| 139 |
+
]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 5,
|
| 143 |
+
"skill_id": [
|
| 144 |
+
2
|
| 145 |
+
],
|
| 146 |
+
"skill_description": [
|
| 147 |
+
"pick up from"
|
| 148 |
+
],
|
| 149 |
+
"object_id": [
|
| 150 |
+
[
|
| 151 |
+
"half_apple_212",
|
| 152 |
+
"chopping_board_211"
|
| 153 |
+
]
|
| 154 |
+
],
|
| 155 |
+
"manipulating_object_id": [
|
| 156 |
+
"half_apple_212"
|
| 157 |
+
],
|
| 158 |
+
"spatial_prefix": [],
|
| 159 |
+
"frame_duration": [
|
| 160 |
+
1589,
|
| 161 |
+
1825
|
| 162 |
+
],
|
| 163 |
+
"mp_ef": [],
|
| 164 |
+
"skill_type": [
|
| 165 |
+
"uncoordinated"
|
| 166 |
+
]
|
| 167 |
+
},
|
| 168 |
+
{
|
| 169 |
+
"skill_idx": 6,
|
| 170 |
+
"skill_id": [
|
| 171 |
+
4
|
| 172 |
+
],
|
| 173 |
+
"skill_description": [
|
| 174 |
+
"place in"
|
| 175 |
+
],
|
| 176 |
+
"object_id": [
|
| 177 |
+
[
|
| 178 |
+
"half_apple_213",
|
| 179 |
+
"packing_box_210"
|
| 180 |
+
]
|
| 181 |
+
],
|
| 182 |
+
"manipulating_object_id": [
|
| 183 |
+
"half_apple_213"
|
| 184 |
+
],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [
|
| 187 |
+
1825,
|
| 188 |
+
1942
|
| 189 |
+
],
|
| 190 |
+
"mp_ef": [],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"uncoordinated"
|
| 193 |
+
]
|
| 194 |
+
},
|
| 195 |
+
{
|
| 196 |
+
"skill_idx": 7,
|
| 197 |
+
"skill_id": [
|
| 198 |
+
4
|
| 199 |
+
],
|
| 200 |
+
"skill_description": [
|
| 201 |
+
"place in"
|
| 202 |
+
],
|
| 203 |
+
"object_id": [
|
| 204 |
+
[
|
| 205 |
+
"half_apple_212",
|
| 206 |
+
"packing_box_210"
|
| 207 |
+
]
|
| 208 |
+
],
|
| 209 |
+
"manipulating_object_id": [
|
| 210 |
+
"half_apple_212"
|
| 211 |
+
],
|
| 212 |
+
"spatial_prefix": [],
|
| 213 |
+
"frame_duration": [
|
| 214 |
+
1942,
|
| 215 |
+
2113
|
| 216 |
+
],
|
| 217 |
+
"mp_ef": [],
|
| 218 |
+
"skill_type": [
|
| 219 |
+
"uncoordinated"
|
| 220 |
+
]
|
| 221 |
+
},
|
| 222 |
+
{
|
| 223 |
+
"skill_idx": 8,
|
| 224 |
+
"skill_id": [
|
| 225 |
+
1
|
| 226 |
+
],
|
| 227 |
+
"skill_description": [
|
| 228 |
+
"move to"
|
| 229 |
+
],
|
| 230 |
+
"object_id": [
|
| 231 |
+
[
|
| 232 |
+
"chocolate_chip_cookie_207"
|
| 233 |
+
]
|
| 234 |
+
],
|
| 235 |
+
"manipulating_object_id": [],
|
| 236 |
+
"spatial_prefix": [],
|
| 237 |
+
"frame_duration": [
|
| 238 |
+
2113,
|
| 239 |
+
2251
|
| 240 |
+
],
|
| 241 |
+
"mp_ef": [],
|
| 242 |
+
"skill_type": [
|
| 243 |
+
"navigation"
|
| 244 |
+
]
|
| 245 |
+
},
|
| 246 |
+
{
|
| 247 |
+
"skill_idx": 9,
|
| 248 |
+
"skill_id": [
|
| 249 |
+
90
|
| 250 |
+
],
|
| 251 |
+
"skill_description": [
|
| 252 |
+
"push to"
|
| 253 |
+
],
|
| 254 |
+
"object_id": [
|
| 255 |
+
[
|
| 256 |
+
"chocolate_chip_cookie_207",
|
| 257 |
+
"chopping_board_211"
|
| 258 |
+
]
|
| 259 |
+
],
|
| 260 |
+
"manipulating_object_id": [
|
| 261 |
+
"chocolate_chip_cookie_207"
|
| 262 |
+
],
|
| 263 |
+
"spatial_prefix": [
|
| 264 |
+
[
|
| 265 |
+
"",
|
| 266 |
+
"to_the_edge_of"
|
| 267 |
+
]
|
| 268 |
+
],
|
| 269 |
+
"frame_duration": [
|
| 270 |
+
2251,
|
| 271 |
+
2727
|
| 272 |
+
],
|
| 273 |
+
"mp_ef": [],
|
| 274 |
+
"skill_type": [
|
| 275 |
+
"uncoordinated"
|
| 276 |
+
]
|
| 277 |
+
},
|
| 278 |
+
{
|
| 279 |
+
"skill_idx": 10,
|
| 280 |
+
"skill_id": [
|
| 281 |
+
2
|
| 282 |
+
],
|
| 283 |
+
"skill_description": [
|
| 284 |
+
"pick up from"
|
| 285 |
+
],
|
| 286 |
+
"object_id": [
|
| 287 |
+
[
|
| 288 |
+
"chocolate_chip_cookie_207",
|
| 289 |
+
"chopping_board_211"
|
| 290 |
+
]
|
| 291 |
+
],
|
| 292 |
+
"manipulating_object_id": [
|
| 293 |
+
"chocolate_chip_cookie_207"
|
| 294 |
+
],
|
| 295 |
+
"spatial_prefix": [],
|
| 296 |
+
"frame_duration": [
|
| 297 |
+
2727,
|
| 298 |
+
2876
|
| 299 |
+
],
|
| 300 |
+
"mp_ef": [],
|
| 301 |
+
"skill_type": [
|
| 302 |
+
"uncoordinated"
|
| 303 |
+
]
|
| 304 |
+
},
|
| 305 |
+
{
|
| 306 |
+
"skill_idx": 11,
|
| 307 |
+
"skill_id": [
|
| 308 |
+
1
|
| 309 |
+
],
|
| 310 |
+
"skill_description": [
|
| 311 |
+
"move to"
|
| 312 |
+
],
|
| 313 |
+
"object_id": [
|
| 314 |
+
[
|
| 315 |
+
"packing_box_210"
|
| 316 |
+
]
|
| 317 |
+
],
|
| 318 |
+
"manipulating_object_id": [],
|
| 319 |
+
"spatial_prefix": [],
|
| 320 |
+
"frame_duration": [
|
| 321 |
+
2877,
|
| 322 |
+
2964
|
| 323 |
+
],
|
| 324 |
+
"mp_ef": [],
|
| 325 |
+
"skill_type": [
|
| 326 |
+
"navigation"
|
| 327 |
+
]
|
| 328 |
+
},
|
| 329 |
+
{
|
| 330 |
+
"skill_idx": 12,
|
| 331 |
+
"skill_id": [
|
| 332 |
+
4
|
| 333 |
+
],
|
| 334 |
+
"skill_description": [
|
| 335 |
+
"place in"
|
| 336 |
+
],
|
| 337 |
+
"object_id": [
|
| 338 |
