jadechoghari commited on
Commit
fb7c893
·
verified ·
1 Parent(s): 1cf5fd9

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_00000001.json +388 -0
  2. annotations/episode_00000031.json +388 -0
  3. annotations/episode_00000038.json +388 -0
  4. annotations/episode_00000045.json +388 -0
  5. annotations/episode_00000051.json +388 -0
  6. annotations/episode_00000055.json +388 -0
  7. annotations/episode_00000062.json +388 -0
  8. annotations/episode_00000068.json +388 -0
  9. annotations/episode_00000075.json +388 -0
  10. annotations/episode_00000077.json +388 -0
  11. annotations/episode_00000086.json +388 -0
  12. annotations/episode_00000090.json +359 -0
  13. annotations/episode_00000093.json +388 -0
  14. annotations/episode_00000094.json +388 -0
  15. annotations/episode_00000095.json +359 -0
  16. annotations/episode_00000096.json +388 -0
  17. annotations/episode_00000118.json +359 -0
  18. annotations/episode_00000126.json +362 -0
  19. annotations/episode_00000132.json +359 -0
  20. annotations/episode_00000136.json +359 -0
  21. annotations/episode_00000154.json +359 -0
  22. annotations/episode_00000179.json +359 -0
  23. annotations/episode_00000195.json +359 -0
  24. annotations/episode_00000229.json +388 -0
  25. annotations/episode_00000250.json +359 -0
  26. annotations/episode_00000259.json +359 -0
  27. annotations/episode_00000282.json +388 -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-006.parquet +3 -0
  33. data/chunk-000/file-007.parquet +3 -0
  34. data/chunk-000/file-008.parquet +3 -0
  35. data/chunk-000/file-009.parquet +3 -0
  36. data/chunk-000/file-010.parquet +3 -0
  37. data/chunk-000/file-011.parquet +3 -0
  38. data/chunk-000/file-013.parquet +3 -0
  39. data/chunk-000/file-014.parquet +3 -0
  40. data/chunk-000/file-015.parquet +3 -0
  41. data/chunk-000/file-016.parquet +3 -0
  42. data/chunk-000/file-017.parquet +3 -0
  43. data/chunk-000/file-018.parquet +3 -0
  44. data/chunk-000/file-019.parquet +3 -0
  45. data/chunk-000/file-020.parquet +3 -0
  46. data/chunk-000/file-021.parquet +3 -0
  47. data/chunk-000/file-022.parquet +3 -0
  48. data/chunk-000/file-023.parquet +3 -0
  49. data/chunk-000/file-024.parquet +3 -0
  50. data/chunk-000/file-025.parquet +3 -0
annotations/episode_00000001.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7005,
6
+ "valid_duration": [
7
+ 0,
8
+ 7005
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 882
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 882,
53
+ 1944
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "high_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 2117,
85
+ 2552
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_268"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 2552,
113
+ 2718
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_267",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_267"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "middle_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 2718,
145
+ 3169
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 3169,
169
+ 4290
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_268",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_268"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 4290,
196
+ 4897
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_267",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_267"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4897,
223
+ 5430
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 5430,
247
+ 6684
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 6684,
271
+ 7005
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 0,
297
+ 1944
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_268",
318
+ "beer_bottle_267"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_268",
325
+ "beer_bottle_267"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_268",
333
+ "beer_bottle_267"
334
+ ],
335
+ [
336
+ "beer_bottle_268",
337
+ "beer_bottle_267"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "high_level",
345
+ "middle_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 2117,
352
+ 5430
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 5430,
380
+ 7005
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000031.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 11065,
6
+ "valid_duration": [
7
+ 0,
8
+ 11065
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 955
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 955,
53
+ 2733
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_267",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_267"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 2733,
85
+ 3352
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_267"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 3352,
113
+ 3779
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_268",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_268"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "low_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 3779,
145
+ 4308
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 4308,
169
+ 6609
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_268",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_268"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 6609,
196
+ 7099
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_267",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_267"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 7099,
223
+ 7848
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 7848,
247
+ 9881
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 9881,
271
+ 11065
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 0,
297
+ 2733
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_267",
318
+ "beer_bottle_268"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_268",
325
+ "beer_bottle_267"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_267",
333
+ "beer_bottle_268"
334
+ ],
335
+ [
336
+ "beer_bottle_268",
337
+ "beer_bottle_267"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "middle_level",
345
+ "low_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 2733,
352
+ 7848
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 7848,
380
+ 11065
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000038.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12681,
6
+ "valid_duration": [
7
+ 99,
8
+ 12780
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 99,
29
+ 1719
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 1719,
53
+ 3450
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_267",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_267"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "high_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 3450,
85
+ 4327
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_267"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 4327,
113
+ 4800
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_268",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_268"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "low_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 4800,
145
+ 6300
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 6300,
169
+ 8455
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_268",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_268"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 8455,
196
+ 9119
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_267",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_267"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 9120,
223
+ 9978
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 9978,
247
+ 11655
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 11655,
271
+ 12780
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 99,
297
+ 3450
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_267",
318
+ "beer_bottle_268"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_268",
325
+ "beer_bottle_267"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_267",
333
+ "beer_bottle_268"
334
+ ],
335
+ [
336
+ "beer_bottle_268",
337
+ "beer_bottle_267"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "high_level",
345
+ "low_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 3450,
352
+ 9978
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 9978,
380
+ 12780
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000045.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7251,
6
+ "valid_duration": [
7
+ 0,
8
+ 7251
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 279
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 279,
53
+ 1727
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_267",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_267"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 1727,
85
+ 2130
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_267"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 2130,
113
+ 2415
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_268",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_268"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "low_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 2416,
145
+ 3139
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 3139,
169
+ 4389
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_268",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_268"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 4389,
196
+ 5007
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_267",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_267"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5007,
223
+ 5586
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 5586,
247
+ 6949
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 6949,
271
+ 7251
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 0,
297
+ 1727
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_267",
318
+ "beer_bottle_268"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_268",
325
+ "beer_bottle_267"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_267",
333
+ "beer_bottle_268"
334
+ ],
335
+ [
336
+ "beer_bottle_268",
337
+ "beer_bottle_267"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "middle_level",
345
+ "low_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 1727,
352
+ 5586
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 5586,
380
+ 7251
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000051.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12177,
6
+ "valid_duration": [
7
+ 0,
8
+ 12177
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 1075
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 1075,
53
+ 2842
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "high_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 2842,
85
+ 4035
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_268"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 4035,
