jadechoghari HF Staff commited on
Commit
23b79ca
·
verified ·
1 Parent(s): 50a560e

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. annotations/episode_00000001.json +387 -0
  2. annotations/episode_00000002.json +478 -0
  3. annotations/episode_00000004.json +453 -0
  4. annotations/episode_00000005.json +478 -0
  5. annotations/episode_00000013.json +445 -0
  6. annotations/episode_00000014.json +445 -0
  7. annotations/episode_00000016.json +412 -0
  8. annotations/episode_00000018.json +445 -0
  9. annotations/episode_00000019.json +478 -0
  10. annotations/episode_00000021.json +453 -0
  11. annotations/episode_00000023.json +412 -0
  12. annotations/episode_00000025.json +478 -0
  13. annotations/episode_00000027.json +387 -0
  14. annotations/episode_00000030.json +412 -0
  15. annotations/episode_00000033.json +420 -0
  16. annotations/episode_00000034.json +445 -0
  17. annotations/episode_00000035.json +445 -0
  18. annotations/episode_00000036.json +420 -0
  19. annotations/episode_00000039.json +453 -0
  20. annotations/episode_00000042.json +453 -0
  21. annotations/episode_00000045.json +445 -0
  22. annotations/episode_00000046.json +412 -0
  23. annotations/episode_00000049.json +478 -0
  24. annotations/episode_00000050.json +478 -0
  25. annotations/episode_00000053.json +387 -0
  26. annotations/episode_00000054.json +387 -0
  27. annotations/episode_00000055.json +478 -0
  28. annotations/episode_00000056.json +420 -0
  29. annotations/episode_00000061.json +387 -0
  30. annotations/episode_00000065.json +453 -0
  31. annotations/episode_00000066.json +412 -0
  32. annotations/episode_00000068.json +445 -0
  33. annotations/episode_00000072.json +445 -0
  34. annotations/episode_00000073.json +420 -0
  35. annotations/episode_00000074.json +445 -0
  36. annotations/episode_00000075.json +453 -0
  37. annotations/episode_00000077.json +412 -0
  38. annotations/episode_00000078.json +387 -0
  39. annotations/episode_00000079.json +445 -0
  40. annotations/episode_00000081.json +412 -0
  41. annotations/episode_00000084.json +445 -0
  42. annotations/episode_00000089.json +420 -0
  43. annotations/episode_00000097.json +412 -0
  44. annotations/episode_00000098.json +453 -0
  45. annotations/episode_00000101.json +453 -0
  46. annotations/episode_00000110.json +445 -0
  47. annotations/episode_00000111.json +478 -0
  48. annotations/episode_00000150.json +478 -0
  49. annotations/episode_00000157.json +453 -0
  50. annotations/episode_00000158.json +453 -0
annotations/episode_00000001.json ADDED
@@ -0,0 +1,387 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7487,
6
+ "valid_duration": [
7
+ 0,
8
+ 7487
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 524
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 525,
53
+ 1946
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1946,
77
+ 2796
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2796,
104
+ 3282
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 2
115
+ ],
116
+ "skill_description": [
117
+ "pick up from"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189",
122
+ "countertop_ikwqer_0"
123
+ ]
124
+ ],
125
+ "manipulating_object_id": [
126
+ "baseball_cap_189"
127
+ ],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3283,
131
+ 3834
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "uncoordinated"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 1
142
+ ],
143
+ "skill_description": [
144
+ "move to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "washer_ynwamu_0"
149
+ ]
150
+ ],
151