+
[
|
| 339 |
+
"chocolate_chip_cookie_207",
|
| 340 |
+
"packing_box_210"
|
| 341 |
+
]
|
| 342 |
+
],
|
| 343 |
+
"manipulating_object_id": [
|
| 344 |
+
"chocolate_chip_cookie_207"
|
| 345 |
+
],
|
| 346 |
+
"spatial_prefix": [],
|
| 347 |
+
"frame_duration": [
|
| 348 |
+
2964,
|
| 349 |
+
3190
|
| 350 |
+
],
|
| 351 |
+
"mp_ef": [],
|
| 352 |
+
"skill_type": [
|
| 353 |
+
"uncoordinated"
|
| 354 |
+
]
|
| 355 |
+
},
|
| 356 |
+
{
|
| 357 |
+
"skill_idx": 13,
|
| 358 |
+
"skill_id": [
|
| 359 |
+
1
|
| 360 |
+
],
|
| 361 |
+
"skill_description": [
|
| 362 |
+
"move to"
|
| 363 |
+
],
|
| 364 |
+
"object_id": [
|
| 365 |
+
[
|
| 366 |
+
"fridge_dszchb_0"
|
| 367 |
+
]
|
| 368 |
+
],
|
| 369 |
+
"manipulating_object_id": [],
|
| 370 |
+
"spatial_prefix": [],
|
| 371 |
+
"frame_duration": [
|
| 372 |
+
3190,
|
| 373 |
+
3710
|
| 374 |
+
],
|
| 375 |
+
"mp_ef": [],
|
| 376 |
+
"skill_type": [
|
| 377 |
+
"navigation"
|
| 378 |
+
]
|
| 379 |
+
},
|
| 380 |
+
{
|
| 381 |
+
"skill_idx": 14,
|
| 382 |
+
"skill_id": [
|
| 383 |
+
10
|
| 384 |
+
],
|
| 385 |
+
"skill_description": [
|
| 386 |
+
"open door"
|
| 387 |
+
],
|
| 388 |
+
"object_id": [
|
| 389 |
+
[
|
| 390 |
+
"fridge_dszchb_0"
|
| 391 |
+
]
|
| 392 |
+
],
|
| 393 |
+
"manipulating_object_id": [],
|
| 394 |
+
"spatial_prefix": [],
|
| 395 |
+
"frame_duration": [
|
| 396 |
+
3710,
|
| 397 |
+
4309
|
| 398 |
+
],
|
| 399 |
+
"mp_ef": [],
|
| 400 |
+
"skill_type": [
|
| 401 |
+
"coordinated"
|
| 402 |
+
]
|
| 403 |
+
},
|
| 404 |
+
{
|
| 405 |
+
"skill_idx": 15,
|
| 406 |
+
"skill_id": [
|
| 407 |
+
2
|
| 408 |
+
],
|
| 409 |
+
"skill_description": [
|
| 410 |
+
"pick up from"
|
| 411 |
+
],
|
| 412 |
+
"object_id": [
|
| 413 |
+
[
|
| 414 |
+
"bottle_of_tea_208",
|
| 415 |
+
"fridge_dszchb_0"
|
| 416 |
+
]
|
| 417 |
+
],
|
| 418 |
+
"manipulating_object_id": [
|
| 419 |
+
"bottle_of_tea_208"
|
| 420 |
+
],
|
| 421 |
+
"spatial_prefix": [
|
| 422 |
+
[
|
| 423 |
+
"",
|
| 424 |
+
"low_level"
|
| 425 |
+
]
|
| 426 |
+
],
|
| 427 |
+
"frame_duration": [
|
| 428 |
+
4309,
|
| 429 |
+
4722
|
| 430 |
+
],
|
| 431 |
+
"mp_ef": [],
|
| 432 |
+
"skill_type": [
|
| 433 |
+
"uncoordinated"
|
| 434 |
+
]
|
| 435 |
+
},
|
| 436 |
+
{
|
| 437 |
+
"skill_idx": 16,
|
| 438 |
+
"skill_id": [
|
| 439 |
+
12
|
| 440 |
+
],
|
| 441 |
+
"skill_description": [
|
| 442 |
+
"close door"
|
| 443 |
+
],
|
| 444 |
+
"object_id": [
|
| 445 |
+
[
|
| 446 |
+
"fridge_dszchb_0"
|
| 447 |
+
]
|
| 448 |
+
],
|
| 449 |
+
"manipulating_object_id": [],
|
| 450 |
+
"spatial_prefix": [],
|
| 451 |
+
"frame_duration": [
|
| 452 |
+
4722,
|
| 453 |
+
5503
|
| 454 |
+
],
|
| 455 |
+
"mp_ef": [],
|
| 456 |
+
"skill_type": [
|
| 457 |
+
"uncoordinated"
|
| 458 |
+
]
|
| 459 |
+
},
|
| 460 |
+
{
|
| 461 |
+
"skill_idx": 17,
|
| 462 |
+
"skill_id": [
|
| 463 |
+
1
|
| 464 |
+
],
|
| 465 |
+
"skill_description": [
|
| 466 |
+
"move to"
|
| 467 |
+
],
|
| 468 |
+
"object_id": [
|
| 469 |
+
[
|
| 470 |
+
"packing_box_210"
|
| 471 |
+
]
|
| 472 |
+
],
|
| 473 |
+
"manipulating_object_id": [],
|
| 474 |
+
"spatial_prefix": [],
|
| 475 |
+
"frame_duration": [
|
| 476 |
+
5503,
|
| 477 |
+
5690
|
| 478 |
+
],
|
| 479 |
+
"mp_ef": [],
|
| 480 |
+
"skill_type": [
|
| 481 |
+
"navigation"
|
| 482 |
+
]
|
| 483 |
+
},
|
| 484 |
+
{
|
| 485 |
+
"skill_idx": 18,
|
| 486 |
+
"skill_id": [
|
| 487 |
+
4
|
| 488 |
+
],
|
| 489 |
+
"skill_description": [
|
| 490 |
+
"place in"
|
| 491 |
+
],
|
| 492 |
+
"object_id": [
|
| 493 |
+
[
|
| 494 |
+
"bottle_of_tea_208",
|
| 495 |
+
"packing_box_210"
|
| 496 |
+
]
|
| 497 |
+
],
|
| 498 |
+
"manipulating_object_id": [
|
| 499 |
+
"bottle_of_tea_208"
|
| 500 |
+
],
|
| 501 |
+
"spatial_prefix": [],
|
| 502 |
+
"frame_duration": [
|
| 503 |
+
5691,
|
| 504 |
+
6155
|
| 505 |
+
],
|
| 506 |
+
"mp_ef": [],
|
| 507 |
+
"skill_type": [
|
| 508 |
+
"uncoordinated"
|
| 509 |
+
]
|
| 510 |
+
}
|
| 511 |
+
],
|
| 512 |
+
"primitive_annotation": [
|
| 513 |
+
{
|
| 514 |
+
"primitive_idx": 0,
|
| 515 |
+
"primitive_id": [
|
| 516 |
+
2
|
| 517 |
+
],
|
| 518 |
+
"primitive_description": [
|
| 519 |
+
"pick up from"
|
| 520 |
+
],
|
| 521 |
+
"object_id": [
|
| 522 |
+
[
|
| 523 |
+
"club_sandwich_209",
|
| 524 |
+
"chopping_board_211"
|
| 525 |
+
]
|
| 526 |
+
],
|
| 527 |
+
"manipulating_object_id": [
|
| 528 |
+
"club_sandwich_209"
|
| 529 |
+
],
|
| 530 |
+
"spatial_prefix": [],
|
| 531 |
+
"frame_duration": [
|
| 532 |
+
0,
|
| 533 |
+
1094
|
| 534 |
+
],
|
| 535 |
+
"skill_idxes": [
|
| 536 |