113
+ 4593
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_267",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_267"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "low_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 4593,
145
+ 5632
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 5632,
169
+ 7838
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_267",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_267"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 7838,
196
+ 8648
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_268",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_268"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 8648,
223
+ 9416
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 9416,
247
+ 10931
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 10931,
271
+ 12177
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 0,
297
+ 2842
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_268",
318
+ "beer_bottle_267"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_267",
325
+ "beer_bottle_268"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_268",
333
+ "beer_bottle_267"
334
+ ],
335
+ [
336
+ "beer_bottle_267",
337
+ "beer_bottle_268"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "high_level",
345
+ "low_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 2842,
352
+ 9416
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 9416,
380
+ 12177
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000055.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 11322,
6
+ "valid_duration": [
7
+ 228,
8
+ 11550
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 228,
29
+ 1513
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 1513,
53
+ 3417
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "high_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 3417,
85
+ 4009
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_268"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 4009,
113
+ 4383
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_267",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_267"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "low_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 4383,
145
+ 5295
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 5298,
169
+ 7511
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_267",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_267"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 7511,
196
+ 8021
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_268",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_268"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 8021,
223
+ 8632
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 8632,
247
+ 10620
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 10620,
271
+ 11550
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 228,
297
+ 3417
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_268",
318
+ "beer_bottle_267"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_267",
325
+ "beer_bottle_268"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_268",
333
+ "beer_bottle_267"
334
+ ],
335
+ [
336
+ "beer_bottle_267",
337
+ "beer_bottle_268"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "high_level",
345
+ "low_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 3417,
352
+ 8632
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 8632,
380
+ 11550
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000062.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 506
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 508,
53
+ 1753
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 1753,
85
+ 2187
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_268"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 2188,
113
+ 2458
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_267",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_267"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "middle_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 2458,
145
+ 2820
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 2876,
169
+ 4025
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_268",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_268"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 4032,
196
+ 4710
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_267",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_267"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4710,
223
+ 5283
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 5283,
247
+ 6625
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 6625,
271
+ 6960
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 0,
297
+ 1753
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_268",
318
+ "beer_bottle_267"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_268",
325
+ "beer_bottle_267"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_268",
333
+ "beer_bottle_267"
334
+ ],
335
+ [
336
+ "beer_bottle_268",
337
+ "beer_bottle_267"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "middle_level",
345
+ "middle_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 1753,
352
+ 5283
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 5283,
380
+ 6960
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000068.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7562,
6
+ "valid_duration": [
7
+ 0,
8
+ 7562
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 711
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 711,
53
+ 1893
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "high_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 1893,
85
+ 2490
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_268"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 2490,
113
+ 2774
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_267",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_267"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "middle_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 2775,
145
+ 3681
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 3681,
169
+ 4860
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_268",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_268"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 4861,
196
+ 5481
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_267",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_267"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5481,
223
+ 5828
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 5828,
247
+ 7152
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 7152,
271
+ 7562
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 0,
297
+ 1893
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_268",
318
+ "beer_bottle_267"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_268",
325
+ "beer_bottle_267"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_268",
333
+ "beer_bottle_267"
334
+ ],
335
+ [
336
+ "beer_bottle_268",
337
+ "beer_bottle_267"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "high_level",
345
+ "middle_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 1893,
352
+ 5828
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 5828,
380
+ 7562
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000075.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7860,
6
+ "valid_duration": [
7
+ 0,
8
+ 7860
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 678
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 678,
53
+ 2016
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 2246,
85
+ 2669
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_268"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 2669,
113
+ 2906
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_267",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_267"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "low_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 2907,
145
+ 3937
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 3937,
169
+ 5087
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_267",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_267"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 5112,
196
+ 5658
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_268",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_268"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5658,
223
+ 6174
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 6174,
247
+ 7474
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 7478,
271
+ 7860
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 0,
297
+ 2016
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_268",
318
+ "beer_bottle_267"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_267",
325
+ "beer_bottle_268"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_268",
333
+ "beer_bottle_267"
334
+ ],
335
+ [
336
+ "beer_bottle_267",
337
+ "beer_bottle_268"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "middle_level",
345
+ "low_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 2246,
352
+ 6174
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 6174,
380
+ 7860
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000077.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7183,
6
+ "valid_duration": [
7
+ 0,
8
+ 7183
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 342
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 342,
53
+ 1808
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "high_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 1997,
85
+ 2379
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_268"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 2379,
113
+ 2597
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_267",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_267"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "low_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 2614,
145
+ 3197
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 3385,
169
+ 4512
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_267",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_267"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 4560,
196
+ 5077
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_268",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_268"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5077,
223
+ 5492
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 5525,
247
+ 6900
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 6900,
271
+ 7183
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 0,
297
+ 1808
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_268",
318
+ "beer_bottle_267"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_267",
325
+ "beer_bottle_268"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_268",