+ "manipulating_object_id": [],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 3834,
155
+ 4322
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "navigation"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 4
166
+ ],
167
+ "skill_description": [
168
+ "place in"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "baseball_cap_189",
173
+ "washer_ynwamu_0"
174
+ ]
175
+ ],
176
+ "manipulating_object_id": [
177
+ "baseball_cap_189"
178
+ ],
179
+ "spatial_prefix": [],
180
+ "frame_duration": [
181
+ 4322,
182
+ 5187
183
+ ],
184
+ "mp_ef": [],
185
+ "skill_type": [
186
+ "uncoordinated"
187
+ ]
188
+ },
189
+ {
190
+ "skill_idx": 7,
191
+ "skill_id": [
192
+ 4
193
+ ],
194
+ "skill_description": [
195
+ "place in"
196
+ ],
197
+ "object_id": [
198
+ [
199
+ "baseball_cap_188",
200
+ "washer_ynwamu_0"
201
+ ]
202
+ ],
203
+ "manipulating_object_id": [
204
+ "baseball_cap_188"
205
+ ],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [
208
+ 5187,
209
+ 5964
210
+ ],
211
+ "mp_ef": [],
212
+ "skill_type": [
213
+ "uncoordinated"
214
+ ]
215
+ },
216
+ {
217
+ "skill_idx": 8,
218
+ "skill_id": [
219
+ 12
220
+ ],
221
+ "skill_description": [
222
+ "close door"
223
+ ],
224
+ "object_id": [
225
+ [
226
+ "washer_ynwamu_0"
227
+ ]
228
+ ],
229
+ "manipulating_object_id": [],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 5964,
233
+ 6573
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 69
244
+ ],
245
+ "skill_description": [
246
+ "turn on switch"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 6573,
257
+ 7487
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ }
264
+ ],
265
+ "primitive_annotation": [
266
+ {
267
+ "primitive_idx": 0,
268
+ "primitive_id": [
269
+ 10
270
+ ],
271
+ "primitive_description": [
272
+ "open door"
273
+ ],
274
+ "object_id": [
275
+ [
276
+ "washer_ynwamu_0"
277
+ ]
278
+ ],
279
+ "manipulating_object_id": [],
280
+ "spatial_prefix": [],
281
+ "frame_duration": [
282
+ 0,
283
+ 1946
284
+ ],
285
+ "skill_idxes": [
286
+ 0,
287
+ 1
288
+ ]
289
+ },
290
+ {
291
+ "primitive_idx": 1,
292
+ "primitive_id": [
293
+ 2,
294
+ 4
295
+ ],
296
+ "primitive_description": [
297
+ "pick up from",
298
+ "place in"
299
+ ],
300
+ "object_id": [
301
+ [
302
+ [
303
+ "baseball_cap_188",
304
+ "baseball_cap_189"
305
+ ],
306
+ "countertop_ikwqer_0"
307
+ ],
308
+ [
309
+ [
310
+ "baseball_cap_189",
311
+ "baseball_cap_188"
312
+ ],
313
+ "washer_ynwamu_0"
314
+ ]
315
+ ],
316
+ "manipulating_object_id": [
317
+ [
318
+ "baseball_cap_188",
319
+ "baseball_cap_189"
320
+ ],
321
+ [
322
+ "baseball_cap_189",
323
+ "baseball_cap_188"
324
+ ]
325
+ ],
326
+ "spatial_prefix": [],
327
+ "frame_duration": [
328
+ 1946,
329
+ 5964
330
+ ],
331
+ "skill_idxes": [
332
+ 2,
333
+ 3,
334
+ 4,
335
+ 5,
336
+ 6,
337
+ 7
338
+ ]
339
+ },
340
+ {
341
+ "primitive_idx": 2,
342
+ "primitive_id": [
343
+ 12
344
+ ],
345
+ "primitive_description": [
346
+ "close door"
347
+ ],
348
+ "object_id": [
349
+ [
350
+ "washer_ynwamu_0"
351
+ ]
352
+ ],
353
+ "manipulating_object_id": [],
354
+ "spatial_prefix": [],
355
+ "frame_duration": [
356
+ 5964,
357
+ 6573
358
+ ],
359
+ "skill_idxes": [
360
+ 8
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 3,
365
+ "primitive_id": [
366
+ 69
367
+ ],
368
+ "primitive_description": [
369
+ "turn on switch"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "washer_ynwamu_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 6573,
380
+ 7487
381
+ ],
382
+ "skill_idxes": [
383
+ 9
384
+ ]
385
+ }
386
+ ]
387
+ }
annotations/episode_00000002.json ADDED
@@ -0,0 +1,478 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9197,