+
0,
|
| 537 |
+
1,
|
| 538 |
+
2
|
| 539 |
+
]
|
| 540 |
+
},
|
| 541 |
+
{
|
| 542 |
+
"primitive_idx": 1,
|
| 543 |
+
"primitive_id": [
|
| 544 |
+
4
|
| 545 |
+
],
|
| 546 |
+
"primitive_description": [
|
| 547 |
+
"place in"
|
| 548 |
+
],
|
| 549 |
+
"object_id": [
|
| 550 |
+
[
|
| 551 |
+
"club_sandwich_209",
|
| 552 |
+
"packing_box_210"
|
| 553 |
+
]
|
| 554 |
+
],
|
| 555 |
+
"manipulating_object_id": [
|
| 556 |
+
"club_sandwich_209"
|
| 557 |
+
],
|
| 558 |
+
"spatial_prefix": [],
|
| 559 |
+
"frame_duration": [
|
| 560 |
+
1094,
|
| 561 |
+
1299
|
| 562 |
+
],
|
| 563 |
+
"skill_idxes": [
|
| 564 |
+
3
|
| 565 |
+
]
|
| 566 |
+
},
|
| 567 |
+
{
|
| 568 |
+
"primitive_idx": 2,
|
| 569 |
+
"primitive_id": [
|
| 570 |
+
2,
|
| 571 |
+
4
|
| 572 |
+
],
|
| 573 |
+
"primitive_description": [
|
| 574 |
+
"pick up from",
|
| 575 |
+
"place in"
|
| 576 |
+
],
|
| 577 |
+
"object_id": [
|
| 578 |
+
[
|
| 579 |
+
[
|
| 580 |
+
"half_apple_213",
|
| 581 |
+
"half_apple_212"
|
| 582 |
+
],
|
| 583 |
+
"chopping_board_211"
|
| 584 |
+
],
|
| 585 |
+
[
|
| 586 |
+
[
|
| 587 |
+
"half_apple_213",
|
| 588 |
+
"half_apple_212"
|
| 589 |
+
],
|
| 590 |
+
"packing_box_210"
|
| 591 |
+
]
|
| 592 |
+
],
|
| 593 |
+
"manipulating_object_id": [
|
| 594 |
+
[
|
| 595 |
+
"half_apple_213",
|
| 596 |
+
"half_apple_212"
|
| 597 |
+
],
|
| 598 |
+
[
|
| 599 |
+
"half_apple_213",
|
| 600 |
+
"half_apple_212"
|
| 601 |
+
]
|
| 602 |
+
],
|
| 603 |
+
"spatial_prefix": [],
|
| 604 |
+
"frame_duration": [
|
| 605 |
+
1299,
|
| 606 |
+
2113
|
| 607 |
+
],
|
| 608 |
+
"skill_idxes": [
|
| 609 |
+
4,
|
| 610 |
+
5,
|
| 611 |
+
6,
|
| 612 |
+
7
|
| 613 |
+
]
|
| 614 |
+
},
|
| 615 |
+
{
|
| 616 |
+
"primitive_idx": 3,
|
| 617 |
+
"primitive_id": [
|
| 618 |
+
2,
|
| 619 |
+
4
|
| 620 |
+
],
|
| 621 |
+
"primitive_description": [
|
| 622 |
+
"pick up from",
|
| 623 |
+
"place in"
|
| 624 |
+
],
|
| 625 |
+
"object_id": [
|
| 626 |
+
[
|
| 627 |
+
"chocolate_chip_cookie_207",
|
| 628 |
+
"chopping_board_211"
|
| 629 |
+
],
|
| 630 |
+
[
|
| 631 |
+
"chocolate_chip_cookie_207",
|
| 632 |
+
"packing_box_210"
|
| 633 |
+
]
|
| 634 |
+
],
|
| 635 |
+
"manipulating_object_id": [
|
| 636 |
+
"chocolate_chip_cookie_207",
|
| 637 |
+
"chocolate_chip_cookie_207"
|
| 638 |
+
],
|
| 639 |
+
"spatial_prefix": [],
|
| 640 |
+
"frame_duration": [
|
| 641 |
+
2113,
|
| 642 |
+
3190
|
| 643 |
+
],
|
| 644 |
+
"skill_idxes": [
|
| 645 |
+
8,
|
| 646 |
+
9,
|
| 647 |
+
10,
|
| 648 |
+
11,
|
| 649 |
+
12
|
| 650 |
+
]
|
| 651 |
+
},
|
| 652 |
+
{
|
| 653 |
+
"primitive_idx": 4,
|
| 654 |
+
"primitive_id": [],
|
| 655 |
+
"primitive_description": [],
|
| 656 |
+
"object_id": [],
|
| 657 |
+
"manipulating_object_id": [],
|
| 658 |
+
"spatial_prefix": [],
|
| 659 |
+
"frame_duration": [
|
| 660 |
+
3190,
|
| 661 |
+
5690
|
| 662 |
+
],
|
| 663 |
+
"skill_idxes": [
|
| 664 |
+
13,
|
| 665 |
+
14,
|
| 666 |
+
17
|
| 667 |
+
]
|
| 668 |
+
},
|
| 669 |
+
{
|
| 670 |
+
"primitive_idx": 5,
|
| 671 |
+
"primitive_id": [
|
| 672 |
+
2
|
| 673 |
+
],
|
| 674 |
+
"primitive_description": [
|
| 675 |
+
"pick up from"
|
| 676 |
+
],
|
| 677 |
+
"object_id": [
|
| 678 |
+
[
|
| 679 |
+
"bottle_of_tea_208",
|
| 680 |
+
"fridge_dszchb_0"
|
| 681 |
+
]
|
| 682 |
+
],
|
| 683 |
+
"manipulating_object_id": [
|
| 684 |
+
"bottle_of_tea_208"
|
| 685 |
+
],
|
| 686 |
+
"spatial_prefix": [
|
| 687 |
+
[
|
| 688 |
+
[],
|
| 689 |
+
[
|
| 690 |
+
"low_level"
|
| 691 |
+
]
|
| 692 |
+
]
|
| 693 |
+
],
|
| 694 |
+
"frame_duration": [
|
| 695 |
+
4309,
|
| 696 |
+
4722
|
| 697 |
+
],
|
| 698 |
+
"skill_idxes": [
|
| 699 |
+
15
|
| 700 |
+
]
|
| 701 |
+
},
|
| 702 |
+
{
|
| 703 |
+
"primitive_idx": 6,
|
| 704 |
+
"primitive_id": [
|
| 705 |
+
12
|
| 706 |
+
],
|
| 707 |
+
"primitive_description": [
|
| 708 |
+
"close door"
|
| 709 |
+
],
|
| 710 |
+
"object_id": [
|
| 711 |
+
[
|
| 712 |
+
"fridge_dszchb_0"
|
| 713 |
+
]
|
| 714 |
+
],
|
| 715 |
+
"manipulating_object_id": [],
|
| 716 |
+
"spatial_prefix": [],
|
| 717 |
+
"frame_duration": [
|
| 718 |
+
4722,
|
| 719 |
+
5503
|
| 720 |
+
],
|
| 721 |
+
"skill_idxes": [
|
| 722 |
+
16
|
| 723 |
+
]
|
| 724 |
+
},
|
| 725 |
+
{
|
| 726 |
+
"primitive_idx": 7,
|
| 727 |
+
"primitive_id": [
|
| 728 |
+
4
|
| 729 |
+
],
|
| 730 |
+
"primitive_description": [
|
| 731 |
+
"place in"
|
| 732 |
+
],
|
| 733 |
+
"object_id": [
|
| 734 |
+
[
|
| 735 |
+
"bottle_of_tea_208",
|
| 736 |
+
"packing_box_210"
|
| 737 |
+
]
|
| 738 |
+
],
|
| 739 |
+
"manipulating_object_id": [
