jadechoghari HF Staff commited on
Commit
e7a7f4b
·
verified ·
1 Parent(s): 64c36df

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. annotations/episode_00000004.json +881 -0
  2. annotations/episode_00000010.json +814 -0
  3. annotations/episode_00000011.json +781 -0
  4. annotations/episode_00000014.json +889 -0
  5. annotations/episode_00000024.json +914 -0
  6. annotations/episode_00000060.json +939 -0
  7. annotations/episode_00000071.json +939 -0
  8. annotations/episode_00000079.json +939 -0
  9. annotations/episode_00000083.json +839 -0
  10. annotations/episode_00000091.json +939 -0
  11. annotations/episode_00000113.json +939 -0
  12. annotations/episode_00000127.json +864 -0
  13. annotations/episode_00000133.json +789 -0
  14. annotations/episode_00000146.json +939 -0
  15. annotations/episode_00000158.json +814 -0
  16. annotations/episode_00000159.json +789 -0
  17. annotations/episode_00000169.json +814 -0
  18. annotations/episode_00000181.json +812 -0
  19. annotations/episode_00000191.json +756 -0
  20. annotations/episode_00000200.json +839 -0
  21. annotations/episode_00000202.json +681 -0
  22. annotations/episode_00000239.json +814 -0
  23. annotations/episode_00000253.json +889 -0
  24. annotations/episode_00000254.json +939 -0
  25. annotations/episode_00000263.json +914 -0
  26. annotations/episode_00000277.json +752 -0
  27. annotations/episode_00000287.json +862 -0
  28. data/chunk-000/file-000.parquet +3 -0
  29. data/chunk-000/file-001.parquet +3 -0
  30. data/chunk-000/file-002.parquet +3 -0
  31. data/chunk-000/file-003.parquet +3 -0
  32. data/chunk-000/file-004.parquet +3 -0
  33. data/chunk-000/file-005.parquet +3 -0
  34. data/chunk-000/file-006.parquet +3 -0
  35. data/chunk-000/file-007.parquet +3 -0
  36. data/chunk-000/file-008.parquet +3 -0
  37. data/chunk-000/file-009.parquet +3 -0
  38. data/chunk-000/file-010.parquet +3 -0
  39. data/chunk-000/file-011.parquet +3 -0
  40. data/chunk-000/file-012.parquet +3 -0
  41. data/chunk-000/file-013.parquet +3 -0
  42. data/chunk-000/file-014.parquet +3 -0
  43. data/chunk-000/file-015.parquet +3 -0
  44. data/chunk-000/file-016.parquet +3 -0
  45. data/chunk-000/file-017.parquet +3 -0
  46. data/chunk-000/file-018.parquet +3 -0
  47. data/chunk-000/file-019.parquet +3 -0
  48. data/chunk-000/file-020.parquet +3 -0
  49. data/chunk-000/file-021.parquet +3 -0
  50. 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