Hugging Face's logo

Datasets:
lerobot
/
behavior1k-task0018

Dataset card Files
xet
 Community
jadechoghari commited on
Commit
0d1b0ab
·
verified ·
1 Parent(s): 31b94a8

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_00000010.json +442 -0
  2. annotations/episode_00000014.json +442 -0
  3. annotations/episode_00000020.json +442 -0
  4. annotations/episode_00000024.json +442 -0
  5. annotations/episode_00000029.json +442 -0
  6. annotations/episode_00000031.json +442 -0
  7. annotations/episode_00000034.json +442 -0
  8. annotations/episode_00000035.json +442 -0
  9. annotations/episode_00000036.json +445 -0
  10. annotations/episode_00000045.json +442 -0
  11. annotations/episode_00000048.json +442 -0
  12. annotations/episode_00000052.json +442 -0
  13. annotations/episode_00000056.json +442 -0
  14. annotations/episode_00000057.json +442 -0
  15. annotations/episode_00000058.json +442 -0
  16. annotations/episode_00000066.json +442 -0
  17. annotations/episode_00000068.json +442 -0
  18. annotations/episode_00000072.json +442 -0
  19. annotations/episode_00000073.json +442 -0
  20. annotations/episode_00000074.json +442 -0
  21. annotations/episode_00000075.json +442 -0
  22. annotations/episode_00000076.json +442 -0
  23. annotations/episode_00000078.json +442 -0
  24. annotations/episode_00000081.json +442 -0
  25. annotations/episode_00000085.json +442 -0
  26. annotations/episode_00000091.json +442 -0
  27. annotations/episode_00000092.json +442 -0
  28. annotations/episode_00000096.json +442 -0
  29. annotations/episode_00000102.json +442 -0
  30. annotations/episode_00000104.json +442 -0
  31. annotations/episode_00000108.json +442 -0
  32. annotations/episode_00000114.json +442 -0
  33. annotations/episode_00000117.json +442 -0
  34. annotations/episode_00000123.json +442 -0
  35. annotations/episode_00000124.json +442 -0
  36. annotations/episode_00000127.json +442 -0
  37. annotations/episode_00000128.json +442 -0
  38. annotations/episode_00000130.json +442 -0
  39. annotations/episode_00000132.json +442 -0
  40. annotations/episode_00000137.json +442 -0
  41. annotations/episode_00000138.json +442 -0
  42. annotations/episode_00000143.json +442 -0
  43. annotations/episode_00000146.json +442 -0
  44. annotations/episode_00000153.json +442 -0
  45. annotations/episode_00000156.json +436 -0
  46. annotations/episode_00000164.json +442 -0
  47. annotations/episode_00000167.json +442 -0
  48. annotations/episode_00000168.json +442 -0
  49. annotations/episode_00000178.json +442 -0
  50. annotations/episode_00000183.json +442 -0
annotations/episode_00000010.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 17004,
6
+ "valid_duration": [
7
+ 92,
8
+ 17096
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 92,
29
+ 1622
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1622,
56
+ 3398
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 3398,
80
+ 3651
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 3651,
107
+ 5748
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 5748,
131
+ 6691
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 6691,
165
+ 7751
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 7751,
199
+ 8967
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 8967,
223
+ 10473
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 10473,
255
+ 12628
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 12628,
282
+ 14910
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 14910,
306
+ 15790
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 15790,
333
+ 17096
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 92,
392
+ 8967
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 8967,
431
+ 17096
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000014.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6627,
6
+ "valid_duration": [
7
+ 750,
8
+ 7377
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 750,
29
+ 1562
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1562,
56
+ 2123
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2123,
80
+ 2635
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2636,
107
+ 3051
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3051,
131
+ 3138
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_190",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_190"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3138,
165
+ 3697
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_189",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_189"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 3697,
199
+ 4202
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4202,
223
+ 4367
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 4367,
255
+ 5495
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 5495,
282
+ 6089
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 6089,
306
+ 6744
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 6744,
333
+ 7377
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_190",
363
+ "sandal_189"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_190",
376
+ "sandal_189"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 750,
392
+ 4202
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 4202,
431
+ 7377
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000020.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9828,
6
+ "valid_duration": [
7
+ 0,
8
+ 9828
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 559
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 559,
56
+ 995
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 995,
80
+ 1559
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1560,
107
+ 2148
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2148,
131
+ 3369
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3369,
165
+ 4000
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 4000,
199
+ 4474
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4475,
223
+ 5163
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 5164,
255
+ 6564
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 6566,
282
+ 7660
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 7660,
306
+ 9052
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 9054,
333
+ 9828
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 4474
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 4475,
431
+ 9828
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000024.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7761,
6
+ "valid_duration": [
7
+ 99,
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 99,
29
+ 442
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 442,
56
+ 1101
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1101,
80
+ 1434
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1434,
107
+ 1826
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 1835,
131
+ 2210
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 2210,
165
+ 2401
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 2401,
199
+ 2928
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 2928,
223
+ 3505
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 3505,
255
+ 5787
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 5787,
282
+ 6427
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 6427,
306
+ 7422
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 7422,
333
+ 7860
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 99,
392
+ 2928
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 2928,
431
+ 7860
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000029.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8984,
6
+ "valid_duration": [
7
+ 60,
8
+ 9044
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 229
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 229,
56
+ 1099
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1099,
80
+ 1615
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1615,
107
+ 2217
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2217,
131
+ 2756
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_190",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_190"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 2756,
165
+ 3151
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_189",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_189"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 3151,
199
+ 4013
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4013,
223
+ 4512
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 4512,
255
+ 5580
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 5580,
282
+ 7122
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 7122,
306
+ 8575
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 8575,
333
+ 9044
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_190",
363
+ "sandal_189"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_190",
376
+ "sandal_189"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 60,