|
| 740 |
+
"bottle_of_tea_208"
|
| 741 |
+
],
|
| 742 |
+
"spatial_prefix": [],
|
| 743 |
+
"frame_duration": [
|
| 744 |
+
5691,
|
| 745 |
+
6155
|
| 746 |
+
],
|
| 747 |
+
"skill_idxes": [
|
| 748 |
+
18
|
| 749 |
+
]
|
| 750 |
+
}
|
| 751 |
+
]
|
| 752 |
+
}
|
annotations/episode_00000287.json
ADDED
|
@@ -0,0 +1,862 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "preparing lunch box",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7191,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
7191
|
| 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 |
+
"packing_box_210"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
381
|
| 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 |
+
"packing_box_210",
|
| 47 |
+
"countertop_kelker_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"packing_box_210"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [],
|
| 54 |
+
"frame_duration": [
|
| 55 |
+
381,
|
| 56 |
+
672
|
| 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 |
+
"chopping_board_211"
|
| 74 |
+
]
|
| 75 |
+
],
|
| 76 |
+
"manipulating_object_id": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [
|
| 79 |
+
672,
|
| 80 |
+
930
|
| 81 |
+
],
|
| 82 |
+
"mp_ef": [],
|
| 83 |
+
"skill_type": [
|
| 84 |
+
"navigation"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"skill_idx": 3,
|
| 89 |
+
"skill_id": [
|
| 90 |
+
91
|
| 91 |
+
],
|
| 92 |
+
"skill_description": [
|
| 93 |
+
"place on next to"
|
| 94 |
+
],
|
| 95 |
+
"object_id": [
|
| 96 |
+
[
|
| 97 |
+
"packing_box_210",
|
| 98 |
+
"countertop_kelker_0",
|
| 99 |
+
"chopping_board_211"
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
"manipulating_object_id": [
|
| 103 |
+
"packing_box_210"
|
| 104 |
+
],
|
| 105 |
+
"spatial_prefix": [
|
| 106 |
+
[
|
| 107 |
+
"",
|
| 108 |
+
"",
|
| 109 |
+
"left"
|
| 110 |
+
]
|
| 111 |
+
],
|
| 112 |
+
"frame_duration": [
|
| 113 |
+
930,
|
| 114 |
+
1062
|
| 115 |
+
],
|
| 116 |
+
"mp_ef": [],
|
| 117 |
+
"skill_type": [
|
| 118 |
+
"uncoordinated"
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"skill_idx": 4,
|
| 123 |
+
"skill_id": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"skill_description": [
|
| 127 |
+
"move to"
|
| 128 |
+
],
|
| 129 |
+
"object_id": [
|
| 130 |
+
[
|
| 131 |
+
"chocolate_chip_cookie_207"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"spatial_prefix": [],
|
| 136 |
+
"frame_duration": [
|
| 137 |
+
1062,
|
| 138 |
+
1101
|
| 139 |
+
],
|
| 140 |
+
"mp_ef": [],
|
| 141 |
+
"skill_type": [
|
| 142 |
+
"navigation"
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 5,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
90
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"push to"
|
| 152 |
+
],
|
| 153 |
+
"object_id": [
|
| 154 |
+
[
|
| 155 |
+
"chocolate_chip_cookie_207",
|
| 156 |
+
"chopping_board_211"
|
| 157 |
+
]
|
| 158 |
+
],
|
| 159 |
+
"manipulating_object_id": [
|
| 160 |
+
"chocolate_chip_cookie_207"
|
| 161 |
+
],
|
| 162 |
+
"spatial_prefix": [
|
| 163 |
+
[
|
| 164 |
+
"",
|
| 165 |
+
"to_the_edge_of"
|
| 166 |
+
]
|
| 167 |
+
],
|
| 168 |
+
"frame_duration": [
|
| 169 |
+
1101,
|
| 170 |
+
1389
|
| 171 |
+
],
|
| 172 |
+
"mp_ef": [],
|
| 173 |
+
"skill_type": [
|
| 174 |
+
"uncoordinated"
|
| 175 |
+
]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 6,
|
| 179 |
+
"skill_id": [
|
| 180 |
+
2
|
| 181 |
+
],
|
| 182 |
+
"skill_description": [
|
| 183 |
+
"pick up from"
|
| 184 |
+
],
|
| 185 |
+
"object_id": [
|
| 186 |
+
[
|
| 187 |
+
"chocolate_chip_cookie_207",
|
| 188 |
+
"chopping_board_211"
|
| 189 |
+
]
|
| 190 |
+
],
|
| 191 |
+
"manipulating_object_id": [
|
| 192 |
+
"chocolate_chip_cookie_207"
|
| 193 |
+
],
|
| 194 |
+
"spatial_prefix": [],
|
| 195 |
+
"frame_duration": [
|
| 196 |
+
1389,
|
| 197 |
+
1677
|
| 198 |
+
],
|
| 199 |
+
"mp_ef": [],
|
| 200 |
+
"skill_type": [
|
| 201 |
+
"uncoordinated"
|
| 202 |
+
]
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"skill_idx": 7,
|
| 206 |
+
"skill_id": [
|
| 207 |
+
4
|
| 208 |
+
],
|
| 209 |
+
"skill_description": [
|
| 210 |
+
"place in"
|
| 211 |
+
],
|
| 212 |
+
"object_id": [
|
| 213 |
+
[
|
| 214 |
+
"chocolate_chip_cookie_207",
|
| 215 |
+
"packing_box_210"
|
| 216 |
+
]
|
| 217 |
+
],
|
| 218 |
+
"manipulating_object_id": [
|
| 219 |
+
"chocolate_chip_cookie_207"
|
| 220 |
+
],
|
| 221 |
+
"spatial_prefix": [],
|
| 222 |
+
"frame_duration": [
|
| 223 |
+
1677,
|
| 224 |
+
1920
|
| 225 |
+
],
|
| 226 |
+
"mp_ef": [],
|
| 227 |
+