333
+ "beer_bottle_267"
334
+ ],
335
+ [
336
+ "beer_bottle_267",
337
+ "beer_bottle_268"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "high_level",
345
+ "low_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 1997,
352
+ 5492
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 5525,
380
+ 7183
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000086.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8040,
6
+ "valid_duration": [
7
+ 30,
8
+ 8070
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 982
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 982,
53
+ 2192
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "low_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 2192,
85
+ 2986
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_268"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 2987,
113
+ 3277
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_267",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_267"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "low_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 3277,
145
+ 3871
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 3872,
169
+ 5134
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_268",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_268"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 5135,
196
+ 5734
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_267",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_267"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5734,
223
+ 6271
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 6271,
247
+ 7740
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 7740,
271
+ 8070
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 30,
297
+ 2192
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_268",
318
+ "beer_bottle_267"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_268",
325
+ "beer_bottle_267"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_268",
333
+ "beer_bottle_267"
334
+ ],
335
+ [
336
+ "beer_bottle_268",
337
+ "beer_bottle_267"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "low_level",
345
+ "low_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 2192,
352
+ 6271
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 6271,
380
+ 8070
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000090.json ADDED
@@ -0,0 +1,359 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8741,
6
+ "valid_duration": [
7
+ 0,
8
+ 8741
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 391
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 392,
53
+ 1890
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "high_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 1890,
85
+ 2968
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 2
96
+ ],
97
+ "skill_description": [
98
+ "pick up from"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "fridge_dszchb_0"
104
+ ]
105
+ ],
106
+ "manipulating_object_id": [
107
+ "beer_bottle_267"
108
+ ],
109
+ "spatial_prefix": [
110
+ [
111
+ "",
112
+ "low_level"
113
+ ]
114
+ ],
115
+ "frame_duration": [
116
+ 2968,
117
+ 3866
118
+ ],
119
+ "mp_ef": [],
120
+ "skill_type": [
121
+ "uncoordinated"
122
+ ]
123
+ },
124
+ {
125
+ "skill_idx": 4,
126
+ "skill_id": [
127
+ 1
128
+ ],
129
+ "skill_description": [
130
+ "move to"
131
+ ],
132
+ "object_id": [
133
+ [
134
+ "coffee_table_rlsebe_0"
135
+ ]
136
+ ],
137
+ "manipulating_object_id": [],
138
+ "spatial_prefix": [],
139
+ "frame_duration": [
140
+ 3866,
141
+ 5185
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "navigation"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 3
152
+ ],
153
+ "skill_description": [
154
+ "place on"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "beer_bottle_268",
159
+ "coffee_table_rlsebe_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "beer_bottle_268"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 5185,
168
+ 5828
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 3
179
+ ],
180
+ "skill_description": [
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "beer_bottle_267",
186
+ "coffee_table_rlsebe_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "beer_bottle_267"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 5829,
195
+ 6410
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "fridge_dszchb_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 6410,
219
+ 8324
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 12
230
+ ],
231
+ "skill_description": [
232
+ "close door"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "fridge_dszchb_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 8324,
243
+ 8741
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "uncoordinated"
248
+ ]
249
+ }
250
+ ],
251
+ "primitive_annotation": [
252
+ {
253
+ "primitive_idx": 0,
254
+ "primitive_id": [
255
+ 10
256
+ ],
257
+ "primitive_description": [
258
+ "open door"
259
+ ],
260
+ "object_id": [
261
+ [
262
+ "fridge_dszchb_0"
263
+ ]
264
+ ],
265
+ "manipulating_object_id": [],
266
+ "spatial_prefix": [],
267
+ "frame_duration": [
268
+ 0,
269
+ 1890
270
+ ],
271
+ "skill_idxes": [
272
+ 0,
273
+ 1
274
+ ]
275
+ },
276
+ {
277
+ "primitive_idx": 1,
278
+ "primitive_id": [
279
+ 2,
280
+ 3
281
+ ],
282
+ "primitive_description": [
283
+ "pick up from",
284
+ "place on"
285
+ ],
286
+ "object_id": [
287
+ [
288
+ [
289
+ "beer_bottle_268",
290
+ "beer_bottle_267"
291
+ ],
292
+ "fridge_dszchb_0"
293
+ ],
294
+ [
295
+ [
296
+ "beer_bottle_268",
297
+ "beer_bottle_267"
298
+ ],
299
+ "coffee_table_rlsebe_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [
303
+ [
304
+ "beer_bottle_268",
305
+ "beer_bottle_267"
306
+ ],
307
+ [
308
+ "beer_bottle_268",
309
+ "beer_bottle_267"
310
+ ]
311
+ ],
312
+ "spatial_prefix": [
313
+ [
314
+ [],
315
+ [
316
+ "high_level",
317
+ "low_level"
318
+ ]
319
+ ],
320
+ []
321
+ ],
322
+ "frame_duration": [
323
+ 1890,
324
+ 6410
325
+ ],
326
+ "skill_idxes": [
327
+ 2,
328
+ 3,
329
+ 4,
330
+ 5,
331
+ 6
332
+ ]
333
+ },
334
+ {
335
+ "primitive_idx": 2,
336
+ "primitive_id": [
337
+ 12
338
+ ],
339
+ "primitive_description": [
340
+ "close door"
341
+ ],
342
+ "object_id": [
343
+ [
344
+ "fridge_dszchb_0"
345
+ ]
346
+ ],
347
+ "manipulating_object_id": [],
348
+ "spatial_prefix": [],
349
+ "frame_duration": [
350
+ 6410,
351
+ 8741
352
+ ],
353
+ "skill_idxes": [
354
+ 7,
355
+ 8
356
+ ]
357
+ }
358
+ ]
359
+ }
annotations/episode_00000093.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6695,
6
+ "valid_duration": [
7
+ 0,
8
+ 6695
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 126
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 126,
53
+ 1395
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_267",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_267"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "high_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 1395,
85
+ 2040
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_267"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 2040,
113
+ 2307
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_268",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_268"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "middle_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 2307,
145
+ 2871
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 2871,
169
+ 4020
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_268",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_268"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 4020,
196
+ 4675
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_267",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_267"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4675,
223
+ 5145
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 5145,
247
+ 6345
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 6345,
271
+ 6695
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 0,
297
+ 1395
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_267",
318
+ "beer_bottle_268"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_268",
325
+ "beer_bottle_267"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_267",
333
+ "beer_bottle_268"
334
+ ],
335
+ [
336
+ "beer_bottle_268",
337
+ "beer_bottle_267"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "high_level",
345
+ "middle_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 1395,
352
+ 5145
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 5145,
380
+ 6695
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000094.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10559,
6
+ "valid_duration": [
7
+ 10,
8
+ 10569
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 10,
29
+ 1209
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 1209,
53
+ 2799
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 2799,
85
+ 3489
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_268"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 3489,
113
+ 3964
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_267",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_267"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "low_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 3964,
145
+ 4755
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 4755,
169
+ 6474
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_267",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_267"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 6474,
196
+ 7251
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_268",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_268"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 7251,
223
+ 8136
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 8347,
247
+ 9373
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 9374,
271
+ 10569
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 10,
297
+ 2799
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_268",
318
+ "beer_bottle_267"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_267",
325
+ "beer_bottle_268"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_268",
333
+ "beer_bottle_267"
334
+ ],
335
+ [
336
+ "beer_bottle_267",
337
+ "beer_bottle_268"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "middle_level",
345
+ "low_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 2799,
352
+ 8136
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 8347,
380
+ 10569
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000095.json ADDED
@@ -0,0 +1,359 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8717,
6
+ "valid_duration": [
7
+ 46,
8
+ 8763
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 46,
29
+ 1197
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 1197,
53
+ 2269
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 2269,
85
+ 3333
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 2
96
+ ],