392
+ 4013
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 4013,
431
+ 9044
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000031.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 14160,
6
+ "valid_duration": [
7
+ 60,
8
+ 14220
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 540
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 540,
56
+ 1682
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1682,
80
+ 1826
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1826,
107
+ 2922
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2922,
131
+ 3794
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3794,
165
+ 4570
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 4570,
199
+ 5373
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5373,
223
+ 6159
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 6159,
255
+ 8994
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 8994,
282
+ 11250
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 11259,
306
+ 12817
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 12817,
333
+ 14220
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 60,
392
+ 5373
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 5373,
431
+ 14220
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000034.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5730,
6
+ "valid_duration": [
7
+ 0,
8
+ 5730
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 738
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 738,
56
+ 1257
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1257,
80
+ 1381
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1381,
107
+ 1840
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 1840,
131
+ 2342
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 2342,
165
+ 2880
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 2880,
199
+ 3193
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 3194,
223
+ 3413
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 3413,
255
+ 4106
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 4106,
282
+ 4573
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 4573,
306
+ 5122
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 5122,
333
+ 5730
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 3193
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 3194,
431
+ 5730
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000035.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10208,
6
+ "valid_duration": [
7
+ 0,
8
+ 10208
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 640
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 640,
56
+ 1269
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1269,
80
+ 1624
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1624,
107
+ 2306
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2306,
131
+ 2760
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 2760,
165
+ 3164
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 3164,
199
+ 3807
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 3807,
223
+ 4093
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 4093,
255
+ 7302
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 7302,
282
+ 8220
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 8221,
306
+ 9537
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 9537,
333
+ 10208
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 3807
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 3807,
431
+ 10208
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000036.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5609,
6
+ "valid_duration": [
7
+ 0,
8
+ 5609
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 163
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 163,
56
+ 632
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 632,
80
+ 918
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "floors_htolat_0",
98
+ "sandal_189"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "floors_htolat_0"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 918,
107
+ 1180
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 1180,
131
+ 1545
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_190",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_190"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 1545,
165
+ 1905
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_189",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_189"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 1906,
199
+ 2330
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 2331,
223
+ 3046
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 3046,
255
+ 3678
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 3678,
282
+ 4068
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 4069,
306
+ 4962
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 4962,
333
+ 5609
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "floors_htolat_0"
357
+ ],
358
+ [
359
+ "floors_htolat_0",
360
+ "sandal_189"
361
+ ]
362
+ ],
363
+ [
364
+ [
365
+ "sandal_190",
366
+ "sandal_189"
367
+ ],
368
+ "floors_htolat_0",
369
+ "bed_gxfipj_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "sandal_190",
375
+ "floors_htolat_0"
376
+ ],
377
+ [
378
+ "sandal_190",
379
+ "sandal_189"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [
383
+ [],
384
+ [
385
+ [],
386
+ [],
387
+ [
388
+ "left",
389
+ "left"
390
+ ]
391
+ ]
392
+ ],
393
+ "frame_duration": [
394
+ 0,
395
+ 2330
396
+ ],
397
+ "skill_idxes": [
398
+ 0,
399
+ 1,
400
+ 2,
401
+ 3,
402
+ 4,
403
+ 5,
404
+ 6
405
+ ]
406
+ },
407
+ {
408
+ "primitive_idx": 1,
409
+ "primitive_id": [
410
+ 2,
411
+ 3
412
+ ],
413
+ "primitive_description": [
414
+ "pick up from",
415
+ "place on"
416
+ ],
417
+ "object_id": [
418
+ [
419
+ "hardback_188",
420
+ "bed_gxfipj_0"
421
+ ],
422
+ [
423
+ "hardback_188",
424
+ "nightstand_wbxekb_0"
425
+ ]
426
+ ],
427
+ "manipulating_object_id": [
428
+ "hardback_188",
429
+ "hardback_188"
430
+ ],
431
+ "spatial_prefix": [],
432
+ "frame_duration": [
433
+ 2331,
434
+ 5609
435
+ ],
436
+ "skill_idxes": [
437
+ 7,
438
+ 8,
439
+ 9,
440
+ 10,
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000045.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10785,
6
+ "valid_duration": [
7
+ 45,
8
+ 10830
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 45,
29
+ 478
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 479,
56
+ 1515
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1515,
80
+ 1861
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1861,
107
+ 2545
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2545,
131
+ 3551
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_190",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_190"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3551,
165
+ 4194
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_189",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_189"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 4195,
199
+ 5081
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5081,
223
+ 5145
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 5145,
255
+ 6576
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 6577,
282
+ 7514
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 7562,
306
+ 9203
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 9203,
333
+ 10830
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_190",
363
+ "sandal_189"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_190",
376
+ "sandal_189"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 45,
392
+ 5081
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 5081,
431
+ 10830
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000048.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9518,
6
+ "valid_duration": [
7
+ 39,
8
+ 9557
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 39,
29
+ 622
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 622,
56
+ 1811
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1811,
80
+ 2082
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2082,
107
+ 2754
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2754,
131
+ 3090
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_190",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_190"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3090,
165
+ 3675
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_189",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_189"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 3675,
199
+ 4856
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4856,
223
+ 5919
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 5919,
255
+ 6861
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 6861,
282
+ 7867
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 7867,
306
+ 8260
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 8260,
333
+ 9557
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_190",