"skill_type": [
|
| 228 |
+
"uncoordinated"
|
| 229 |
+
]
|
| 230 |
+
},
|
| 231 |
+
{
|
| 232 |
+
"skill_idx": 8,
|
| 233 |
+
"skill_id": [
|
| 234 |
+
1
|
| 235 |
+
],
|
| 236 |
+
"skill_description": [
|
| 237 |
+
"move to"
|
| 238 |
+
],
|
| 239 |
+
"object_id": [
|
| 240 |
+
[
|
| 241 |
+
"half_apple_213"
|
| 242 |
+
]
|
| 243 |
+
],
|
| 244 |
+
"manipulating_object_id": [],
|
| 245 |
+
"spatial_prefix": [],
|
| 246 |
+
"frame_duration": [
|
| 247 |
+
1920,
|
| 248 |
+
1967
|
| 249 |
+
],
|
| 250 |
+
"mp_ef": [],
|
| 251 |
+
"skill_type": [
|
| 252 |
+
"navigation"
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"skill_idx": 9,
|
| 257 |
+
"skill_id": [
|
| 258 |
+
2
|
| 259 |
+
],
|
| 260 |
+
"skill_description": [
|
| 261 |
+
"pick up from"
|
| 262 |
+
],
|
| 263 |
+
"object_id": [
|
| 264 |
+
[
|
| 265 |
+
"half_apple_213",
|
| 266 |
+
"chopping_board_211"
|
| 267 |
+
]
|
| 268 |
+
],
|
| 269 |
+
"manipulating_object_id": [
|
| 270 |
+
"half_apple_213"
|
| 271 |
+
],
|
| 272 |
+
"spatial_prefix": [],
|
| 273 |
+
"frame_duration": [
|
| 274 |
+
1967,
|
| 275 |
+
2280
|
| 276 |
+
],
|
| 277 |
+
"mp_ef": [],
|
| 278 |
+
"skill_type": [
|
| 279 |
+
"uncoordinated"
|
| 280 |
+
]
|
| 281 |
+
},
|
| 282 |
+
{
|
| 283 |
+
"skill_idx": 10,
|
| 284 |
+
"skill_id": [
|
| 285 |
+
2
|
| 286 |
+
],
|
| 287 |
+
"skill_description": [
|
| 288 |
+
"pick up from"
|
| 289 |
+
],
|
| 290 |
+
"object_id": [
|
| 291 |
+
[
|
| 292 |
+
"half_apple_212",
|
| 293 |
+
"chopping_board_211"
|
| 294 |
+
]
|
| 295 |
+
],
|
| 296 |
+
"manipulating_object_id": [
|
| 297 |
+
"half_apple_212"
|
| 298 |
+
],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [
|
| 301 |
+
2280,
|
| 302 |
+
2514
|
| 303 |
+
],
|
| 304 |
+
"mp_ef": [],
|
| 305 |
+
"skill_type": [
|
| 306 |
+
"uncoordinated"
|
| 307 |
+
]
|
| 308 |
+
},
|
| 309 |
+
{
|
| 310 |
+
"skill_idx": 11,
|
| 311 |
+
"skill_id": [
|
| 312 |
+
1
|
| 313 |
+
],
|
| 314 |
+
"skill_description": [
|
| 315 |
+
"move to"
|
| 316 |
+
],
|
| 317 |
+
"object_id": [
|
| 318 |
+
[
|
| 319 |
+
"packing_box_210"
|
| 320 |
+
]
|
| 321 |
+
],
|
| 322 |
+
"manipulating_object_id": [],
|
| 323 |
+
"spatial_prefix": [],
|
| 324 |
+
"frame_duration": [
|
| 325 |
+
2514,
|
| 326 |
+
2544
|
| 327 |
+
],
|
| 328 |
+
"mp_ef": [],
|
| 329 |
+
"skill_type": [
|
| 330 |
+
"navigation"
|
| 331 |
+
]
|
| 332 |
+
},
|
| 333 |
+
{
|
| 334 |
+
"skill_idx": 12,
|
| 335 |
+
"skill_id": [
|
| 336 |
+
4
|
| 337 |
+
],
|
| 338 |
+
"skill_description": [
|
| 339 |
+
"place in"
|
| 340 |
+
],
|
| 341 |
+
"object_id": [
|
| 342 |
+
[
|
| 343 |
+
"half_apple_213",
|
| 344 |
+
"packing_box_210"
|
| 345 |
+
]
|
| 346 |
+
],
|
| 347 |
+
"manipulating_object_id": [
|
| 348 |
+
"half_apple_213"
|
| 349 |
+
],
|
| 350 |
+
"spatial_prefix": [],
|
| 351 |
+
"frame_duration": [
|
| 352 |
+
2544,
|
| 353 |
+
2757
|
| 354 |
+
],
|
| 355 |
+
"mp_ef": [],
|
| 356 |
+
"skill_type": [
|
| 357 |
+
"uncoordinated"
|
| 358 |
+
]
|
| 359 |
+
},
|
| 360 |
+
{
|
| 361 |
+
"skill_idx": 13,
|
| 362 |
+
"skill_id": [
|
| 363 |
+
4
|
| 364 |
+
],
|
| 365 |
+
"skill_description": [
|
| 366 |
+
"place in"
|
| 367 |
+
],
|
| 368 |
+
"object_id": [
|
| 369 |
+
[
|
| 370 |
+
"half_apple_212",
|
| 371 |
+
"packing_box_210"
|
| 372 |
+
]
|
| 373 |
+
],
|
| 374 |
+
"manipulating_object_id": [
|
| 375 |
+
"half_apple_212"
|
| 376 |
+
],
|
| 377 |
+
"spatial_prefix": [],
|
| 378 |
+
"frame_duration": [
|
| 379 |
+
2757,
|
| 380 |
+
2913
|
| 381 |
+
],
|
| 382 |
+
"mp_ef": [],
|
| 383 |
+
"skill_type": [
|
| 384 |
+
"uncoordinated"
|
| 385 |
+
]
|
| 386 |
+
},
|
| 387 |
+
{
|
| 388 |
+
"skill_idx": 14,
|
| 389 |
+
"skill_id": [
|
| 390 |
+
2
|
| 391 |
+
],
|
| 392 |
+
"skill_description": [
|
| 393 |
+
"pick up from"
|
| 394 |
+
],
|
| 395 |
+
"object_id": [
|
| 396 |
+
[
|
| 397 |
+
"club_sandwich_209",
|
| 398 |
+
"chopping_board_211"
|
| 399 |
+
]
|
| 400 |
+
],
|
| 401 |
+
"manipulating_object_id": [],
|
| 402 |
+
"spatial_prefix": [],
|
| 403 |
+
"frame_duration": [
|
| 404 |
+
2913,
|
| 405 |
+
3390
|
| 406 |
+
],
|
| 407 |
+
"mp_ef": [],
|
| 408 |
+
"skill_type": [
|
| 409 |
+
"coordinated"
|
| 410 |
+
]
|
| 411 |
+
},
|
| 412 |
+
{
|
| 413 |
+
"skill_idx": 15,
|
| 414 |
+
"skill_id": [
|
| 415 |
+
4
|
| 416 |
+
],
|
| 417 |
+
"skill_description": [
|
| 418 |
+
"place in"
|
| 419 |
+
],
|
| 420 |
+
"object_id": [
|
| 421 |
+
[
|
| 422 |
+
"club_sandwich_209",
|
| 423 |
+
"packing_box_210"
|
| 424 |
+
]
|
| 425 |
+
],
|
| 426 |
+
"manipulating_object_id": [
|
| 427 |