6
+ "valid_duration": [
7
+ 0,
8
+ 9197
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 553
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 553,
53
+ 1876
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1876,
77
+ 2726
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2726,
109
+ 3212
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3212,
136
+ 3806
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_189"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 3806,
160
+ 4342
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 93
171
+ ],
172
+ "skill_description": [
173
+ "turn to"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_189",
178
+ "robot"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_189"
183
+ ],
184
+ "spatial_prefix": [
185
+ [
186
+ "",
187
+ "face"
188
+ ]
189
+ ],
190
+ "frame_duration": [
191
+ 4342,
192
+ 4900
193
+ ],
194
+ "mp_ef": [],
195
+ "skill_type": [
196
+ "uncoordinated"
197
+ ]
198
+ },
199
+ {
200
+ "skill_idx": 7,
201
+ "skill_id": [
202
+ 2
203
+ ],
204
+ "skill_description": [
205
+ "pick up from"
206
+ ],
207
+ "object_id": [
208
+ [
209
+ "baseball_cap_189",
210
+ "countertop_ikwqer_0"
211
+ ]
212
+ ],
213
+ "manipulating_object_id": [
214
+ "baseball_cap_189"
215
+ ],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 4900,
219
+ 5146
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "uncoordinated"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 1
230
+ ],
231
+ "skill_description": [
232
+ "move to"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "washer_ynwamu_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 5146,
243
+ 5600
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "navigation"
248
+ ]
249
+ },
250
+ {
251
+ "skill_idx": 9,
252
+ "skill_id": [
253
+ 4
254
+ ],
255
+ "skill_description": [
256
+ "place in"
257
+ ],
258
+ "object_id": [
259
+ [
260
+ "baseball_cap_189",
261
+ "washer_ynwamu_0"
262
+ ]
263
+ ],
264
+ "manipulating_object_id": [
265
+ "baseball_cap_189"
266
+ ],
267
+ "spatial_prefix": [],
268
+ "frame_duration": [
269
+ 5600,
270
+ 6440
271
+ ],
272
+ "mp_ef": [],
273
+ "skill_type": [
274
+ "uncoordinated"
275
+ ]
276
+ },
277
+ {
278
+ "skill_idx": 10,
279
+ "skill_id": [
280
+ 4
281
+ ],
282
+ "skill_description": [
283
+ "place in"
284
+ ],
285
+ "object_id": [
286
+ [
287
+ "baseball_cap_188",
288
+ "washer_ynwamu_0"
289
+ ]
290
+ ],
291
+ "manipulating_object_id": [
292
+ "baseball_cap_188"
293
+ ],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 6440,
297
+ 7370
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 12
308
+ ],
309
+ "skill_description": [
310
+ "close door"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 7370,
321
+ 8090
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ },
328
+ {
329
+ "skill_idx": 12,
330
+ "skill_id": [
331
+ 69
332
+ ],
333
+ "skill_description": [
334
+ "turn on switch"
335
+ ],
336
+ "object_id": [
337
+ [
338
+ "washer_ynwamu_0"
339
+ ]
340
+ ],
341
+ "manipulating_object_id": [],
342
+ "spatial_prefix": [],
343
+ "frame_duration": [
344
+ 8090,
345
+ 9197
346
+ ],
347
+ "mp_ef": [],
348
+ "skill_type": [
349
+ "uncoordinated"
350
+ ]
351
+ }
352
+ ],
353
+ "primitive_annotation": [
354
+ {
355
+ "primitive_idx": 0,
356
+ "primitive_id": [
357
+ 10
358
+ ],
359
+ "primitive_description": [
360
+ "open door"
361
+ ],
362
+ "object_id": [
363
+ [
364
+ "washer_ynwamu_0"
365
+ ]
366
+ ],
367
+ "manipulating_object_id": [],
368
+ "spatial_prefix": [],
369
+ "frame_duration": [
370
+ 0,
371
+ 1876
372
+ ],
373