363
+ "sandal_189"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_190",
376
+ "sandal_189"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 39,
392
+ 4856
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 4856,
431
+ 9557
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000052.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 13581,
6
+ "valid_duration": [
7
+ 21,
8
+ 13602
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 21,
29
+ 190
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 190,
56
+ 1746
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1746,
80
+ 2156
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2156,
107
+ 3522
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3522,
131
+ 4559
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4559,
165
+ 5734
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 5734,
199
+ 6672
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 6672,
223
+ 7905
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 7905,
255
+ 9459
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 9459,
282
+ 11025
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 11025,
306
+ 12820
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 12820,
333
+ 13602
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 21,
392
+ 6672
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 6672,
431
+ 13602
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000056.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 11472,
6
+ "valid_duration": [
7
+ 0,
8
+ 11472
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 225
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 225,
56
+ 1657
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1657,
80
+ 2695
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2695,
107
+ 4391
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 4391,
131
+ 4536
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4536,
165
+ 5223
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 5223,
199
+ 5973
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5973,
223
+ 7234
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 7234,
255
+ 8758
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 8758,
282
+ 9954
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 9954,
306
+ 10436
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 10436,
333
+ 11472
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 5973
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 5973,
431
+ 11472
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000057.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12900,
6
+ "valid_duration": [
7
+ 30,
8
+ 12930
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 351
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 351,
56
+ 1456
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1456,
80
+ 1988
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1988,
107
+ 2894
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2894,
131
+ 3932
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3932,
165
+ 4780
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 4780,
199
+ 5490
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5490,
223
+ 7050
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 7050,
255
+ 9156
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 9156,
282
+ 11163
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 11163,
306
+ 12069
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 12069,
333
+ 12930
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 30,
392
+ 5490
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 5490,
431
+ 12930
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000058.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 14786,
6
+ "valid_duration": [
7
+ 30,
8
+ 14816
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 1290
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1290,
56
+ 1883
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1987,
80
+ 2472
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2472,
107
+ 3685
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3686,
131
+ 4683
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4683,
165
+ 5861
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 5861,
199
+ 7009
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 7009,
223
+ 7423
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 7423,
255
+ 10440
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 10440,
282
+ 12010
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 12010,
306
+ 13921
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 13921,
333
+ 14816
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 30,
392
+ 7009
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 7009,
431
+ 14816
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000066.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 13111,
6
+ "valid_duration": [
7
+ 17,
8
+ 13128
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 17,
29
+ 427
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 427,
56
+ 1476
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1476,
80
+ 1756
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1756,
107
+ 3288
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3288,
131
+ 4298
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4298,
165
+ 5406
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 5406,
199
+ 6705
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 6705,
223
+ 7367
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 7367,
255
+ 9243
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 9243,
282
+ 10466
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 10466,
306
+ 12242
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 12242,
333
+ 13128
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 17,
392
+ 6705
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 6705,
431
+ 13128
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000068.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 15966,
6
+ "valid_duration": [
7
+ 137,
8
+ 16103
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 137,
29
+ 697
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 697,
56
+ 2099
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2099,
80
+ 2904
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2904,
107
+ 4254
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "floors_htolat_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 4254,
131
+ 4623
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_190",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_190"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4623,
165
+ 6315
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_189",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_189"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 6315,
199
+ 8594
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 8594,
223
+ 9074
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 9075,
255
+ 10892
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 10892,
282
+ 13054
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 13054,
306
+ 14892
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 14892,
333
+ 16103
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_190",
363
+ "sandal_189"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_190",
376
+ "sandal_189"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 137,
392
+ 8594
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 8594,
431
+ 16103
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000072.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10886,
6
+ "valid_duration": [
7
+ 60,
8
+ 10946
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 566
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 566,
56
+ 1234
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1234,
80
+ 1501
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1501,
107
+ 2256
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2256,
131
+ 2756
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_190",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_190"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 2756,
165
+ 3170
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_189",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_189"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 3170,
199
+ 4340
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4340,
223
+ 4953
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 4953,
255
+ 6314
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 6314,
282
+ 7703
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 7703,
306
+ 10059
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 10059,
333
+ 10946
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_190",
363
+ "sandal_189"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_190",