+
"club_sandwich_209"
|
| 428 |
+
],
|
| 429 |
+
"spatial_prefix": [],
|
| 430 |
+
"frame_duration": [
|
| 431 |
+
3390,
|
| 432 |
+
3915
|
| 433 |
+
],
|
| 434 |
+
"mp_ef": [],
|
| 435 |
+
"skill_type": [
|
| 436 |
+
"uncoordinated"
|
| 437 |
+
]
|
| 438 |
+
},
|
| 439 |
+
{
|
| 440 |
+
"skill_idx": 16,
|
| 441 |
+
"skill_id": [
|
| 442 |
+
1
|
| 443 |
+
],
|
| 444 |
+
"skill_description": [
|
| 445 |
+
"move to"
|
| 446 |
+
],
|
| 447 |
+
"object_id": [
|
| 448 |
+
[
|
| 449 |
+
"fridge_dszchb_0"
|
| 450 |
+
]
|
| 451 |
+
],
|
| 452 |
+
"manipulating_object_id": [],
|
| 453 |
+
"spatial_prefix": [],
|
| 454 |
+
"frame_duration": [
|
| 455 |
+
3915,
|
| 456 |
+
4446
|
| 457 |
+
],
|
| 458 |
+
"mp_ef": [],
|
| 459 |
+
"skill_type": [
|
| 460 |
+
"navigation"
|
| 461 |
+
]
|
| 462 |
+
},
|
| 463 |
+
{
|
| 464 |
+
"skill_idx": 17,
|
| 465 |
+
"skill_id": [
|
| 466 |
+
10
|
| 467 |
+
],
|
| 468 |
+
"skill_description": [
|
| 469 |
+
"open door"
|
| 470 |
+
],
|
| 471 |
+
"object_id": [
|
| 472 |
+
[
|
| 473 |
+
"fridge_dszchb_0"
|
| 474 |
+
]
|
| 475 |
+
],
|
| 476 |
+
"manipulating_object_id": [],
|
| 477 |
+
"spatial_prefix": [],
|
| 478 |
+
"frame_duration": [
|
| 479 |
+
4446,
|
| 480 |
+
5295
|
| 481 |
+
],
|
| 482 |
+
"mp_ef": [],
|
| 483 |
+
"skill_type": [
|
| 484 |
+
"coordinated"
|
| 485 |
+
]
|
| 486 |
+
},
|
| 487 |
+
{
|
| 488 |
+
"skill_idx": 18,
|
| 489 |
+
"skill_id": [
|
| 490 |
+
2
|
| 491 |
+
],
|
| 492 |
+
"skill_description": [
|
| 493 |
+
"pick up from"
|
| 494 |
+
],
|
| 495 |
+
"object_id": [
|
| 496 |
+
[
|
| 497 |
+
"bottle_of_tea_208",
|
| 498 |
+
"fridge_dszchb_0"
|
| 499 |
+
]
|
| 500 |
+
],
|
| 501 |
+
"manipulating_object_id": [
|
| 502 |
+
"bottle_of_tea_208"
|
| 503 |
+
],
|
| 504 |
+
"spatial_prefix": [
|
| 505 |
+
[
|
| 506 |
+
"",
|
| 507 |
+
"high_level"
|
| 508 |
+
]
|
| 509 |
+
],
|
| 510 |
+
"frame_duration": [
|
| 511 |
+
5295,
|
| 512 |
+
5724
|
| 513 |
+
],
|
| 514 |
+
"mp_ef": [],
|
| 515 |
+
"skill_type": [
|
| 516 |
+
"uncoordinated"
|
| 517 |
+
]
|
| 518 |
+
},
|
| 519 |
+
{
|
| 520 |
+
"skill_idx": 19,
|
| 521 |
+
"skill_id": [
|
| 522 |
+
12
|
| 523 |
+
],
|
| 524 |
+
"skill_description": [
|
| 525 |
+
"close door"
|
| 526 |
+
],
|
| 527 |
+
"object_id": [
|
| 528 |
+
[
|
| 529 |
+
"fridge_dszchb_0"
|
| 530 |
+
]
|
| 531 |
+
],
|
| 532 |
+
"manipulating_object_id": [],
|
| 533 |
+
"spatial_prefix": [],
|
| 534 |
+
"frame_duration": [
|
| 535 |
+
5724,
|
| 536 |
+
6480
|
| 537 |
+
],
|
| 538 |
+
"mp_ef": [],
|
| 539 |
+
"skill_type": [
|
| 540 |
+
"uncoordinated"
|
| 541 |
+
]
|
| 542 |
+
},
|
| 543 |
+
{
|
| 544 |
+
"skill_idx": 20,
|
| 545 |
+
"skill_id": [
|
| 546 |
+
1
|
| 547 |
+
],
|
| 548 |
+
"skill_description": [
|
| 549 |
+
"move to"
|
| 550 |
+
],
|
| 551 |
+
"object_id": [
|
| 552 |
+
[
|
| 553 |
+
"packing_box_210"
|
| 554 |
+
]
|
| 555 |
+
],
|
| 556 |
+
"manipulating_object_id": [],
|
| 557 |
+
"spatial_prefix": [],
|
| 558 |
+
"frame_duration": [
|
| 559 |
+
6480,
|
| 560 |
+
6753
|
| 561 |
+
],
|
| 562 |
+
"mp_ef": [],
|
| 563 |
+
"skill_type": [
|
| 564 |
+
"navigation"
|
| 565 |
+
]
|
| 566 |
+
},
|
| 567 |
+
{
|
| 568 |
+
"skill_idx": 21,
|
| 569 |
+
"skill_id": [
|
| 570 |
+
4
|
| 571 |
+
],
|
| 572 |
+
"skill_description": [
|
| 573 |
+
"place in"
|
| 574 |
+
],
|
| 575 |
+
"object_id": [
|
| 576 |
+
[
|
| 577 |
+
"bottle_of_tea_208",
|
| 578 |
+
"packing_box_210"
|
| 579 |
+
]
|
| 580 |
+
],
|
| 581 |
+
"manipulating_object_id": [
|
| 582 |
+
"bottle_of_tea_208"
|
| 583 |
+
],
|
| 584 |
+
"spatial_prefix": [],
|
| 585 |
+
"frame_duration": [
|
| 586 |
+
6753,
|
| 587 |
+
7191
|
| 588 |
+
],
|
| 589 |
+
"mp_ef": [],
|
| 590 |
+
"skill_type": [
|
| 591 |
+
"uncoordinated"
|
| 592 |
+
]
|
| 593 |
+
}
|
| 594 |
+
],
|
| 595 |
+
"primitive_annotation": [
|
| 596 |
+
{
|
| 597 |
+
"primitive_idx": 0,
|
| 598 |
+
"primitive_id": [
|
| 599 |
+
2,
|
| 600 |
+
91
|
| 601 |
+
],
|
| 602 |
+
"primitive_description": [
|
| 603 |
+
"pick up from",
|
| 604 |
+
"place on next to"
|
| 605 |
+
],
|
| 606 |
+
"object_id": [
|
| 607 |
+
[
|
| 608 |
+
"packing_box_210",
|
| 609 |
+
"countertop_kelker_0"
|
| 610 |
+
],
|
| 611 |
+
[
|
| 612 |
+
"packing_box_210",
|
| 613 |
+
"countertop_kelker_0",
|
| 614 |
+
"chopping_board_211"
|
| 615 |
+
]
|
| 616 |
+
],
|
| 617 |
+
"manipulating_object_id": [
|
| 618 |
+
"packing_box_210",
|
| 619 |
+
"packing_box_210"
|
| 620 |
+
],
|
| 621 |
+
"spatial_prefix": [
|
| 622 |
+
[],
|
| 623 |
+
[
|
| 624 |
+
[],
|
| 625 |
+
[],
|
| 626 |
+
[
|