97
+ "skill_description": [
98
+ "pick up from"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "fridge_dszchb_0"
104
+ ]
105
+ ],
106
+ "manipulating_object_id": [
107
+ "beer_bottle_267"
108
+ ],
109
+ "spatial_prefix": [
110
+ [
111
+ "",
112
+ "low_level"
113
+ ]
114
+ ],
115
+ "frame_duration": [
116
+ 3333,
117
+ 3975
118
+ ],
119
+ "mp_ef": [],
120
+ "skill_type": [
121
+ "uncoordinated"
122
+ ]
123
+ },
124
+ {
125
+ "skill_idx": 4,
126
+ "skill_id": [
127
+ 1
128
+ ],
129
+ "skill_description": [
130
+ "move to"
131
+ ],
132
+ "object_id": [
133
+ [
134
+ "coffee_table_rlsebe_0"
135
+ ]
136
+ ],
137
+ "manipulating_object_id": [],
138
+ "spatial_prefix": [],
139
+ "frame_duration": [
140
+ 3975,
141
+ 5224
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "navigation"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 3
152
+ ],
153
+ "skill_description": [
154
+ "place on"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "beer_bottle_268",
159
+ "coffee_table_rlsebe_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "beer_bottle_268"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 5224,
168
+ 5613
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 3
179
+ ],
180
+ "skill_description": [
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "beer_bottle_267",
186
+ "coffee_table_rlsebe_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "beer_bottle_267"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 5613,
195
+ 6204
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "fridge_dszchb_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 6204,
219
+ 8362
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 12
230
+ ],
231
+ "skill_description": [
232
+ "close door"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "fridge_dszchb_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 8362,
243
+ 8763
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "uncoordinated"
248
+ ]
249
+ }
250
+ ],
251
+ "primitive_annotation": [
252
+ {
253
+ "primitive_idx": 0,
254
+ "primitive_id": [
255
+ 10
256
+ ],
257
+ "primitive_description": [
258
+ "open door"
259
+ ],
260
+ "object_id": [
261
+ [
262
+ "fridge_dszchb_0"
263
+ ]
264
+ ],
265
+ "manipulating_object_id": [],
266
+ "spatial_prefix": [],
267
+ "frame_duration": [
268
+ 46,
269
+ 2269
270
+ ],
271
+ "skill_idxes": [
272
+ 0,
273
+ 1
274
+ ]
275
+ },
276
+ {
277
+ "primitive_idx": 1,
278
+ "primitive_id": [
279
+ 2,
280
+ 3
281
+ ],
282
+ "primitive_description": [
283
+ "pick up from",
284
+ "place on"
285
+ ],
286
+ "object_id": [
287
+ [
288
+ [
289
+ "beer_bottle_268",
290
+ "beer_bottle_267"
291
+ ],
292
+ "fridge_dszchb_0"
293
+ ],
294
+ [
295
+ [
296
+ "beer_bottle_268",
297
+ "beer_bottle_267"
298
+ ],
299
+ "coffee_table_rlsebe_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [
303
+ [
304
+ "beer_bottle_268",
305
+ "beer_bottle_267"
306
+ ],
307
+ [
308
+ "beer_bottle_268",
309
+ "beer_bottle_267"
310
+ ]
311
+ ],
312
+ "spatial_prefix": [
313
+ [
314
+ [],
315
+ [
316
+ "middle_level",
317
+ "low_level"
318
+ ]
319
+ ],
320
+ []
321
+ ],
322
+ "frame_duration": [
323
+ 2269,
324
+ 6204
325
+ ],
326
+ "skill_idxes": [
327
+ 2,
328
+ 3,
329
+ 4,
330
+ 5,
331
+ 6
332
+ ]
333
+ },
334
+ {
335
+ "primitive_idx": 2,
336
+ "primitive_id": [
337
+ 12
338
+ ],
339
+ "primitive_description": [
340
+ "close door"
341
+ ],
342
+ "object_id": [
343
+ [
344
+ "fridge_dszchb_0"
345
+ ]
346
+ ],
347
+ "manipulating_object_id": [],
348
+ "spatial_prefix": [],
349
+ "frame_duration": [
350
+ 6204,
351
+ 8763
352
+ ],
353
+ "skill_idxes": [
354
+ 7,
355
+ 8
356
+ ]
357
+ }
358
+ ]
359
+ }
annotations/episode_00000096.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7868,
6
+ "valid_duration": [
7
+ 0,
8
+ 7868
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 763
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 763,
53
+ 2201
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_267",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_267"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "high_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 2202,
85
+ 2903
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_267"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 2905,
113
+ 3180
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_268",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_268"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "middle_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 3180,
145
+ 3749
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 3749,
169
+ 5031
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_267",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_267"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 5031,
196
+ 5663
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_268",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_268"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5663,
223
+ 6206
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 6206,
247
+ 7566
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 7566,
271
+ 7868
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 0,
297
+ 2201
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_267",
318
+ "beer_bottle_268"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_267",
325
+ "beer_bottle_268"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_267",
333
+ "beer_bottle_268"
334
+ ],
335
+ [
336
+ "beer_bottle_267",
337
+ "beer_bottle_268"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "high_level",
345
+ "middle_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 2202,
352
+ 6206
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 6206,
380
+ 7868
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000118.json ADDED
@@ -0,0 +1,359 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10445,
6
+ "valid_duration": [
7
+ 0,
8
+ 10445
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 1129
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 1129,
53
+ 3828
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_267",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_267"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 3828,
85
+ 4681
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 2
96
+ ],
97
+ "skill_description": [
98
+ "pick up from"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "fridge_dszchb_0"
104
+ ]
105
+ ],
106
+ "manipulating_object_id": [
107
+ "beer_bottle_268"
108
+ ],
109
+ "spatial_prefix": [
110
+ [
111
+ "",
112
+ "middle_level"
113
+ ]
114
+ ],
115
+ "frame_duration": [
116
+ 4681,
117
+ 5484
118
+ ],
119
+ "mp_ef": [],
120
+ "skill_type": [
121
+ "uncoordinated"
122
+ ]
123
+ },
124
+ {
125
+ "skill_idx": 4,
126
+ "skill_id": [
127
+ 1
128
+ ],
129
+ "skill_description": [
130
+ "move to"
131
+ ],
132
+ "object_id": [
133
+ [
134
+ "coffee_table_rlsebe_0"
135
+ ]
136
+ ],
137
+ "manipulating_object_id": [],
138
+ "spatial_prefix": [],
139
+ "frame_duration": [
140
+ 5484,
141
+ 6752
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "navigation"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 3
152
+ ],
153
+ "skill_description": [
154
+ "place on"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "beer_bottle_267",
159
+ "coffee_table_rlsebe_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "beer_bottle_267"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 6752,
168
+ 7292
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 3
179
+ ],
180
+ "skill_description": [
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "beer_bottle_268",
186
+ "coffee_table_rlsebe_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "beer_bottle_268"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 7292,
195
+ 7781
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "fridge_dszchb_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 7781,
219
+ 9777
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 12
230
+ ],
231
+ "skill_description": [
232
+ "close door"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "fridge_dszchb_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 9777,
243
+ 10445
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "uncoordinated"
248
+ ]
249
+ }
250
+ ],
251
+ "primitive_annotation": [
252
+ {
253
+ "primitive_idx": 0,
254
+ "primitive_id": [
255
+ 10
256
+ ],
257
+ "primitive_description": [
258
+ "open door"
259
+ ],
260
+ "object_id": [
261
+ [
262
+ "fridge_dszchb_0"
263
+ ]
264
+ ],
265
+ "manipulating_object_id": [],
266
+ "spatial_prefix": [],
267
+ "frame_duration": [
268
+ 0,
269
+ 3828
270
+ ],
271
+ "skill_idxes": [
272
+ 0,
273
+ 1
274
+ ]
275
+ },
276
+ {
277
+ "primitive_idx": 1,
278
+ "primitive_id": [
279
+ 2,
280
+ 3
281
+ ],
282
+ "primitive_description": [
283
+ "pick up from",
284
+ "place on"
285
+ ],
286
+ "object_id": [
287
+ [
288
+ [
289
+ "beer_bottle_267",
290
+ "beer_bottle_268"
291
+ ],
292
+ "fridge_dszchb_0"
293
+ ],
294
+ [
295
+ [
296
+ "beer_bottle_267",
297
+ "beer_bottle_268"
298
+ ],
299
+ "coffee_table_rlsebe_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [
303
+ [
304
+ "beer_bottle_267",
305
+ "beer_bottle_268"
306
+ ],
307
+ [
308
+ "beer_bottle_267",
309
+ "beer_bottle_268"
310
+ ]
311
+ ],
312
+ "spatial_prefix": [
313
+ [
314
+ [],
315
+ [
316
+ "middle_level",
317
+ "middle_level"
318
+ ]
319
+ ],
320
+ []
321
+ ],
322
+ "frame_duration": [
323
+ 3828,
324
+ 7781
325
+ ],
326
+ "skill_idxes": [
327
+ 2,
328
+ 3,
329
+ 4,
330
+ 5,
331
+ 6
332
+ ]
333
+ },
334
+ {
335
+ "primitive_idx": 2,
336
+ "primitive_id": [
337
+ 12
338
+ ],
339
+ "primitive_description": [
340
+ "close door"
341
+ ],
342
+ "object_id": [
343
+ [
344
+ "fridge_dszchb_0"
345
+ ]
346
+ ],
347
+ "manipulating_object_id": [],
348
+ "spatial_prefix": [],
349
+ "frame_duration": [
350
+ 7781,
351
+ 10445
352
+ ],
353
+ "skill_idxes": [
354
+ 7,
355
+ 8
356
+ ]
357
+ }
358
+ ]
359
+ }
annotations/episode_00000126.json ADDED
@@ -0,0 +1,362 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 13038,
6
+ "valid_duration": [
7
+ 0,
8
+ 13038
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 1332
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 1332,
53
+ 4512
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "coffee_table_rlsebe_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 4512,
85
+ 5640
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 2
96
+ ],
97
+ "skill_description": [
98
+ "pick up from"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "fridge_dszchb_0"
104
+ ]
105
+ ],
106
+ "manipulating_object_id": [
107
+ "beer_bottle_267"
108
+ ],
109
+ "spatial_prefix": [
110
+ [
111
+ "",
112
+ "low_level"
113
+ ]
114
+ ],
115
+ "frame_duration": [
116
+ 5640,
117
+ 7041
118
+ ],
119
+ "mp_ef": [],
120
+ "skill_type": [
121
+ "uncoordinated"
122
+ ]
123
+ },
124
+ {
125
+ "skill_idx": 4,
126
+ "skill_id": [
127
+ 1
128
+ ],
129