376
+ "sandal_189"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 60,
392
+ 4340
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 4340,
431
+ 10946
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000073.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12745,
6
+ "valid_duration": [
7
+ 0,
8
+ 12745
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
+ "sandal_190"
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
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 868,
56
+ 2188
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2189,
80
+ 3810
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 3810,
107
+ 4501
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 4501,
131
+ 5024
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_190",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_190"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 5024,
165
+ 5643
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_189",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_189"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 5643,
199
+ 6483
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 6483,
223
+ 7122
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 7122,
255
+ 8305
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 8305,
282
+ 9453
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 9453,
306
+ 11607
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 11607,
333
+ 12745
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_190",
363
+ "sandal_189"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_190",
376
+ "sandal_189"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 6483
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 6483,
431
+ 12745
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000074.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7974,
6
+ "valid_duration": [
7
+ 36,
8
+ 8010
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 36,
29
+ 202
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 202,
56
+ 648
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 648,
80
+ 978
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 978,
107
+ 1215
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 1215,
131
+ 1632
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_190",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_190"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 1632,
165
+ 1854
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_189",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_189"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 1854,
199
+ 2352
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 2352,
223
+ 2777
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 2777,
255
+ 5752
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "coordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 5752,
282
+ 6117
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 6117,
306
+ 7275
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 7275,
333
+ 8010
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_190",
363
+ "sandal_189"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_190",
376
+ "sandal_189"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 36,
392
+ 2352
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 2352,
431
+ 8010
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000075.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 17621,
6
+ "valid_duration": [
7
+ 49,
8
+ 17670
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 49,
29
+ 270
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 270,
56
+ 4321
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 4321,
80
+ 4887
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 4887,
107
+ 6577
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 6577,
131
+ 8189
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 8189,
165
+ 9286
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 9286,
199
+ 10755
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 10755,
223
+ 11303
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 11303,
255
+ 13748
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 13748,
282
+ 15423
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 15424,
306
+ 16534
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 16535,
333
+ 17670
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 49,
392
+ 10755
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 10755,
431
+ 17670
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000076.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 16107,
6
+ "valid_duration": [
7
+ 30,
8
+ 16137
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 346
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 346,
56
+ 2185
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2185,
80
+ 2339
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2339,
107
+ 3508
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3508,
131
+ 4178
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4178,
165
+ 5335
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 5335,
199
+ 6687
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 6687,
223
+ 7475
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 7475,
255
+ 10482
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 10482,
282
+ 12774
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 12774,
306
+ 14357
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 14357,
333
+ 16137
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 30,
392
+ 6687
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 6687,
431
+ 16137
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000078.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 15249,
6
+ "valid_duration": [
7
+ 0,
8
+ 15249
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 991
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 991,
56
+ 2006
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2006,
80
+ 2451
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2451,
107
+ 3781
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3781,
131
+ 4425
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_190",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_190"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4425,
165
+ 5951
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_189",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_189"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 5951,
199
+ 8704
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 8713,
223
+ 9191
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 9191,
255
+ 11229
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 11229,
282
+ 12919
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 12919,
306
+ 14146
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 14146,
333
+ 15249
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_190",
363
+ "sandal_189"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_190",
376
+ "sandal_189"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 8704
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 8713,
431
+ 15249
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000081.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 15702,
6
+ "valid_duration": [
7
+ 0,
8
+ 15702
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 901
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 901,
56
+ 2449
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2449,
80
+ 3052
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 3052,
107
+ 5658
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 5658,
131
+ 6399
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 6399,
165
+ 7397
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 7397,
199
+ 9000
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 9000,
223
+ 9712
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 9712,
255
+ 11402
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 11402,
282
+ 12759
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 12759,
306
+ 14383
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 14383,
333
+ 15702
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 9000
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 9000,
431
+ 15702
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000085.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8519,
6
+ "valid_duration": [
7
+ 0,
8
+ 8519
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 552
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 552,
56
+ 984
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 985,
80
+ 1422
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1422,
107
+ 2256
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2256,
131
+ 2890
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 2890,
165
+ 3303
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 3303,