+ "skill_idxes": [
374
+ 0,
375
+ 1
376
+ ]
377
+ },
378
+ {
379
+ "primitive_idx": 1,
380
+ "primitive_id": [
381
+ 2,
382
+ 4
383
+ ],
384
+ "primitive_description": [
385
+ "pick up from",
386
+ "place in"
387
+ ],
388
+ "object_id": [
389
+ [
390
+ [
391
+ "baseball_cap_188",
392
+ "baseball_cap_189"
393
+ ],
394
+ "countertop_ikwqer_0"
395
+ ],
396
+ [
397
+ [
398
+ "baseball_cap_189",
399
+ "baseball_cap_188"
400
+ ],
401
+ "washer_ynwamu_0"
402
+ ]
403
+ ],
404
+ "manipulating_object_id": [
405
+ [
406
+ "baseball_cap_188",
407
+ "baseball_cap_189"
408
+ ],
409
+ [
410
+ "baseball_cap_189",
411
+ "baseball_cap_188"
412
+ ]
413
+ ],
414
+ "spatial_prefix": [],
415
+ "frame_duration": [
416
+ 1876,
417
+ 7370
418
+ ],
419
+ "skill_idxes": [
420
+ 2,
421
+ 3,
422
+ 4,
423
+ 5,
424
+ 6,
425
+ 7,
426
+ 8,
427
+ 9,
428
+ 10
429
+ ]
430
+ },
431
+ {
432
+ "primitive_idx": 2,
433
+ "primitive_id": [
434
+ 12
435
+ ],
436
+ "primitive_description": [
437
+ "close door"
438
+ ],
439
+ "object_id": [
440
+ [
441
+ "washer_ynwamu_0"
442
+ ]
443
+ ],
444
+ "manipulating_object_id": [],
445
+ "spatial_prefix": [],
446
+ "frame_duration": [
447
+ 7370,
448
+ 8090
449
+ ],
450
+ "skill_idxes": [
451
+ 11
452
+ ]
453
+ },
454
+ {
455
+ "primitive_idx": 3,
456
+ "primitive_id": [
457
+ 69
458
+ ],
459
+ "primitive_description": [
460
+ "turn on switch"
461
+ ],
462
+ "object_id": [
463
+ [
464
+ "washer_ynwamu_0"
465
+ ]
466
+ ],
467
+ "manipulating_object_id": [],
468
+ "spatial_prefix": [],
469
+ "frame_duration": [
470
+ 8090,
471
+ 9197
472
+ ],
473
+ "skill_idxes": [
474
+ 12
475
+ ]
476
+ }
477
+ ]
478
+ }
annotations/episode_00000004.json ADDED
@@ -0,0 +1,453 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9675,
6
+ "valid_duration": [
7
+ 0,
8
+ 9675
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 346
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 346,
53
+ 1645
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1646,
77
+ 2427
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2427,
109
+ 2861
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 2861,
136
+ 3411
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 93
147
+ ],
148
+ "skill_description": [
149
+ "turn to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188",
154
+ "robot"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "baseball_cap_188"
159
+ ],
160
+ "spatial_prefix": [
161
+ [
162
+ "",
163
+ "face"
164
+ ]
165
+ ],
166
+ "frame_duration": [
167
+ 3411,
168
+ 4790
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 2
179
+ ],
180
+ "skill_description": [
181
+ "pick up from"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "baseball_cap_188",
186
+ "countertop_ikwqer_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "baseball_cap_188"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 4790,
195
+ 5370
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "washer_ynwamu_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 5370,
219
+ 6000
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 4
230
+ ],
231
+ "skill_description": [
232
+ "place in"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "baseball_cap_188",
237
+ "washer_ynwamu_0"
238
+ ]
239
+ ],
240
+ "manipulating_object_id": [
241
+ "baseball_cap_188"
242
+ ],
243
+ "spatial_prefix": [],
244
+ "frame_duration": [
245
+ 6000,
246
+ 6932
247
+ ],
248
+ "mp_ef": [],
249
+ "skill_type": [
250
+ "uncoordinated"
251
+ ]
252
+ },
253
+ {
254
+ "skill_idx": 9,
255
+ "skill_id": [
256
+ 4
257
+ ],
258
+ "skill_description": [
259
+ "place in"
260
+ ],
261
+ "object_id": [
262