+ "skill_description": [
130
+ "move to"
131
+ ],
132
+ "object_id": [
133
+ [
134
+ "coffee_table_rlsebe_0"
135
+ ]
136
+ ],
137
+ "manipulating_object_id": [],
138
+ "spatial_prefix": [],
139
+ "frame_duration": [
140
+ 7041,
141
+ 8946
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "navigation"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 3
152
+ ],
153
+ "skill_description": [
154
+ "place on"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "beer_bottle_268",
159
+ "coffee_table_rlsebe_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "beer_bottle_268"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 8946,
168
+ 9761
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 3
179
+ ],
180
+ "skill_description": [
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "beer_bottle_267",
186
+ "coffee_table_rlsebe_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "beer_bottle_267"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 9761,
195
+ 10237
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "fridge_dszchb_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 10237,
219
+ 12425
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 12
230
+ ],
231
+ "skill_description": [
232
+ "close door"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "fridge_dszchb_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 12425,
243
+ 13038
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "uncoordinated"
248
+ ]
249
+ }
250
+ ],
251
+ "primitive_annotation": [
252
+ {
253
+ "primitive_idx": 0,
254
+ "primitive_id": [
255
+ 10
256
+ ],
257
+ "primitive_description": [
258
+ "open door"
259
+ ],
260
+ "object_id": [
261
+ [
262
+ "fridge_dszchb_0"
263
+ ]
264
+ ],
265
+ "manipulating_object_id": [],
266
+ "spatial_prefix": [],
267
+ "frame_duration": [
268
+ 0,
269
+ 4512
270
+ ],
271
+ "skill_idxes": [
272
+ 0,
273
+ 1
274
+ ]
275
+ },
276
+ {
277
+ "primitive_idx": 1,
278
+ "primitive_id": [
279
+ 2,
280
+ 3
281
+ ],
282
+ "primitive_description": [
283
+ "pick up from",
284
+ "place on"
285
+ ],
286
+ "object_id": [
287
+ [
288
+ [
289
+ "beer_bottle_268",
290
+ "beer_bottle_267"
291
+ ],
292
+ [
293
+ "coffee_table_rlsebe_0",
294
+ "fridge_dszchb_0"
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ "beer_bottle_268",
300
+ "beer_bottle_267"
301
+ ],
302
+ "coffee_table_rlsebe_0"
303
+ ]
304
+ ],
305
+ "manipulating_object_id": [
306
+ [
307
+ "beer_bottle_268",
308
+ "beer_bottle_267"
309
+ ],
310
+ [
311
+ "beer_bottle_268",
312
+ "beer_bottle_267"
313
+ ]
314
+ ],
315
+ "spatial_prefix": [
316
+ [
317
+ [],
318
+ [
319
+ "middle_level",
320
+ "low_level"
321
+ ]
322
+ ],
323
+ []
324
+ ],
325
+ "frame_duration": [
326
+ 4512,
327
+ 10237
328
+ ],
329
+ "skill_idxes": [
330
+ 2,
331
+ 3,
332
+ 4,
333
+ 5,
334
+ 6
335
+ ]
336
+ },
337
+ {
338
+ "primitive_idx": 2,
339
+ "primitive_id": [
340
+ 12
341
+ ],
342
+ "primitive_description": [
343
+ "close door"
344
+ ],
345
+ "object_id": [
346
+ [
347
+ "fridge_dszchb_0"
348
+ ]
349
+ ],
350
+ "manipulating_object_id": [],
351
+ "spatial_prefix": [],
352
+ "frame_duration": [
353
+ 10237,
354
+ 13038
355
+ ],
356
+ "skill_idxes": [
357
+ 7,
358
+ 8
359
+ ]
360
+ }
361
+ ]
362
+ }
annotations/episode_00000132.json ADDED
@@ -0,0 +1,359 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 13140,
6
+ "valid_duration": [
7
+ 0,
8
+ 13140
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 868
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 868,
53
+ 3821
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_267",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_267"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 3821,
85
+ 4926
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 2
96
+ ],
97
+ "skill_description": [
98
+ "pick up from"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "fridge_dszchb_0"
104
+ ]
105
+ ],
106
+ "manipulating_object_id": [
107
+ "beer_bottle_268"
108
+ ],
109
+ "spatial_prefix": [
110
+ [
111
+ "",
112
+ "low_level"
113
+ ]
114
+ ],
115
+ "frame_duration": [
116
+ 4926,
117
+ 6142
118
+ ],
119
+ "mp_ef": [],
120
+ "skill_type": [
121
+ "uncoordinated"
122
+ ]
123
+ },
124
+ {
125
+ "skill_idx": 4,
126
+ "skill_id": [
127
+ 1
128
+ ],
129
+ "skill_description": [
130
+ "move to"
131
+ ],
132
+ "object_id": [
133
+ [
134
+ "coffee_table_rlsebe_0"
135
+ ]
136
+ ],
137
+ "manipulating_object_id": [],
138
+ "spatial_prefix": [],
139
+ "frame_duration": [
140
+ 6142,
141
+ 8385
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "navigation"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 3
152
+ ],
153
+ "skill_description": [
154
+ "place on"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "beer_bottle_267",
159
+ "coffee_table_rlsebe_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "beer_bottle_267"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 8385,
168
+ 9127
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 3
179
+ ],
180
+ "skill_description": [
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "beer_bottle_268",
186
+ "coffee_table_rlsebe_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "beer_bottle_268"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 9127,
195
+ 9695
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "fridge_dszchb_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 9695,
219
+ 12380
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 12
230
+ ],
231
+ "skill_description": [
232
+ "close door"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "fridge_dszchb_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 12380,
243
+ 13140
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "uncoordinated"
248
+ ]
249
+ }
250
+ ],
251
+ "primitive_annotation": [
252
+ {
253
+ "primitive_idx": 0,
254
+ "primitive_id": [
255
+ 10
256
+ ],
257
+ "primitive_description": [
258
+ "open door"
259
+ ],
260
+ "object_id": [
261
+ [
262
+ "fridge_dszchb_0"
263
+ ]
264
+ ],
265
+ "manipulating_object_id": [],
266
+ "spatial_prefix": [],
267
+ "frame_duration": [
268
+ 0,
269
+ 3821
270
+ ],
271
+ "skill_idxes": [
272
+ 0,
273
+ 1
274
+ ]
275
+ },
276
+ {
277
+ "primitive_idx": 1,
278
+ "primitive_id": [
279
+ 2,
280
+ 3
281
+ ],
282
+ "primitive_description": [
283
+ "pick up from",
284
+ "place on"
285
+ ],
286
+ "object_id": [
287
+ [
288
+ [
289
+ "beer_bottle_267",
290
+ "beer_bottle_268"
291
+ ],
292
+ "fridge_dszchb_0"
293
+ ],
294
+ [
295
+ [
296
+ "beer_bottle_267",
297
+ "beer_bottle_268"
298
+ ],
299
+ "coffee_table_rlsebe_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [
303
+ [
304
+ "beer_bottle_267",
305
+ "beer_bottle_268"
306
+ ],
307
+ [
308
+ "beer_bottle_267",
309
+ "beer_bottle_268"
310
+ ]
311
+ ],
312
+ "spatial_prefix": [
313
+ [
314
+ [],
315
+ [
316
+ "middle_level",
317
+ "low_level"
318
+ ]
319
+ ],
320
+ []
321
+ ],
322
+ "frame_duration": [
323
+ 3821,
324
+ 9695
325
+ ],
326
+ "skill_idxes": [
327
+ 2,
328
+ 3,
329
+ 4,
330
+ 5,
331
+ 6
332
+ ]
333
+ },
334
+ {
335
+ "primitive_idx": 2,
336
+ "primitive_id": [
337
+ 12
338
+ ],
339
+ "primitive_description": [
340
+ "close door"
341
+ ],
342
+ "object_id": [
343
+ [
344
+ "fridge_dszchb_0"
345
+ ]
346
+ ],
347
+ "manipulating_object_id": [],
348
+ "spatial_prefix": [],
349
+ "frame_duration": [
350
+ 9695,
351
+ 13140
352
+ ],
353
+ "skill_idxes": [
354
+ 7,
355
+ 8
356
+ ]
357
+ }
358
+ ]
359
+ }
annotations/episode_00000136.json ADDED
@@ -0,0 +1,359 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12662,
6
+ "valid_duration": [
7
+ 30,
8
+ 12692
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 1560
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 1560,
53
+ 3376
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_267",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_267"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 3376,
85
+ 5064
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 2
96
+ ],
97
+ "skill_description": [
98
+ "pick up from"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "fridge_dszchb_0"
104
+ ]
105
+ ],
106
+ "manipulating_object_id": [
107
+ "beer_bottle_268"
108
+ ],
109
+ "spatial_prefix": [
110
+ [
111
+ "",
112
+ "low_level"
113
+ ]
114
+ ],
115
+ "frame_duration": [
116
+ 5064,
117
+ 6258
118
+ ],
119
+ "mp_ef": [],
120
+ "skill_type": [
121
+ "uncoordinated"
122
+ ]
123
+ },
124
+ {
125
+ "skill_idx": 4,
126
+ "skill_id": [
127
+ 1
128
+ ],
129
+ "skill_description": [
130
+ "move to"
131
+ ],
132
+ "object_id": [
133
+ [
134
+ "coffee_table_rlsebe_0"
135
+ ]
136
+ ],
137
+ "manipulating_object_id": [],
138
+ "spatial_prefix": [],
139
+ "frame_duration": [
140
+ 6258,
141
+ 8500
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "navigation"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 3
152
+ ],
153
+ "skill_description": [
154
+ "place on"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "beer_bottle_267",
159
+ "coffee_table_rlsebe_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "beer_bottle_267"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 8500,
168
+ 9310
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 3
179
+ ],
180
+ "skill_description": [
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "beer_bottle_268",
186
+ "coffee_table_rlsebe_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "beer_bottle_268"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 9310,
195
+ 9953
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "fridge_dszchb_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 9953,
219
+ 12256
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 12
230
+ ],
231
+ "skill_description": [
232
+ "close door"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "fridge_dszchb_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 12256,
243
+ 12692
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "uncoordinated"
248
+ ]
249
+ }
250
+ ],
251
+ "primitive_annotation": [
252
+ {
253
+ "primitive_idx": 0,
254
+ "primitive_id": [
255
+ 10
256
+ ],
257
+ "primitive_description": [
258
+ "open door"
259
+ ],
260
+ "object_id": [
261
+ [
262
+ "fridge_dszchb_0"
263
+ ]
264
+ ],
265
+ "manipulating_object_id": [],
266
+ "spatial_prefix": [],
267
+ "frame_duration": [
268
+ 30,
269
+ 3376
270
+ ],
271
+ "skill_idxes": [
272
+ 0,
273
+ 1
274
+ ]
275
+ },
276
+ {
277
+ "primitive_idx": 1,
278
+ "primitive_id": [
279
+ 2,
280
+ 3
281
+ ],
282
+ "primitive_description": [
283
+ "pick up from",
284
+ "place on"
285
+ ],
286
+ "object_id": [
287
+ [
288
+ [
289
+ "beer_bottle_267",
290
+ "beer_bottle_268"
291
+ ],
292
+ "fridge_dszchb_0"
293
+ ],
294
+ [
295
+ [
296
+ "beer_bottle_267",
297
+ "beer_bottle_268"
298
+ ],
299
+ "coffee_table_rlsebe_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [
303
+ [
304
+ "beer_bottle_267",
305
+ "beer_bottle_268"
306
+ ],
307
+ [
308
+ "beer_bottle_267",
309
+ "beer_bottle_268"
310
+ ]
311
+ ],
312
+ "spatial_prefix": [