| 627 |
+
"left"
|
| 628 |
+
]
|
| 629 |
+
]
|
| 630 |
+
],
|
| 631 |
+
"frame_duration": [
|
| 632 |
+
0,
|
| 633 |
+
1062
|
| 634 |
+
],
|
| 635 |
+
"skill_idxes": [
|
| 636 |
+
0,
|
| 637 |
+
1,
|
| 638 |
+
2,
|
| 639 |
+
3
|
| 640 |
+
]
|
| 641 |
+
},
|
| 642 |
+
{
|
| 643 |
+
"primitive_idx": 1,
|
| 644 |
+
"primitive_id": [
|
| 645 |
+
2,
|
| 646 |
+
4
|
| 647 |
+
],
|
| 648 |
+
"primitive_description": [
|
| 649 |
+
"pick up from",
|
| 650 |
+
"place in"
|
| 651 |
+
],
|
| 652 |
+
"object_id": [
|
| 653 |
+
[
|
| 654 |
+
"chocolate_chip_cookie_207",
|
| 655 |
+
"chopping_board_211"
|
| 656 |
+
],
|
| 657 |
+
[
|
| 658 |
+
"chocolate_chip_cookie_207",
|
| 659 |
+
"packing_box_210"
|
| 660 |
+
]
|
| 661 |
+
],
|
| 662 |
+
"manipulating_object_id": [
|
| 663 |
+
"chocolate_chip_cookie_207",
|
| 664 |
+
"chocolate_chip_cookie_207"
|
| 665 |
+
],
|
| 666 |
+
"spatial_prefix": [],
|
| 667 |
+
"frame_duration": [
|
| 668 |
+
1062,
|
| 669 |
+
1920
|
| 670 |
+
],
|
| 671 |
+
"skill_idxes": [
|
| 672 |
+
4,
|
| 673 |
+
5,
|
| 674 |
+
6,
|
| 675 |
+
7
|
| 676 |
+
]
|
| 677 |
+
},
|
| 678 |
+
{
|
| 679 |
+
"primitive_idx": 2,
|
| 680 |
+
"primitive_id": [
|
| 681 |
+
2,
|
| 682 |
+
4
|
| 683 |
+
],
|
| 684 |
+
"primitive_description": [
|
| 685 |
+
"pick up from",
|
| 686 |
+
"place in"
|
| 687 |
+
],
|
| 688 |
+
"object_id": [
|
| 689 |
+
[
|
| 690 |
+
[
|
| 691 |
+
"half_apple_213",
|
| 692 |
+
"half_apple_212"
|
| 693 |
+
],
|
| 694 |
+
"chopping_board_211"
|
| 695 |
+
],
|
| 696 |
+
[
|
| 697 |
+
[
|
| 698 |
+
"half_apple_213",
|
| 699 |
+
"half_apple_212"
|
| 700 |
+
],
|
| 701 |
+
"packing_box_210"
|
| 702 |
+
]
|
| 703 |
+
],
|
| 704 |
+
"manipulating_object_id": [
|
| 705 |
+
[
|
| 706 |
+
"half_apple_213",
|
| 707 |
+
"half_apple_212"
|
| 708 |
+
],
|
| 709 |
+
[
|
| 710 |
+
"half_apple_213",
|
| 711 |
+
"half_apple_212"
|
| 712 |
+
]
|
| 713 |
+
],
|
| 714 |
+
"spatial_prefix": [],
|
| 715 |
+
"frame_duration": [
|
| 716 |
+
1920,
|
| 717 |
+
2913
|
| 718 |
+
],
|
| 719 |
+
"skill_idxes": [
|
| 720 |
+
8,
|
| 721 |
+
9,
|
| 722 |
+
10,
|
| 723 |
+
11,
|
| 724 |
+
12,
|
| 725 |
+
13
|
| 726 |
+
]
|
| 727 |
+
},
|
| 728 |
+
{
|
| 729 |
+
"primitive_idx": 3,
|
| 730 |
+
"primitive_id": [
|
| 731 |
+
2,
|
| 732 |
+
4
|
| 733 |
+
],
|
| 734 |
+
"primitive_description": [
|
| 735 |
+
"pick up from",
|
| 736 |
+
"place in"
|
| 737 |
+
],
|
| 738 |
+
"object_id": [
|
| 739 |
+
[
|
| 740 |
+
"club_sandwich_209",
|
| 741 |
+
"chopping_board_211"
|
| 742 |
+
],
|
| 743 |
+
[
|
| 744 |
+
"club_sandwich_209",
|
| 745 |
+
"packing_box_210"
|
| 746 |
+
]
|
| 747 |
+
],
|
| 748 |
+
"manipulating_object_id": [
|
| 749 |
+
[],
|
| 750 |
+
"club_sandwich_209"
|
| 751 |
+
],
|
| 752 |
+
"spatial_prefix": [],
|
| 753 |
+
"frame_duration": [
|
| 754 |
+
2913,
|
| 755 |
+
3915
|
| 756 |
+
],
|
| 757 |
+
"skill_idxes": [
|
| 758 |
+
14,
|
| 759 |
+
15
|
| 760 |
+
]
|
| 761 |
+
},
|
| 762 |
+
{
|
| 763 |
+
"primitive_idx": 4,
|
| 764 |
+
"primitive_id": [],
|
| 765 |
+
"primitive_description": [],
|
| 766 |
+
"object_id": [],
|
| 767 |
+
"manipulating_object_id": [],
|
| 768 |
+
"spatial_prefix": [],
|
| 769 |
+
"frame_duration": [
|
| 770 |
+
3915,
|
| 771 |
+
6753
|
| 772 |
+
],
|
| 773 |
+
"skill_idxes": [
|
| 774 |
+
16,
|
| 775 |
+
17,
|
| 776 |
+
20
|
| 777 |
+
]
|
| 778 |
+
},
|
| 779 |
+
{
|
| 780 |
+
"primitive_idx": 5,
|
| 781 |
+
"primitive_id": [
|
| 782 |
+
2
|
| 783 |
+
],
|
| 784 |
+
"primitive_description": [
|
| 785 |
+
"pick up from"
|
| 786 |
+
],
|
| 787 |
+
"object_id": [
|
| 788 |
+
[
|
| 789 |
+
"bottle_of_tea_208",
|
| 790 |
+
"fridge_dszchb_0"
|
| 791 |
+
]
|
| 792 |
+
],
|
| 793 |
+
"manipulating_object_id": [
|
| 794 |
+
"bottle_of_tea_208"
|
| 795 |
+
],
|
| 796 |
+
"spatial_prefix": [
|
| 797 |
+
[
|
| 798 |
+
[],
|
| 799 |
+
[
|
| 800 |
+
"high_level"
|
| 801 |
+
]
|
| 802 |
+
]
|
| 803 |
+
],
|
| 804 |
+
"frame_duration": [
|
| 805 |
+
5295,
|
| 806 |
+
5724
|
| 807 |
+
],
|
| 808 |
+
"skill_idxes": [
|
| 809 |
+
18
|
| 810 |
+
]
|
| 811 |
+
},
|
| 812 |
+
{
|
| 813 |
+
"primitive_idx": 6,
|
| 814 |
+
"primitive_id": [
|
| 815 |
+
12
|
| 816 |
+
],
|
| 817 |
+
"primitive_description": [
|
| 818 |
+
"close door"
|
| 819 |
+
],
|
| 820 |
+
"object_id": [
|
| 821 |
+
[
|
| 822 |
+
"fridge_dszchb_0"
|
| 823 |
+
]
|
| 824 |
+
],
|
| 825 |
+
"manipulating_object_id": [],
|
| 826 |
+
"spatial_prefix": [],
|
| 827 |
+
"frame_duration": [
|
| 828 |
+
5724,
|
| 829 |
+
6480
|
| 830 |
+
],
|
| 831 |
+
"skill_idxes": [
|