+ [
263
+ "baseball_cap_189",
264
+ "washer_ynwamu_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [
268
+ "baseball_cap_189"
269
+ ],
270
+ "spatial_prefix": [],
271
+ "frame_duration": [
272
+ 6932,
273
+ 7859
274
+ ],
275
+ "mp_ef": [],
276
+ "skill_type": [
277
+ "uncoordinated"
278
+ ]
279
+ },
280
+ {
281
+ "skill_idx": 10,
282
+ "skill_id": [
283
+ 12
284
+ ],
285
+ "skill_description": [
286
+ "close door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "washer_ynwamu_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 7859,
297
+ 8643
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 69
308
+ ],
309
+ "skill_description": [
310
+ "turn on switch"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 8643,
321
+ 9675
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ }
328
+ ],
329
+ "primitive_annotation": [
330
+ {
331
+ "primitive_idx": 0,
332
+ "primitive_id": [
333
+ 10
334
+ ],
335
+ "primitive_description": [
336
+ "open door"
337
+ ],
338
+ "object_id": [
339
+ [
340
+ "washer_ynwamu_0"
341
+ ]
342
+ ],
343
+ "manipulating_object_id": [],
344
+ "spatial_prefix": [],
345
+ "frame_duration": [
346
+ 0,
347
+ 1645
348
+ ],
349
+ "skill_idxes": [
350
+ 0,
351
+ 1
352
+ ]
353
+ },
354
+ {
355
+ "primitive_idx": 1,
356
+ "primitive_id": [
357
+ 2,
358
+ 4
359
+ ],
360
+ "primitive_description": [
361
+ "pick up from",
362
+ "place in"
363
+ ],
364
+ "object_id": [
365
+ [
366
+ [
367
+ "baseball_cap_189",
368
+ "baseball_cap_188"
369
+ ],
370
+ "countertop_ikwqer_0"
371
+ ],
372
+ [
373
+ [
374
+ "baseball_cap_188",
375
+ "baseball_cap_189"
376
+ ],
377
+ "washer_ynwamu_0"
378
+ ]
379
+ ],
380
+ "manipulating_object_id": [
381
+ [
382
+ "baseball_cap_189",
383
+ "baseball_cap_188"
384
+ ],
385
+ [
386
+ "baseball_cap_188",
387
+ "baseball_cap_189"
388
+ ]
389
+ ],
390
+ "spatial_prefix": [],
391
+ "frame_duration": [
392
+ 1646,
393
+ 7859
394
+ ],
395
+ "skill_idxes": [
396
+ 2,
397
+ 3,
398
+ 4,
399
+ 5,
400
+ 6,
401
+ 7,
402
+ 8,
403
+ 9
404
+ ]
405
+ },
406
+ {
407
+ "primitive_idx": 2,
408
+ "primitive_id": [
409
+ 12
410
+ ],
411
+ "primitive_description": [
412
+ "close door"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "washer_ynwamu_0"
417
+ ]
418
+ ],
419
+ "manipulating_object_id": [],
420
+ "spatial_prefix": [],
421
+ "frame_duration": [
422
+ 7859,
423
+ 8643
424
+ ],
425
+ "skill_idxes": [
426
+ 10
427
+ ]
428
+ },
429
+ {
430
+ "primitive_idx": 3,
431
+ "primitive_id": [
432
+ 69
433
+ ],
434
+ "primitive_description": [
435
+ "turn on switch"
436
+ ],
437
+ "object_id": [
438
+ [
439
+ "washer_ynwamu_0"
440
+ ]
441
+ ],
442
+ "manipulating_object_id": [],
443
+ "spatial_prefix": [],
444
+ "frame_duration": [
445
+ 8643,
446
+ 9675
447
+ ],
448
+ "skill_idxes": [
449
+ 11
450
+ ]
451
+ }
452
+ ]
453
+ }
annotations/episode_00000005.json ADDED
@@ -0,0 +1,478 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9723,
6
+ "valid_duration": [
7
+ 0,
8
+ 9723
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 582
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 583,
53
+ 2093
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2094,
77
+ 2931
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2931,
109
+ 3857
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3857,
136
+ 4356
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_189"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 4357,
160
+ 4477
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 93
171
+ ],
172
+ "skill_description": [
173
+ "turn to"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_189",
178