313
+ [
314
+ [],
315
+ [
316
+ "middle_level",
317
+ "low_level"
318
+ ]
319
+ ],
320
+ []
321
+ ],
322
+ "frame_duration": [
323
+ 3376,
324
+ 9953
325
+ ],
326
+ "skill_idxes": [
327
+ 2,
328
+ 3,
329
+ 4,
330
+ 5,
331
+ 6
332
+ ]
333
+ },
334
+ {
335
+ "primitive_idx": 2,
336
+ "primitive_id": [
337
+ 12
338
+ ],
339
+ "primitive_description": [
340
+ "close door"
341
+ ],
342
+ "object_id": [
343
+ [
344
+ "fridge_dszchb_0"
345
+ ]
346
+ ],
347
+ "manipulating_object_id": [],
348
+ "spatial_prefix": [],
349
+ "frame_duration": [
350
+ 9953,
351
+ 12692
352
+ ],
353
+ "skill_idxes": [
354
+ 7,
355
+ 8
356
+ ]
357
+ }
358
+ ]
359
+ }
annotations/episode_00000154.json ADDED
@@ -0,0 +1,359 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9135,
6
+ "valid_duration": [
7
+ 60,
8
+ 9195
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 351
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 351,
53
+ 1878
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "high_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 1879,
85
+ 2991
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 2
96
+ ],
97
+ "skill_description": [
98
+ "pick up from"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "fridge_dszchb_0"
104
+ ]
105
+ ],
106
+ "manipulating_object_id": [
107
+ "beer_bottle_267"
108
+ ],
109
+ "spatial_prefix": [
110
+ [
111
+ "",
112
+ "low_level"
113
+ ]
114
+ ],
115
+ "frame_duration": [
116
+ 2991,
117
+ 3946
118
+ ],
119
+ "mp_ef": [],
120
+ "skill_type": [
121
+ "uncoordinated"
122
+ ]
123
+ },
124
+ {
125
+ "skill_idx": 4,
126
+ "skill_id": [
127
+ 1
128
+ ],
129
+ "skill_description": [
130
+ "move to"
131
+ ],
132
+ "object_id": [
133
+ [
134
+ "coffee_table_rlsebe_0"
135
+ ]
136
+ ],
137
+ "manipulating_object_id": [],
138
+ "spatial_prefix": [],
139
+ "frame_duration": [
140
+ 3946,
141
+ 5466
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "navigation"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 3
152
+ ],
153
+ "skill_description": [
154
+ "place on"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "beer_bottle_268",
159
+ "coffee_table_rlsebe_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "beer_bottle_268"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 5466,
168
+ 6437
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 3
179
+ ],
180
+ "skill_description": [
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "beer_bottle_267",
186
+ "coffee_table_rlsebe_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "beer_bottle_267"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 6437,
195
+ 6753
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "fridge_dszchb_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 6753,
219
+ 8755
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 12
230
+ ],
231
+ "skill_description": [
232
+ "close door"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "fridge_dszchb_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 8755,
243
+ 9195
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "uncoordinated"
248
+ ]
249
+ }
250
+ ],
251
+ "primitive_annotation": [
252
+ {
253
+ "primitive_idx": 0,
254
+ "primitive_id": [
255
+ 10
256
+ ],
257
+ "primitive_description": [
258
+ "open door"
259
+ ],
260
+ "object_id": [
261
+ [
262
+ "fridge_dszchb_0"
263
+ ]
264
+ ],
265
+ "manipulating_object_id": [],
266
+ "spatial_prefix": [],
267
+ "frame_duration": [
268
+ 60,
269
+ 1878
270
+ ],
271
+ "skill_idxes": [
272
+ 0,
273
+ 1
274
+ ]
275
+ },
276
+ {
277
+ "primitive_idx": 1,
278
+ "primitive_id": [
279
+ 2,
280
+ 3
281
+ ],
282
+ "primitive_description": [
283
+ "pick up from",
284
+ "place on"
285
+ ],
286
+ "object_id": [
287
+ [
288
+ [
289
+ "beer_bottle_268",
290
+ "beer_bottle_267"
291
+ ],
292
+ "fridge_dszchb_0"
293
+ ],
294
+ [
295
+ [
296
+ "beer_bottle_268",
297
+ "beer_bottle_267"
298
+ ],
299
+ "coffee_table_rlsebe_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [
303
+ [
304
+ "beer_bottle_268",
305
+ "beer_bottle_267"
306
+ ],
307
+ [
308
+ "beer_bottle_268",
309
+ "beer_bottle_267"
310
+ ]
311
+ ],
312
+ "spatial_prefix": [
313
+ [
314
+ [],
315
+ [
316
+ "high_level",
317
+ "low_level"
318
+ ]
319
+ ],
320
+ []
321
+ ],
322
+ "frame_duration": [
323
+ 1879,
324
+ 6753
325
+ ],
326
+ "skill_idxes": [
327
+ 2,
328
+ 3,
329
+ 4,
330
+ 5,
331
+ 6
332
+ ]
333
+ },
334
+ {
335
+ "primitive_idx": 2,
336
+ "primitive_id": [
337
+ 12
338
+ ],
339
+ "primitive_description": [
340
+ "close door"
341
+ ],
342
+ "object_id": [
343
+ [
344
+ "fridge_dszchb_0"
345
+ ]
346
+ ],
347
+ "manipulating_object_id": [],
348
+ "spatial_prefix": [],
349
+ "frame_duration": [
350
+ 6753,
351
+ 9195
352
+ ],
353
+ "skill_idxes": [
354
+ 7,
355
+ 8
356
+ ]
357
+ }
358
+ ]
359
+ }
annotations/episode_00000179.json ADDED
@@ -0,0 +1,359 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10262,
6
+ "valid_duration": [
7
+ 58,
8
+ 10320
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 58,
29
+ 870
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 870,
53
+ 2530
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "low_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 2532,
85
+ 3763
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 2
96
+ ],
97
+ "skill_description": [
98
+ "pick up from"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "fridge_dszchb_0"
104
+ ]
105
+ ],
106
+ "manipulating_object_id": [
107
+ "beer_bottle_267"
108
+ ],
109
+ "spatial_prefix": [
110
+ [
111
+ "",
112
+ "low_level"
113
+ ]
114
+ ],
115
+ "frame_duration": [
116
+ 3763,
117
+ 4405
118
+ ],
119
+ "mp_ef": [],
120
+ "skill_type": [
121
+ "uncoordinated"
122
+ ]
123
+ },
124
+ {
125
+ "skill_idx": 4,
126
+ "skill_id": [
127
+ 1
128
+ ],
129
+ "skill_description": [
130
+ "move to"
131
+ ],
132
+ "object_id": [
133
+ [
134
+ "coffee_table_rlsebe_0"
135
+ ]
136
+ ],
137
+ "manipulating_object_id": [],
138
+ "spatial_prefix": [],
139
+ "frame_duration": [
140
+ 4405,
141
+ 6199
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "navigation"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 3
152
+ ],
153
+ "skill_description": [
154
+ "place on"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "beer_bottle_268",
159
+ "coffee_table_rlsebe_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "beer_bottle_268"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 6250,
168
+ 6979
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 3
179
+ ],
180
+ "skill_description": [
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "beer_bottle_267",
186
+ "coffee_table_rlsebe_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "beer_bottle_267"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 6979,
195
+ 7483
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "fridge_dszchb_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 7483,
219
+ 9787
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 12
230
+ ],
231
+ "skill_description": [
232
+ "close door"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "fridge_dszchb_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 9787,
243
+ 10320
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "uncoordinated"
248
+ ]
249
+ }
250
+ ],
251
+ "primitive_annotation": [
252
+ {
253
+ "primitive_idx": 0,
254
+ "primitive_id": [
255
+ 10
256
+ ],
257
+ "primitive_description": [
258
+ "open door"
259
+ ],
260
+ "object_id": [
261
+ [
262
+ "fridge_dszchb_0"
263
+ ]
264
+ ],
265
+ "manipulating_object_id": [],
266
+ "spatial_prefix": [],
267
+ "frame_duration": [
268
+ 58,
269
+ 2530
270
+ ],
271
+ "skill_idxes": [
272
+ 0,
273
+ 1
274
+ ]
275
+ },
276
+ {
277
+ "primitive_idx": 1,
278
+ "primitive_id": [
279
+ 2,
280
+ 3
281
+ ],
282
+ "primitive_description": [
283
+ "pick up from",
284
+ "place on"
285
+ ],
286
+ "object_id": [
287
+ [
288
+ [
289
+ "beer_bottle_268",
290
+ "beer_bottle_267"
291
+ ],
292
+ "fridge_dszchb_0"
293
+ ],
294
+ [
295
+ [
296
+ "beer_bottle_268",
297
+ "beer_bottle_267"
298
+ ],
299
+ "coffee_table_rlsebe_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [
303
+ [
304
+ "beer_bottle_268",
305
+ "beer_bottle_267"
306
+ ],
307
+ [
308
+ "beer_bottle_268",
309
+ "beer_bottle_267"
310
+ ]
311
+ ],
312
+ "spatial_prefix": [
313
+ [
314
+ [],
315
+ [
316
+ "low_level",
317
+ "low_level"
318
+ ]
319
+ ],
320
+ []
321
+ ],
322
+ "frame_duration": [
323
+ 2532,
324
+ 7483
325
+ ],
326
+ "skill_idxes": [
327
+ 2,
328
+ 3,
329
+ 4,
330
+ 5,
331
+ 6
332
+ ]
333
+ },
334
+ {
335
+ "primitive_idx": 2,
336
+ "primitive_id": [
337
+ 12
338
+ ],
339
+ "primitive_description": [
340
+ "close door"
341
+ ],
342
+ "object_id": [
343
+ [
344
+ "fridge_dszchb_0"
345
+ ]
346
+ ],
347
+ "manipulating_object_id": [],
348
+ "spatial_prefix": [],
349
+ "frame_duration": [
350
+ 7483,
351
+ 10320
352
+ ],
353
+ "skill_idxes": [
354
+ 7,
355
+ 8
356
+ ]
357
+ }
358
+ ]
359
+ }
annotations/episode_00000195.json ADDED
@@ -0,0 +1,359 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9404,
6
+ "valid_duration": [
7
+ 52,
8
+ 9456
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 52,
29
+ 1204
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 1204,
53
+ 2657
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "high_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 2657,
85
+ 3733
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 2
96
+ ],
97
+ "skill_description": [
98
+ "pick up from"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "fridge_dszchb_0"
104
+ ]
105
+ ],
106
+ "manipulating_object_id": [
107
+ "beer_bottle_267"
108
+ ],
109
+ "spatial_prefix": [
110
+ [
111
+ "",
112
+ "middle_level"
113
+ ]
114
+ ],
115
+ "frame_duration": [
116
+ 3733,
117
+ 4712
118
+ ],
119
+ "mp_ef": [],
120
+ "skill_type": [
121
+ "uncoordinated"
122
+ ]
123
+ },
124
+ {
125
+ "skill_idx": 4,
126
+ "skill_id": [
127
+ 1
128
+ ],
129
+ "skill_description": [
130
+ "move to"
131
+ ],
132
+ "object_id": [
133
+ [
134
+ "coffee_table_rlsebe_0"
135
+ ]
136
+ ],
137
+ "manipulating_object_id": [],
138
+ "spatial_prefix": [],
139
+ "frame_duration": [
140
+ 4712,
141
+ 5893
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "navigation"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 3
152
+ ],
153
+ "skill_description": [
154
+ "place on"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "beer_bottle_268",
159
+ "coffee_table_rlsebe_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "beer_bottle_268"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 5893,
168
+ 6519
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 3
179
+ ],
180
+ "skill_description": [
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "beer_bottle_267",
186
+ "coffee_table_rlsebe_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "beer_bottle_267"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 6519,
195
+ 6845