199
+ 4184
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4184,
223
+ 4678
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 4679,
255
+ 5606
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 5606,
282
+ 6773
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 6773,
306
+ 7565
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 7565,
333
+ 8519
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 4184
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 4184,
431
+ 8519
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000091.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7618,
6
+ "valid_duration": [
7
+ 0,
8
+ 7618
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 308
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 308,
56
+ 1038
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1038,
80
+ 1209
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1209,
107
+ 2298
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2298,
131
+ 2556
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 2556,
165
+ 2844
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 2844,
199
+ 3222
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 3222,
223
+ 3561
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 3561,
255
+ 5778
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "coordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 5778,
282
+ 6321
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 6321,
306
+ 7131
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 7131,
333
+ 7618
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 3222
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 3222,
431
+ 7618
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000092.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 19296,
6
+ "valid_duration": [
7
+ 0,
8
+ 19296
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 498
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 498,
56
+ 2006
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2006,
80
+ 2672
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2672,
107
+ 4809
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 4809,
131
+ 5854
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 5854,
165
+ 7107
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 7107,
199
+ 8111
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 8111,
223
+ 9249
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 9249,
255
+ 14078
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 14078,
282
+ 17448
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 17448,
306
+ 18076
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 18076,
333
+ 19296
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 8111
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 8111,
431
+ 19296
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000096.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 15132,
6
+ "valid_duration": [
7
+ 30,
8
+ 15162
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 313
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 313,
56
+ 2480
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2480,
80
+ 3036
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 3036,
107
+ 5209
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 5209,
131
+ 5850
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 5850,
165
+ 7235
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 7235,
199
+ 8417
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 8418,
223
+ 9479
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 9479,
255
+ 11628
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 11748,
282
+ 13022
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 13022,
306
+ 13728
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 13728,
333
+ 15162
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 30,
392
+ 8417
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 8418,
431
+ 15162
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000102.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12612,
6
+ "valid_duration": [
7
+ 78,
8
+ 12690
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 78,
29
+ 451
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 451,
56
+ 1713
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1714,
80
+ 2205
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2205,
107
+ 3394
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3394,
131
+ 4496
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4505,
165
+ 5005
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 5005,
199
+ 5631
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5631,
223
+ 6276
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 6276,
255
+ 8732
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 8732,
282
+ 9629
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 9629,
306
+ 11939
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 11940,
333
+ 12690
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 78,
392
+ 5631
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 5631,
431
+ 12690
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000104.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7709,
6
+ "valid_duration": [
7
+ 0,
8
+ 7709
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 237
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 237,
56
+ 786
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 786,
80
+ 1203
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1203,
107
+ 1494
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 1494,
131
+ 1637
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 1637,
165
+ 2106
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 2106,
199
+ 2403
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 2403,
223
+ 2943
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 2943,
255
+ 5713
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "coordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 5714,
282
+ 6381
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 6381,
306
+ 7266
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 7266,
333
+ 7709
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 2403
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 2403,
431
+ 7709
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000108.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10170,
6
+ "valid_duration": [
7
+ 0,
8
+ 10170
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 579
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 579,
56
+ 1833
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1833,
80
+ 2089
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2089,
107
+ 3000
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3000,
131
+ 3822
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3822,
165
+ 4414
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 4414,
199
+ 5037
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5037,
223
+ 6449
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 6449,
255
+ 8036
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 8037,
282
+ 8863
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 8866,
306
+ 9204
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 9205,
333
+ 10170
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 5037
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 5037,
431
+ 10170
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000114.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5592,
6
+ "valid_duration": [
7
+ 48,
8
+ 5640
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 48,
29
+ 652
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 652,
56
+ 951
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 951,
80
+ 1300
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1300,
107
+ 1608
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 1608,
131
+ 2058
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 2058,
165
+ 2299
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 2299,
199
+ 2705
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 2705,
223
+ 3681
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 3681,
255
+ 4411
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 4411,
282
+ 5101
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 5101,
306
+ 5216
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 5216,
333
+ 5640
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 48,
392
+ 2705
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 2705,
431
+ 5640
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000117.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12567,
6
+ "valid_duration": [
7
+ 81,
8
+ 12648
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 81,
29
+ 1411
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1411,
56
+ 2700
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2700,
80
+ 3130