+ "robot"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_189"
183
+ ],
184
+ "spatial_prefix": [
185
+ [
186
+ "",
187
+ "face"
188
+ ]
189
+ ],
190
+ "frame_duration": [
191
+ 4477,
192
+ 5205
193
+ ],
194
+ "mp_ef": [],
195
+ "skill_type": [
196
+ "uncoordinated"
197
+ ]
198
+ },
199
+ {
200
+ "skill_idx": 7,
201
+ "skill_id": [
202
+ 2
203
+ ],
204
+ "skill_description": [
205
+ "pick up from"
206
+ ],
207
+ "object_id": [
208
+ [
209
+ "baseball_cap_189",
210
+ "countertop_ikwqer_0"
211
+ ]
212
+ ],
213
+ "manipulating_object_id": [
214
+ "baseball_cap_189"
215
+ ],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 5205,
219
+ 5813
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "uncoordinated"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 1
230
+ ],
231
+ "skill_description": [
232
+ "move to"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "washer_ynwamu_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 5813,
243
+ 6333
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "navigation"
248
+ ]
249
+ },
250
+ {
251
+ "skill_idx": 9,
252
+ "skill_id": [
253
+ 4
254
+ ],
255
+ "skill_description": [
256
+ "place in"
257
+ ],
258
+ "object_id": [
259
+ [
260
+ "baseball_cap_189",
261
+ "washer_ynwamu_0"
262
+ ]
263
+ ],
264
+ "manipulating_object_id": [
265
+ "baseball_cap_189"
266
+ ],
267
+ "spatial_prefix": [],
268
+ "frame_duration": [
269
+ 6333,
270
+ 7019
271
+ ],
272
+ "mp_ef": [],
273
+ "skill_type": [
274
+ "uncoordinated"
275
+ ]
276
+ },
277
+ {
278
+ "skill_idx": 10,
279
+ "skill_id": [
280
+ 4
281
+ ],
282
+ "skill_description": [
283
+ "place in"
284
+ ],
285
+ "object_id": [
286
+ [
287
+ "baseball_cap_188",
288
+ "washer_ynwamu_0"
289
+ ]
290
+ ],
291
+ "manipulating_object_id": [
292
+ "baseball_cap_188"
293
+ ],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 7020,
297
+ 7945
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 12
308
+ ],
309
+ "skill_description": [
310
+ "close door"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 7945,
321
+ 8718
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ },
328
+ {
329
+ "skill_idx": 12,
330
+ "skill_id": [
331
+ 69
332
+ ],
333
+ "skill_description": [
334
+ "turn on switch"
335
+ ],
336
+ "object_id": [
337
+ [
338
+ "washer_ynwamu_0"
339
+ ]
340
+ ],
341
+ "manipulating_object_id": [],
342
+ "spatial_prefix": [],
343
+ "frame_duration": [
344
+ 8718,
345
+ 9723
346
+ ],
347
+ "mp_ef": [],
348
+ "skill_type": [
349
+ "uncoordinated"
350
+ ]
351
+ }
352
+ ],
353
+ "primitive_annotation": [
354
+ {
355
+ "primitive_idx": 0,
356
+ "primitive_id": [
357
+ 10
358
+ ],
359
+ "primitive_description": [
360
+ "open door"
361
+ ],
362
+ "object_id": [
363
+ [
364
+ "washer_ynwamu_0"
365
+ ]
366
+ ],
367
+ "manipulating_object_id": [],
368
+ "spatial_prefix": [],
369
+ "frame_duration": [
370
+ 0,
371
+ 2093
372
+ ],
373
+ "skill_idxes": [
374
+ 0,
375
+ 1
376
+ ]
377
+ },
378
+ {
379
+ "primitive_idx": 1,
380
+ "primitive_id": [
381
+ 2,
382
+ 4
383
+ ],
384
+ "primitive_description": [
385
+ "pick up from",
386
+ "place in"
387
+ ],
388
+ "object_id": [
389
+ [
390
+ [
391
+ "baseball_cap_188",
392
+ "baseball_cap_189"
393
+ ],
394
+ "countertop_ikwqer_0"
395
+ ],
396
+ [
397
+ [
398
+ "baseball_cap_189",
399
+ "baseball_cap_188"
400
+ ],
401
+ "washer_ynwamu_0"
402
+ ]
403
+ ],
404
+ "manipulating_object_id": [
405
+ [
406
+ "baseball_cap_188",
407
+ "baseball_cap_189"
408
+ ],
409
+ [
410
+ "baseball_cap_189",
411
+ "baseball_cap_188"
412
+ ]
413
+ ],
414
+ "spatial_prefix": [],
415
+ "frame_duration": [
416
+ 2094,
417
+ 7945