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "fridge_dszchb_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 6845,
219
+ 8928
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 12
230
+ ],
231
+ "skill_description": [
232
+ "close door"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "fridge_dszchb_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 8928,
243
+ 9456
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "uncoordinated"
248
+ ]
249
+ }
250
+ ],
251
+ "primitive_annotation": [
252
+ {
253
+ "primitive_idx": 0,
254
+ "primitive_id": [
255
+ 10
256
+ ],
257
+ "primitive_description": [
258
+ "open door"
259
+ ],
260
+ "object_id": [
261
+ [
262
+ "fridge_dszchb_0"
263
+ ]
264
+ ],
265
+ "manipulating_object_id": [],
266
+ "spatial_prefix": [],
267
+ "frame_duration": [
268
+ 52,
269
+ 2657
270
+ ],
271
+ "skill_idxes": [
272
+ 0,
273
+ 1
274
+ ]
275
+ },
276
+ {
277
+ "primitive_idx": 1,
278
+ "primitive_id": [
279
+ 2,
280
+ 3
281
+ ],
282
+ "primitive_description": [
283
+ "pick up from",
284
+ "place on"
285
+ ],
286
+ "object_id": [
287
+ [
288
+ [
289
+ "beer_bottle_268",
290
+ "beer_bottle_267"
291
+ ],
292
+ "fridge_dszchb_0"
293
+ ],
294
+ [
295
+ [
296
+ "beer_bottle_268",
297
+ "beer_bottle_267"
298
+ ],
299
+ "coffee_table_rlsebe_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [
303
+ [
304
+ "beer_bottle_268",
305
+ "beer_bottle_267"
306
+ ],
307
+ [
308
+ "beer_bottle_268",
309
+ "beer_bottle_267"
310
+ ]
311
+ ],
312
+ "spatial_prefix": [
313
+ [
314
+ [],
315
+ [
316
+ "high_level",
317
+ "middle_level"
318
+ ]
319
+ ],
320
+ []
321
+ ],
322
+ "frame_duration": [
323
+ 2657,
324
+ 6845
325
+ ],
326
+ "skill_idxes": [
327
+ 2,
328
+ 3,
329
+ 4,
330
+ 5,
331
+ 6
332
+ ]
333
+ },
334
+ {
335
+ "primitive_idx": 2,
336
+ "primitive_id": [
337
+ 12
338
+ ],
339
+ "primitive_description": [
340
+ "close door"
341
+ ],
342
+ "object_id": [
343
+ [
344
+ "fridge_dszchb_0"
345
+ ]
346
+ ],
347
+ "manipulating_object_id": [],
348
+ "spatial_prefix": [],
349
+ "frame_duration": [
350
+ 6845,
351
+ 9456
352
+ ],
353
+ "skill_idxes": [
354
+ 7,
355
+ 8
356
+ ]
357
+ }
358
+ ]
359
+ }
annotations/episode_00000229.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9649,
6
+ "valid_duration": [
7
+ 77,
8
+ 9726
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 77,
29
+ 1531
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 1726,
53
+ 2989
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_267",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_267"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 3028,
85
+ 3672
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_267"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 3672,
113
+ 3896
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_268",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_268"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "middle_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 3896,
145
+ 4328
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 4328,
169
+ 6327
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_267",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_267"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 6327,
196
+ 7030
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_268",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_268"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 7030,
223
+ 7330
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 7332,
247
+ 9151
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 9153,
271
+ 9726
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 77,
297
+ 2989
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_267",
318
+ "beer_bottle_268"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_267",
325
+ "beer_bottle_268"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_267",
333
+ "beer_bottle_268"
334
+ ],
335
+ [
336
+ "beer_bottle_267",
337
+ "beer_bottle_268"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "middle_level",
345
+ "middle_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 3028,
352
+ 7330
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 7332,
380
+ 9726
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
annotations/episode_00000250.json ADDED
@@ -0,0 +1,359 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7920,
6
+ "valid_duration": [
7
+ 0,
8
+ 7920
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 197
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 197,
53
+ 1475
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_268",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_268"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "high_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 1475,
85
+ 2516
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 2
96
+ ],
97
+ "skill_description": [
98
+ "pick up from"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "fridge_dszchb_0"
104
+ ]
105
+ ],
106
+ "manipulating_object_id": [
107
+ "beer_bottle_267"
108
+ ],
109
+ "spatial_prefix": [
110
+ [
111
+ "",
112
+ "low_level"
113
+ ]
114
+ ],
115
+ "frame_duration": [
116
+ 2516,
117
+ 3191
118
+ ],
119
+ "mp_ef": [],
120
+ "skill_type": [
121
+ "uncoordinated"
122
+ ]
123
+ },
124
+ {
125
+ "skill_idx": 4,
126
+ "skill_id": [
127
+ 1
128
+ ],
129
+ "skill_description": [
130
+ "move to"
131
+ ],
132
+ "object_id": [
133
+ [
134
+ "coffee_table_rlsebe_0"
135
+ ]
136
+ ],
137
+ "manipulating_object_id": [],
138
+ "spatial_prefix": [],
139
+ "frame_duration": [
140
+ 3191,
141
+ 4565
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "navigation"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 3
152
+ ],
153
+ "skill_description": [
154
+ "place on"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "beer_bottle_268",
159
+ "coffee_table_rlsebe_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "beer_bottle_268"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 4565,
168
+ 5087
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 3
179
+ ],
180
+ "skill_description": [
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "beer_bottle_267",
186
+ "coffee_table_rlsebe_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "beer_bottle_267"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 5087,
195
+ 5529
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "fridge_dszchb_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 5529,
219
+ 7448
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 12
230
+ ],
231
+ "skill_description": [
232
+ "close door"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "fridge_dszchb_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 7448,
243
+ 7920
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "uncoordinated"
248
+ ]
249
+ }
250
+ ],
251
+ "primitive_annotation": [
252
+ {
253
+ "primitive_idx": 0,
254
+ "primitive_id": [
255
+ 10
256
+ ],
257
+ "primitive_description": [
258
+ "open door"
259
+ ],
260
+ "object_id": [
261
+ [
262
+ "fridge_dszchb_0"
263
+ ]
264
+ ],
265
+ "manipulating_object_id": [],
266
+ "spatial_prefix": [],
267
+ "frame_duration": [
268
+ 0,
269
+ 1475
270
+ ],
271
+ "skill_idxes": [
272
+ 0,
273
+ 1
274
+ ]
275
+ },
276
+ {
277
+ "primitive_idx": 1,
278
+ "primitive_id": [
279
+ 2,
280
+ 3
281
+ ],
282
+ "primitive_description": [
283
+ "pick up from",
284
+ "place on"
285
+ ],
286
+ "object_id": [
287
+ [
288
+ [
289
+ "beer_bottle_268",
290
+ "beer_bottle_267"
291
+ ],
292
+ "fridge_dszchb_0"
293
+ ],
294
+ [
295
+ [
296
+ "beer_bottle_268",
297
+ "beer_bottle_267"
298
+ ],
299
+ "coffee_table_rlsebe_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [
303
+ [
304
+ "beer_bottle_268",
305
+ "beer_bottle_267"
306
+ ],
307
+ [
308
+ "beer_bottle_268",
309
+ "beer_bottle_267"
310
+ ]
311
+ ],
312
+ "spatial_prefix": [
313
+ [
314
+ [],
315
+ [
316
+ "high_level",
317
+ "low_level"
318
+ ]
319
+ ],
320
+ []
321
+ ],
322
+ "frame_duration": [
323
+ 1475,
324
+ 5529
325
+ ],
326
+ "skill_idxes": [
327
+ 2,
328
+ 3,
329
+ 4,
330
+ 5,
331
+ 6
332
+ ]
333
+ },
334
+ {
335
+ "primitive_idx": 2,
336
+ "primitive_id": [
337
+ 12
338
+ ],
339
+ "primitive_description": [
340
+ "close door"
341
+ ],
342
+ "object_id": [
343
+ [
344
+ "fridge_dszchb_0"
345
+ ]
346
+ ],
347
+ "manipulating_object_id": [],
348
+ "spatial_prefix": [],
349
+ "frame_duration": [
350
+ 5529,
351
+ 7920
352
+ ],
353
+ "skill_idxes": [
354
+ 7,
355
+ 8
356
+ ]
357
+ }
358
+ ]
359
+ }
annotations/episode_00000259.json ADDED
@@ -0,0 +1,359 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7717,
6
+ "valid_duration": [
7
+ 130,
8
+ 7847
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 130,
29
+ 1039
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 1039,
53
+ 2311
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_267",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_267"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 2311,
85
+ 2898
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 2
96
+ ],
97
+ "skill_description": [
98
+ "pick up from"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_268",
103
+ "fridge_dszchb_0"
104
+ ]
105
+ ],
106
+ "manipulating_object_id": [
107
+ "beer_bottle_268"
108
+ ],
109
+ "spatial_prefix": [
110
+ [
111
+ "",
112
+ "middle_level"
113
+ ]
114
+ ],
115
+ "frame_duration": [
116
+ 2898,
117
+ 3567
118
+ ],
119
+ "mp_ef": [],
120
+ "skill_type": [
121
+ "uncoordinated"
122
+ ]
123
+ },
124
+ {
125
+ "skill_idx": 4,
126
+ "skill_id": [
127
+ 1
128
+ ],
129
+ "skill_description": [
130
+ "move to"
131
+ ],
132
+ "object_id": [
133
+ [
134
+ "coffee_table_rlsebe_0"
135
+ ]
136
+ ],
137
+ "manipulating_object_id": [],
138
+ "spatial_prefix": [],
139
+ "frame_duration": [
140
+ 3567,
141
+ 4673
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "navigation"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 3
152
+ ],
153
+ "skill_description": [
154
+ "place on"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "beer_bottle_267",
159
+ "coffee_table_rlsebe_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "beer_bottle_267"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 4673,
168
+ 5181
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 3
179
+ ],
180
+ "skill_description": [
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "beer_bottle_268",
186
+ "coffee_table_rlsebe_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "beer_bottle_268"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 5181,
195
+ 5460
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "fridge_dszchb_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 5472,
219
+ 7377
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 12
230
+ ],
231
+ "skill_description": [
232
+ "close door"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "fridge_dszchb_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 7377,
243
+ 7847
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "uncoordinated"