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 3130,
107
+ 4411
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 4411,
131
+ 5520
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 5520,
165
+ 6033
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 6034,
199
+ 6777
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 6777,
223
+ 7724
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 7724,
255
+ 9230
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 9231,
282
+ 10423
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 10423,
306
+ 11838
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 11838,
333
+ 12648
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 81,
392
+ 6777
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 6777,
431
+ 12648
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000123.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 13368,
6
+ "valid_duration": [
7
+ 72,
8
+ 13440
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 72,
29
+ 991
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 992,
56
+ 2269
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2269,
80
+ 3813
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 3813,
107
+ 4773
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 4773,
131
+ 5357
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 5357,
165
+ 5933
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 5933,
199
+ 6588
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 6589,
223
+ 7664
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 7665,
255
+ 9782
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 9782,
282
+ 10423
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 10423,
306
+ 12411
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 12411,
333
+ 13440
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 72,
392
+ 6588
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 6589,
431
+ 13440
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000124.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9579,
6
+ "valid_duration": [
7
+ 75,
8
+ 9654
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 75,
29
+ 357
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 357,
56
+ 1610
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1610,
80
+ 2425
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2425,
107
+ 3046
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3046,
131
+ 3793
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3793,
165
+ 4231
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 4231,
199
+ 4873
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4873,
223
+ 5830
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 5830,
255
+ 6823
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 6823,
282
+ 7920
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 7920,
306
+ 8650
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 8650,
333
+ 9654
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 75,
392
+ 4873
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 4873,
431
+ 9654
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000127.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 11419,
6
+ "valid_duration": [
7
+ 79,
8
+ 11498
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 79,
29
+ 815
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 815,
56
+ 1705
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1705,
80
+ 2557
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2557,
107
+ 3969
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3969,
131
+ 5410
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 5410,
165
+ 6181
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 6181,
199
+ 7012
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 7012,
223
+ 7890
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 7890,
255
+ 8940
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 8940,
282
+ 9474
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 9474,
306
+ 10668
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 10668,
333
+ 11498
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 79,
392
+ 7012
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 7012,
431
+ 11498
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000128.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10791,
6
+ "valid_duration": [
7
+ 60,
8
+ 10851
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 345
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 345,
56
+ 1345
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1345,
80
+ 1653
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1653,
107
+ 2570
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2570,
131
+ 3411
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3411,
165
+ 3947
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 3947,
199
+ 4590
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4590,
223
+ 5550
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 5550,
255
+ 7452
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 7476,
282
+ 8057
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 8057,
306
+ 9996
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 9997,
333
+ 10851
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 60,
392
+ 4590
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 4590,
431
+ 10851
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000130.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 11307,
6
+ "valid_duration": [
7
+ 72,
8
+ 11379
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 72,
29
+ 468
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 468,
56
+ 1258
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1258,
80
+ 1753
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1753,
107
+ 3060
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3060,
131
+ 5014
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 5014,
165
+ 5753
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 5753,
199
+ 6339
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 6340,
223
+ 7638
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 7638,
255
+ 8790
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 8791,
282
+ 9719
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 9719,
306
+ 10471
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 10471,
333
+ 11379
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 72,
392
+ 6339
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 6340,
431
+ 11379
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000132.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10320,
6
+ "valid_duration": [
7
+ 60,
8
+ 10380
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 1185
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1185,
56
+ 2199
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2199,
80
+ 2430
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2430,
107
+ 3099
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3100,
131
+ 3512
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3512,
165
+ 3939
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 3939,
199
+ 4536
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4536,
223
+ 5338
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 5338,
255
+ 6900
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 6900,
282
+ 7954
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 7954,
306
+ 9633
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 9633,
333
+ 10380
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 60,
392
+ 4536
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 4536,
431
+ 10380
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000137.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9712,
6
+ "valid_duration": [
7
+ 38,
8
+ 9750
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 38,
29
+ 692
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 692,
56
+ 2103
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2103,
80
+ 2359
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2359,
107
+ 3412
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3412,
131
+ 4026
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4026,
165
+ 4545
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 4545,
199
+ 5130
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5130,
223
+ 6111
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 6111,
255
+ 7214
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 7214,
282
+ 7785
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 7785,
306
+ 8970
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 8971,
333
+ 9750
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 38,
392
+ 5130
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 5130,
431
+ 9750
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000138.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12165,
6
+ "valid_duration": [