| 832 |
+
19
|
| 833 |
+
]
|
| 834 |
+
},
|
| 835 |
+
{
|
| 836 |
+
"primitive_idx": 7,
|
| 837 |
+
"primitive_id": [
|
| 838 |
+
4
|
| 839 |
+
],
|
| 840 |
+
"primitive_description": [
|
| 841 |
+
"place in"
|
| 842 |
+
],
|
| 843 |
+
"object_id": [
|
| 844 |
+
[
|
| 845 |
+
"bottle_of_tea_208",
|
| 846 |
+
"packing_box_210"
|
| 847 |
+
]
|
| 848 |
+
],
|
| 849 |
+
"manipulating_object_id": [
|
| 850 |
+
"bottle_of_tea_208"
|
| 851 |
+
],
|
| 852 |
+
"spatial_prefix": [],
|
| 853 |
+
"frame_duration": [
|
| 854 |
+
6753,
|
| 855 |
+
7191
|
| 856 |
+
],
|
| 857 |
+
"skill_idxes": [
|
| 858 |
+
21
|
| 859 |
+
]
|
| 860 |
+
}
|
| 861 |
+
]
|
| 862 |
+
}
|
data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9b6854ab5e5b4551e2ed6050a70c8d3185108855ffd94db8f946682d059dd62c
|
| 3 |
+
size 54792697
|
data/chunk-000/file-001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ca2e514f93efb66c95a6f87bd9d896eb49436042e242fc698a43b4c1f1540cd7
|
| 3 |
+
size 44260863
|
data/chunk-000/file-002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aca98fc7e3dd70ef6e2146e13b9f6ece5613ee436ac9806cec3f788a58e1ff4d
|
| 3 |
+
size 50917945
|
data/chunk-000/file-003.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:347a5f782df89c1f78d97435410de52305050846276a9a45143506a8f4a0915e
|
| 3 |
+
size 54232080
|
data/chunk-000/file-004.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:68f09f0d83335a5e44233b39c2141d9465125b1900509f6aaf5778c89529e848
|
| 3 |
+
size 56602839
|
data/chunk-000/file-005.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:641d1c6c6f145b15571855abc636f085fd8a3718873d90e0f614bbde56847c2b
|
| 3 |
+
size 54600314
|
data/chunk-000/file-006.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:18565c99ce9c6ff07350ad09ad8f3db346d4a9417ee0a6baa13623d5d6307cf1
|
| 3 |
+
size 54217011
|
data/chunk-000/file-007.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7db793a4be1eebfbe22381602aa729c36dac567a66b652e1cf0ad27f14ad88f0
|
| 3 |
+
size 50979015
|
data/chunk-000/file-008.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:eb0306e09fd704c95b5c95a4d7b2c1f9c806b96c61c305afb72aa6c2346fb5cc
|
| 3 |
+
size 46304095
|
data/chunk-000/file-009.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:be448b26ed8935114c74d9d168ef534c5f787c07929ebcfbc47ecd3137d9c6db
|
| 3 |
+
size 44889630
|
data/chunk-000/file-010.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8d587af3208738c43ec25da6069b5d233c2ababa5d9ff9f13df61ecb76b002b1
|
| 3 |
+
size 50801708
|
data/chunk-000/file-011.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ebd2fd54a6231490ac333d2341dc03327eb6b483dd1191bf255b55ae096d045f
|
| 3 |
+
size 52860960
|
data/chunk-000/file-012.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d0057cb4f61c15a2c233a6efc2013e3d786325fab55904b67b3089aaac72db7d
|
| 3 |
+
size 49202130
|
data/chunk-000/file-013.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:303c90acdf06f602f5a1b233b0d01b74be23e66a8715be621fad3d2ff3a3e75e
|
| 3 |
+
size 52174878
|
data/chunk-000/file-014.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e389bc83b5ef2c5b26864c2fa3884cabb4a287d7d0b5e470c913799c88bea16a
|
| 3 |
+
size 52135798
|
data/chunk-000/file-015.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fb37f0fc1d730a72d18b188409b89e95c819f6c809c318fd5774b9b39d78a734
|
| 3 |
+
size 49022399
|
data/chunk-000/file-016.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:560e60c9645d3fd8f1f3ac8eeff3fcd7fff65d6ac1b72db946ae4893b39910f0
|
| 3 |
+
size 49853979
|
data/chunk-000/file-017.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1fa3c1d2c1fe0bafaf839dd980c6e4cffe35f83c7b19759ac00397a1b4cac2ed
|
| 3 |
+
size 46760308
|
data/chunk-000/file-018.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:399a88038a023ccc8585c820adcb2e713e19957f6675348e2cdba9025601ff33
|
| 3 |
+
size 49780379
|
data/chunk-000/file-019.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b70213c6f3caa805e41d82e3d32535384bb9acd9be980bfcbe2f6e73ee7e8442
|
| 3 |
+
size 55405656
|
data/chunk-000/file-020.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:53754455b9fe6c87f2a7bc3d5f2447971d4e072bf91c5811f8bcaafb32b9bf80
|
| 3 |
+
size 47631293
|
data/chunk-000/file-021.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d959c2f30e82cda81626db8572adc875e47e84948e19b8b40092f4219d99a2e3
|
| 3 |
+
size 51631088
|
data/chunk-000/file-022.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c6e00a803827e0c32ecd6c59bb43a85c844678ec4602898314e357f09e554e6c
|
| 3 |
+
size 56510041
|