248
+ ]
249
+ }
250
+ ],
251
+ "primitive_annotation": [
252
+ {
253
+ "primitive_idx": 0,
254
+ "primitive_id": [
255
+ 10
256
+ ],
257
+ "primitive_description": [
258
+ "open door"
259
+ ],
260
+ "object_id": [
261
+ [
262
+ "fridge_dszchb_0"
263
+ ]
264
+ ],
265
+ "manipulating_object_id": [],
266
+ "spatial_prefix": [],
267
+ "frame_duration": [
268
+ 130,
269
+ 2311
270
+ ],
271
+ "skill_idxes": [
272
+ 0,
273
+ 1
274
+ ]
275
+ },
276
+ {
277
+ "primitive_idx": 1,
278
+ "primitive_id": [
279
+ 2,
280
+ 3
281
+ ],
282
+ "primitive_description": [
283
+ "pick up from",
284
+ "place on"
285
+ ],
286
+ "object_id": [
287
+ [
288
+ [
289
+ "beer_bottle_267",
290
+ "beer_bottle_268"
291
+ ],
292
+ "fridge_dszchb_0"
293
+ ],
294
+ [
295
+ [
296
+ "beer_bottle_267",
297
+ "beer_bottle_268"
298
+ ],
299
+ "coffee_table_rlsebe_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [
303
+ [
304
+ "beer_bottle_267",
305
+ "beer_bottle_268"
306
+ ],
307
+ [
308
+ "beer_bottle_267",
309
+ "beer_bottle_268"
310
+ ]
311
+ ],
312
+ "spatial_prefix": [
313
+ [
314
+ [],
315
+ [
316
+ "middle_level",
317
+ "middle_level"
318
+ ]
319
+ ],
320
+ []
321
+ ],
322
+ "frame_duration": [
323
+ 2311,
324
+ 5460
325
+ ],
326
+ "skill_idxes": [
327
+ 2,
328
+ 3,
329
+ 4,
330
+ 5,
331
+ 6
332
+ ]
333
+ },
334
+ {
335
+ "primitive_idx": 2,
336
+ "primitive_id": [
337
+ 12
338
+ ],
339
+ "primitive_description": [
340
+ "close door"
341
+ ],
342
+ "object_id": [
343
+ [
344
+ "fridge_dszchb_0"
345
+ ]
346
+ ],
347
+ "manipulating_object_id": [],
348
+ "spatial_prefix": [],
349
+ "frame_duration": [
350
+ 5472,
351
+ 7847
352
+ ],
353
+ "skill_idxes": [
354
+ 7,
355
+ 8
356
+ ]
357
+ }
358
+ ]
359
+ }
annotations/episode_00000282.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing water",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9013,
6
+ "valid_duration": [
7
+ 65,
8
+ 9078
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
+ "fridge_dszchb_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 65,
29
+ 892
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "fridge_dszchb_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 893,
53
+ 2370
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 2
64
+ ],
65
+ "skill_description": [
66
+ "pick up from"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "beer_bottle_267",
71
+ "fridge_dszchb_0"
72
+ ]
73
+ ],
74
+ "manipulating_object_id": [
75
+ "beer_bottle_267"
76
+ ],
77
+ "spatial_prefix": [
78
+ [
79
+ "",
80
+ "middle_level"
81
+ ]
82
+ ],
83
+ "frame_duration": [
84
+ 2370,
85
+ 2987
86
+ ],
87
+ "mp_ef": [],
88
+ "skill_type": [
89
+ "uncoordinated"
90
+ ]
91
+ },
92
+ {
93
+ "skill_idx": 3,
94
+ "skill_id": [
95
+ 5
96
+ ],
97
+ "skill_description": [
98
+ "hand over"
99
+ ],
100
+ "object_id": [
101
+ [
102
+ "beer_bottle_267",
103
+ "right",
104
+ "left"
105
+ ]
106
+ ],
107
+ "manipulating_object_id": [
108
+ "beer_bottle_267"
109
+ ],
110
+ "spatial_prefix": [],
111
+ "frame_duration": [
112
+ 2988,
113
+ 3363
114
+ ],
115
+ "mp_ef": [],
116
+ "skill_type": [
117
+ "coordinated"
118
+ ]
119
+ },
120
+ {
121
+ "skill_idx": 4,
122
+ "skill_id": [
123
+ 2
124
+ ],
125
+ "skill_description": [
126
+ "pick up from"
127
+ ],
128
+ "object_id": [
129
+ [
130
+ "beer_bottle_268",
131
+ "fridge_dszchb_0"
132
+ ]
133
+ ],
134
+ "manipulating_object_id": [
135
+ "beer_bottle_268"
136
+ ],
137
+ "spatial_prefix": [
138
+ [
139
+ "",
140
+ "middle_level"
141
+ ]
142
+ ],
143
+ "frame_duration": [
144
+ 3363,
145
+ 3808
146
+ ],
147
+ "mp_ef": [],
148
+ "skill_type": [
149
+ "uncoordinated"
150
+ ]
151
+ },
152
+ {
153
+ "skill_idx": 5,
154
+ "skill_id": [
155
+ 1
156
+ ],
157
+ "skill_description": [
158
+ "move to"
159
+ ],
160
+ "object_id": [
161
+ [
162
+ "coffee_table_rlsebe_0"
163
+ ]
164
+ ],
165
+ "manipulating_object_id": [],
166
+ "spatial_prefix": [],
167
+ "frame_duration": [
168
+ 3808,
169
+ 5875
170
+ ],
171
+ "mp_ef": [],
172
+ "skill_type": [
173
+ "navigation"
174
+ ]
175
+ },
176
+ {
177
+ "skill_idx": 6,
178
+ "skill_id": [
179
+ 3
180
+ ],
181
+ "skill_description": [
182
+ "place on"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "beer_bottle_268",
187
+ "coffee_table_rlsebe_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "beer_bottle_268"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 5880,
196
+ 6514
197
+ ],
198
+ "mp_ef": [],
199
+ "skill_type": [
200
+ "uncoordinated"
201
+ ]
202
+ },
203
+ {
204
+ "skill_idx": 7,
205
+ "skill_id": [
206
+ 3
207
+ ],
208
+ "skill_description": [
209
+ "place on"
210
+ ],
211
+ "object_id": [
212
+ [
213
+ "beer_bottle_267",
214
+ "coffee_table_rlsebe_0"
215
+ ]
216
+ ],
217
+ "manipulating_object_id": [
218
+ "beer_bottle_267"
219
+ ],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 6514,
223
+ 6777
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "uncoordinated"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 1
234
+ ],
235
+ "skill_description": [
236
+ "move to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "fridge_dszchb_0"
241
+ ]
242
+ ],
243
+ "manipulating_object_id": [],
244
+ "spatial_prefix": [],
245
+ "frame_duration": [
246
+ 6777,
247
+ 8592
248
+ ],
249
+ "mp_ef": [],
250
+ "skill_type": [
251
+ "navigation"
252
+ ]
253
+ },
254
+ {
255
+ "skill_idx": 9,
256
+ "skill_id": [
257
+ 12
258
+ ],
259
+ "skill_description": [
260
+ "close door"
261
+ ],
262
+ "object_id": [
263
+ [
264
+ "fridge_dszchb_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [],
268
+ "spatial_prefix": [],
269
+ "frame_duration": [
270
+ 8592,
271
+ 9078
272
+ ],
273
+ "mp_ef": [],
274
+ "skill_type": [
275
+ "uncoordinated"
276
+ ]
277
+ }
278
+ ],
279
+ "primitive_annotation": [
280
+ {
281
+ "primitive_idx": 0,
282
+ "primitive_id": [
283
+ 10
284
+ ],
285
+ "primitive_description": [
286
+ "open door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "fridge_dszchb_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 65,
297
+ 2370
298
+ ],
299
+ "skill_idxes": [
300
+ 0,
301
+ 1
302
+ ]
303
+ },
304
+ {
305
+ "primitive_idx": 1,
306
+ "primitive_id": [
307
+ 2,
308
+ 3
309
+ ],
310
+ "primitive_description": [
311
+ "pick up from",
312
+ "place on"
313
+ ],
314
+ "object_id": [
315
+ [
316
+ [
317
+ "beer_bottle_267",
318
+ "beer_bottle_268"
319
+ ],
320
+ "fridge_dszchb_0"
321
+ ],
322
+ [
323
+ [
324
+ "beer_bottle_268",
325
+ "beer_bottle_267"
326
+ ],
327
+ "coffee_table_rlsebe_0"
328
+ ]
329
+ ],
330
+ "manipulating_object_id": [
331
+ [
332
+ "beer_bottle_267",
333
+ "beer_bottle_268"
334
+ ],
335
+ [
336
+ "beer_bottle_268",
337
+ "beer_bottle_267"
338
+ ]
339
+ ],
340
+ "spatial_prefix": [
341
+ [
342
+ [],
343
+ [
344
+ "middle_level",
345
+ "middle_level"
346
+ ]
347
+ ],
348
+ []
349
+ ],
350
+ "frame_duration": [
351
+ 2370,
352
+ 6777
353
+ ],
354
+ "skill_idxes": [
355
+ 2,
356
+ 3,
357
+ 4,
358
+ 5,
359
+ 6,
360
+ 7
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 2,
365
+ "primitive_id": [
366
+ 12
367
+ ],
368
+ "primitive_description": [
369
+ "close door"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "fridge_dszchb_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 6777,
380
+ 9078
381
+ ],
382
+ "skill_idxes": [
383
+ 8,
384
+ 9
385
+ ]
386
+ }
387
+ ]
388
+ }
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d5c60f3e65cc41939cbf121c07b8b28566b1e3635655744743aa744453151c46
3
+ size 45552518
data/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a16645648c7e3ddd19b3e3c8f94ce983a94e5e4798a83290458d5c41dfa86c7e
3
+ size 49656895
data/chunk-000/file-002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:54e2bb87f0a563fc05f4d19d571bef3fae9ca65f518c1a5bc7bb64fc6b236062
3
+ size 45797612
data/chunk-000/file-003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:250bb5174fd980ef1e38f8e50bead64d72d2ac7fae3271529f151854657778c6
3
+ size 44607137
data/chunk-000/file-006.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b8537c97158297d186ea044fbec883000613fe598b57c84d3fde3d756ac9c16f
3
+ size 51289438
data/chunk-000/file-007.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e461833aa03d18f774b2e5962b56cfa8407518dc4c81e4319b2e4b060e9ea156
3
+ size 46107573
data/chunk-000/file-008.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3fc9e7a45c8f4804a6a2db21c54f9fe7e94c4c7485410d6ab13866746d3ad47c
3
+ size 47966968
data/chunk-000/file-009.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:40261bfcc691c679fa227e836442fe94619896389ed20802b2f5976f2cf88dd4
3
+ size 44190410
data/chunk-000/file-010.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eb11f7e5ec74c5088d74d9185509b71060f46181c1d3494a7f005cd03e1d5e8b
3
+ size 46562527
data/chunk-000/file-011.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7334573488269ad08a36f1ffccd12911a3339712d2b9ba157d2a2cd403f89eab
3
+ size 40090820
data/chunk-000/file-013.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b1049c1f23214ad75405707314ae06f5a8294ac696e91621f5c6124d04164c79
3
+ size 56324199
data/chunk-000/file-014.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:43865d06ee7c626a7b5efbcffe8570f1b2ef319e2f85d1acf8c2f9d759f04a4b
3
+ size 55796797
data/chunk-000/file-015.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:af99f0a6347af23b3bf6c24229f0643134d2ef21b4d4417c79e67861a3ad24ed
3
+ size 55459003
data/chunk-000/file-016.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:723f576d6a01155bff90da0fef15b02ecf5c170064cd8c0a8782050b5b3830f8
3
+ size 55816975
data/chunk-000/file-017.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bcbdc4a8106815d54d2c2cfb56c14cb12aea83ff045ff525fee466f530b68105
3
+ size 57887342
data/chunk-000/file-018.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7166c81330ef2f8475705cc1c9edd17c71b135d2090a6485c99d4dab2bf01483
3
+ size 49516769
data/chunk-000/file-019.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:727a81108875239d4b746b23a40e89ecd271dcafb03792632220447a9888b5a8
3
+ size 57253416
data/chunk-000/file-020.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f4d21d061c9625924782a771f3347512242a17b0c54fe9a8cb4de024e21b7eb8
3
+ size 50584545
data/chunk-000/file-021.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2c07d9d188afd8622ba65ec88e6232bc42a1cd7206b75b1b48b52635c4b2defb
3
+ size 54474540
data/chunk-000/file-022.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cdbb644e510492bb21668807d3ca815c43f94577fb03cf155c7fa5fa0844f651
3
+ size 44447579
data/chunk-000/file-023.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:087ffb5c41615d782bd4be2384eeda0651aa19ccf29a11da1b42468973c99fb3
3
+ size 53456454
data/chunk-000/file-024.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e17c4c59250cd846b38b2d70954834ff1d7eb0e15edf25e01134de249a9f79b0
3
+ size 49453943
data/chunk-000/file-025.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:10bbbd017fb91e526b27f1dc3424c0cddbc528b846ad20b2bc49ba193b1f992d
3
+ size 50163447