7
+ 90,
8
+ 12255
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 90,
29
+ 501
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 501,
56
+ 2531
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2531,
80
+ 3569
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 3569,
107
+ 4482
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 4482,
131
+ 5501
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 5501,
165
+ 6086
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 6086,
199
+ 6939
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 6939,
223
+ 8570
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 8570,
255
+ 9941
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 9941,
282
+ 10926
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 10944,
306
+ 11294
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 11294,
333
+ 12255
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 90,
392
+ 6939
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 6939,
431
+ 12255
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000143.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12240,
6
+ "valid_duration": [
7
+ 0,
8
+ 12240
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 564
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 564,
56
+ 1741
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1741,
80
+ 3067
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 3067,
107
+ 4869
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 4869,
131
+ 5773
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 5773,
165
+ 6351
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 6351,
199
+ 6944
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 6944,
223
+ 8011
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 8011,
255
+ 9276
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 9276,
282
+ 10230
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 10230,
306
+ 11376
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 11376,
333
+ 12240
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 6944
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 6944,
431
+ 12240
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000146.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 11457,
6
+ "valid_duration": [
7
+ 120,
8
+ 11577
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 120,
29
+ 717
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 717,
56
+ 2041
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2041,
80
+ 2746
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2747,
107
+ 3666
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3666,
131
+ 4957
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4957,
165
+ 5778
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 5778,
199
+ 6630
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 6630,
223
+ 7905
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 7906,
255
+ 8917
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 8917,
282
+ 9539
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 9539,
306
+ 10773
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 10773,
333
+ 11577
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 120,
392
+ 6630
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 6630,
431
+ 11577
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000153.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 11158,
6
+ "valid_duration": [
7
+ 111,
8
+ 11269
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 111,
29
+ 554
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 554,
56
+ 2198
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2198,
80
+ 2609
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2609,
107
+ 3367
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3367,
131
+ 4382
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4382,
165
+ 4850
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 4850,
199
+ 5589
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5589,
223
+ 6664
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 6664,
255
+ 7833
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 7833,
282
+ 8447
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 8447,
306
+ 10576
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 10576,
333
+ 11269
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 111,
392
+ 5589
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 5589,
431
+ 11269
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000156.json ADDED
@@ -0,0 +1,436 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10341,
6
+ "valid_duration": [
7
+ 0,
8
+ 10341
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 416
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 416,
56
+ 1362
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1362,
80
+ 2251
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2251,
107
+ 3156
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3156,
131
+ 3439
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3439,
165
+ 3875
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 3875,
199
+ 4565
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4565,
223
+ 5682
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 5682,
255
+ 6771
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 6771,
282
+ 7258
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 7258,
306
+ 9519
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 9519,
333
+ 10341
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ "sandal_190",
355
+ "floors_htolat_0"
356
+ ],
357
+ [
358
+ [
359
+ "sandal_189",
360
+ "sandal_190"
361
+ ],
362
+ "floors_htolat_0",
363
+ "bed_gxfipj_0"
364
+ ]
365
+ ],
366
+ "manipulating_object_id": [
367
+ "sandal_190",
368
+ [
369
+ "sandal_189",
370
+ "sandal_190"
371
+ ]
372
+ ],
373
+ "spatial_prefix": [
374
+ [],
375
+ [
376
+ [],
377
+ [],
378
+ [
379
+ "left",
380
+ "left"
381
+ ]
382
+ ]
383
+ ],
384
+ "frame_duration": [
385
+ 0,
386
+ 4565
387
+ ],
388
+ "skill_idxes": [
389
+ 0,
390
+ 1,
391
+ 2,
392
+ 3,
393
+ 4,
394
+ 5,
395
+ 6
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 1,
400
+ "primitive_id": [
401
+ 2,
402
+ 3
403
+ ],
404
+ "primitive_description": [
405
+ "pick up from",
406
+ "place on"
407
+ ],
408
+ "object_id": [
409
+ [
410
+ "hardback_188",
411
+ "bed_gxfipj_0"
412
+ ],
413
+ [
414
+ "hardback_188",
415
+ "nightstand_wbxekb_0"
416
+ ]
417
+ ],
418
+ "manipulating_object_id": [
419
+ "hardback_188",
420
+ "hardback_188"
421
+ ],
422
+ "spatial_prefix": [],
423
+ "frame_duration": [
424
+ 4565,
425
+ 10341
426
+ ],
427
+ "skill_idxes": [
428
+ 7,
429
+ 8,
430
+ 9,
431
+ 10,
432
+ 11
433
+ ]
434
+ }
435
+ ]
436
+ }
annotations/episode_00000164.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10751,
6
+ "valid_duration": [
7
+ 49,
8
+ 10800
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 49,
29
+ 364
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 364,
56
+ 1206
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1207,
80
+ 2586
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2587,
107
+ 3257
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3257,
131
+ 4002
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4003,
165
+ 4523
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 4523,
199
+ 5295
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5295,
223
+ 5940
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 5946,
255
+ 7258
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 7258,
282
+ 8182
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 8182,
306
+ 9996
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 9999,
333
+ 10800
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 49,
392
+ 5295
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 5295,
431
+ 10800
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000167.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10727,
6
+ "valid_duration": [
7
+ 0,
8
+ 10727
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 337
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 337,
56
+ 1869
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1869,
80
+ 2520
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2520,
107
+ 3642
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3642,
131
+ 3886
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3886,
165
+ 4623
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 4623,
199
+ 5253
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 5253,
223
+ 5949
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 5949,
255
+ 7261
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 7261,
282
+ 7845
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 7845,
306
+ 9721
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 9721,
333
+ 10727
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 5253
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 5253,
431
+ 10727
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000168.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12530,
6
+ "valid_duration": [
7
+ 0,
8
+ 12530
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 1325
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1326,
56
+ 2479
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2480,
80
+ 3214
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 3215,
107
+ 4074
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 4074,
131
+ 4797
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 4797,
165
+ 5431
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 5432,
199
+ 6318
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 6318,
223
+ 6835
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 6835,
255
+ 8744
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 8745,
282
+ 9984
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 9984,
306
+ 11739
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 11740,
333
+ 12530
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 6318
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 6318,
431
+ 12530
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000178.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9780,
6
+ "valid_duration": [
7
+ 0,
8
+ 9780
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
+ "sandal_190"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 657
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_190",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_190"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 657,
56
+ 1730
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_189"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1730,
80
+ 2189
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_189",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_189"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2189,
107
+ 2944
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2944,
131
+ 3309
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3309,
165
+ 3811
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 3811,
199
+ 4422
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4422,
223
+ 5236
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 5236,
255
+ 6369
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 6369,
282
+ 7020
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 7020,
306
+ 8765
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 8765,
333
+ 9780
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_190",
356
+ "sandal_189"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_190",
372
+ "sandal_189"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 4422
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 4422,
431
+ 9780
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }
annotations/episode_00000183.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "tidying bedroom",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9870,
6
+ "valid_duration": [
7
+ 0,
8
+ 9870
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
+ "sandal_189"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 415
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "sandal_189",
47
+ "floors_htolat_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "sandal_189"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 415,
56
+ 1449
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "sandal_190"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1449,
80
+ 1710
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 2
91
+ ],
92
+ "skill_description": [
93
+ "pick up from"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "sandal_190",
98
+ "floors_htolat_0"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "sandal_190"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1727,
107
+ 2943
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 1
118
+ ],
119
+ "skill_description": [
120
+ "move to"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "bed_gxfipj_0"
125
+ ]
126
+ ],
127
+ "manipulating_object_id": [],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 2943,
131
+ 3522
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "navigation"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 91
142
+ ],
143
+ "skill_description": [
144
+ "place on next to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "sandal_189",
149
+ "floors_htolat_0",
150
+ "bed_gxfipj_0"
151
+ ]
152
+ ],
153
+ "manipulating_object_id": [
154
+ "sandal_189"
155
+ ],
156
+ "spatial_prefix": [
157
+ [
158
+ "",
159
+ "",
160
+ "left"
161
+ ]
162
+ ],
163
+ "frame_duration": [
164
+ 3522,
165
+ 4141
166
+ ],
167
+ "mp_ef": [],
168
+ "skill_type": [
169
+ "uncoordinated"
170
+ ]
171
+ },
172
+ {
173
+ "skill_idx": 6,
174
+ "skill_id": [
175
+ 91
176
+ ],
177
+ "skill_description": [
178
+ "place on next to"
179
+ ],
180
+ "object_id": [
181
+ [
182
+ "sandal_190",
183
+ "floors_htolat_0",
184
+ "bed_gxfipj_0"
185
+ ]
186
+ ],
187
+ "manipulating_object_id": [
188
+ "sandal_190"
189
+ ],
190
+ "spatial_prefix": [
191
+ [
192
+ "",
193
+ "",
194
+ "left"
195
+ ]
196
+ ],
197
+ "frame_duration": [
198
+ 4141,
199
+ 4619
200
+ ],
201
+ "mp_ef": [],
202
+ "skill_type": [
203
+ "uncoordinated"
204
+ ]
205
+ },
206
+ {
207
+ "skill_idx": 7,
208
+ "skill_id": [
209
+ 1
210
+ ],
211
+ "skill_description": [
212
+ "move to"
213
+ ],
214
+ "object_id": [
215
+ [
216
+ "hardback_188"
217
+ ]
218
+ ],
219
+ "manipulating_object_id": [],
220
+ "spatial_prefix": [],
221
+ "frame_duration": [
222
+ 4619,
223
+ 5332
224
+ ],
225
+ "mp_ef": [],
226
+ "skill_type": [
227
+ "navigation"
228
+ ]
229
+ },
230
+ {
231
+ "skill_idx": 8,
232
+ "skill_id": [
233
+ 90
234
+ ],
235
+ "skill_description": [
236
+ "push to"
237
+ ],
238
+ "object_id": [
239
+ [
240
+ "hardback_188",
241
+ "bed_gxfipj_0"
242
+ ]
243
+ ],
244
+ "manipulating_object_id": [
245
+ "hardback_188"
246
+ ],
247
+ "spatial_prefix": [
248
+ [
249
+ "",
250
+ "to_the_edge_of"
251
+ ]
252
+ ],
253
+ "frame_duration": [
254
+ 5332,
255
+ 6679
256
+ ],
257
+ "mp_ef": [],
258
+ "skill_type": [
259
+ "uncoordinated"
260
+ ]
261
+ },
262
+ {
263
+ "skill_idx": 9,
264
+ "skill_id": [
265
+ 2
266
+ ],
267
+ "skill_description": [
268
+ "pick up from"
269
+ ],
270
+ "object_id": [
271
+ [
272
+ "hardback_188",
273
+ "bed_gxfipj_0"
274
+ ]
275
+ ],
276
+ "manipulating_object_id": [
277
+ "hardback_188"
278
+ ],
279
+ "spatial_prefix": [],
280
+ "frame_duration": [
281
+ 6679,
282
+ 7681
283
+ ],
284
+ "mp_ef": [],
285
+ "skill_type": [
286
+ "uncoordinated"
287
+ ]
288
+ },
289
+ {
290
+ "skill_idx": 10,
291
+ "skill_id": [
292
+ 1
293
+ ],
294
+ "skill_description": [
295
+ "move to"
296
+ ],
297
+ "object_id": [
298
+ [
299
+ "nightstand_wbxekb_0"
300
+ ]
301
+ ],
302
+ "manipulating_object_id": [],
303
+ "spatial_prefix": [],
304
+ "frame_duration": [
305
+ 7681,
306
+ 9266
307
+ ],
308
+ "mp_ef": [],
309
+ "skill_type": [
310
+ "navigation"
311
+ ]
312
+ },
313
+ {
314
+ "skill_idx": 11,
315
+ "skill_id": [
316
+ 3
317
+ ],
318
+ "skill_description": [
319
+ "place on"
320
+ ],
321
+ "object_id": [
322
+ [
323
+ "hardback_188",
324
+ "nightstand_wbxekb_0"
325
+ ]
326
+ ],
327
+ "manipulating_object_id": [
328
+ "hardback_188"
329
+ ],
330
+ "spatial_prefix": [],
331
+ "frame_duration": [
332
+ 9266,
333
+ 9870
334
+ ],
335
+ "mp_ef": [],
336
+ "skill_type": [
337
+ "uncoordinated"
338
+ ]
339
+ }
340
+ ],
341
+ "primitive_annotation": [
342
+ {
343
+ "primitive_idx": 0,
344
+ "primitive_id": [
345
+ 2,
346
+ 91
347
+ ],
348
+ "primitive_description": [
349
+ "pick up from",
350
+ "place on next to"
351
+ ],
352
+ "object_id": [
353
+ [
354
+ [
355
+ "sandal_189",
356
+ "sandal_190"
357
+ ],
358
+ "floors_htolat_0"
359
+ ],
360
+ [
361
+ [
362
+ "sandal_189",
363
+ "sandal_190"
364
+ ],
365
+ "floors_htolat_0",
366
+ "bed_gxfipj_0"
367
+ ]
368
+ ],
369
+ "manipulating_object_id": [
370
+ [
371
+ "sandal_189",
372
+ "sandal_190"
373
+ ],
374
+ [
375
+ "sandal_189",
376
+ "sandal_190"
377
+ ]
378
+ ],
379
+ "spatial_prefix": [
380
+ [],
381
+ [
382
+ [],
383
+ [],
384
+ [
385
+ "left",
386
+ "left"
387
+ ]
388
+ ]
389
+ ],
390
+ "frame_duration": [
391
+ 0,
392
+ 4619
393
+ ],
394
+ "skill_idxes": [
395
+ 0,
396
+ 1,
397
+ 2,
398
+ 3,
399
+ 4,
400
+ 5,
401
+ 6
402
+ ]
403
+ },
404
+ {
405
+ "primitive_idx": 1,
406
+ "primitive_id": [
407
+ 2,
408
+ 3
409
+ ],
410
+ "primitive_description": [
411
+ "pick up from",
412
+ "place on"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "hardback_188",
417
+ "bed_gxfipj_0"
418
+ ],
419
+ [
420
+ "hardback_188",
421
+ "nightstand_wbxekb_0"
422
+ ]
423
+ ],
424
+ "manipulating_object_id": [
425
+ "hardback_188",
426
+ "hardback_188"
427
+ ],
428
+ "spatial_prefix": [],
429
+ "frame_duration": [
430
+ 4619,
431
+ 9870
432
+ ],
433
+ "skill_idxes": [
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11
439
+ ]
440
+ }
441
+ ]
442
+ }