418
+ ],
419
+ "skill_idxes": [
420
+ 2,
421
+ 3,
422
+ 4,
423
+ 5,
424
+ 6,
425
+ 7,
426
+ 8,
427
+ 9,
428
+ 10
429
+ ]
430
+ },
431
+ {
432
+ "primitive_idx": 2,
433
+ "primitive_id": [
434
+ 12
435
+ ],
436
+ "primitive_description": [
437
+ "close door"
438
+ ],
439
+ "object_id": [
440
+ [
441
+ "washer_ynwamu_0"
442
+ ]
443
+ ],
444
+ "manipulating_object_id": [],
445
+ "spatial_prefix": [],
446
+ "frame_duration": [
447
+ 7945,
448
+ 8718
449
+ ],
450
+ "skill_idxes": [
451
+ 11
452
+ ]
453
+ },
454
+ {
455
+ "primitive_idx": 3,
456
+ "primitive_id": [
457
+ 69
458
+ ],
459
+ "primitive_description": [
460
+ "turn on switch"
461
+ ],
462
+ "object_id": [
463
+ [
464
+ "washer_ynwamu_0"
465
+ ]
466
+ ],
467
+ "manipulating_object_id": [],
468
+ "spatial_prefix": [],
469
+ "frame_duration": [
470
+ 8718,
471
+ 9723
472
+ ],
473
+ "skill_idxes": [
474
+ 12
475
+ ]
476
+ }
477
+ ]
478
+ }
annotations/episode_00000013.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8936,
6
+ "valid_duration": [
7
+ 0,
8
+ 8936
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 697
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 697,
53
+ 2341
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2341,
77
+ 3209
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 3209,
109
+ 4110
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 4110,
136
+ 4548
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 4548,
160
+ 4851
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 2
171
+ ],
172
+ "skill_description": [
173
+ "pick up from"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_188",
178
+ "countertop_ikwqer_0"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_188"
183
+ ],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 4851,
187
+ 5281
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "uncoordinated"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 1
198
+ ],
199
+ "skill_description": [
200
+ "move to"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "washer_ynwamu_0"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [],
208
+ "spatial_prefix": [],
209
+ "frame_duration": [
210
+ 5281,
211
+ 5949
212
+ ],
213
+ "mp_ef": [],
214
+ "skill_type": [
215
+ "navigation"
216
+ ]
217
+ },
218
+ {
219
+ "skill_idx": 8,
220
+ "skill_id": [
221
+ 4
222
+ ],
223
+ "skill_description": [
224
+ "place in"
225
+ ],
226
+ "object_id": [
227
+ [
228
+ "baseball_cap_188",
229
+ "washer_ynwamu_0"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [
233
+ "baseball_cap_188"
234
+ ],
235
+ "spatial_prefix": [],
236
+ "frame_duration": [
237
+ 5949,
238
+ 6585
239
+ ],
240
+ "mp_ef": [],
241
+ "skill_type": [
242
+ "uncoordinated"
243
+ ]
244
+ },
245
+ {
246
+ "skill_idx": 9,
247
+ "skill_id": [
248
+ 4
249
+ ],
250
+ "skill_description": [
251
+ "place in"
252
+ ],
253
+ "object_id": [
254
+ [
255
+ "baseball_cap_189",
256
+ "washer_ynwamu_0"
257
+ ]
258
+ ],
259
+ "manipulating_object_id": [
260
+ "baseball_cap_189"
261
+ ],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 6585,
265
+ 7265
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 12
276
+ ],
277
+ "skill_description": [
278
+ "close door"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 7265,
289
+ 7988
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ },
296
+ {
297
+ "skill_idx": 11,
298
+ "skill_id": [
299
+ 69
300
+ ],
301
+ "skill_description": [
302
+ "turn on switch"
303
+ ],
304
+ "object_id": [
305
+ [
306
+ "washer_ynwamu_0"
307
+ ]
308
+ ],
309
+ "manipulating_object_id": [],
310
+ "spatial_prefix": [],
311
+ "frame_duration": [
312
+ 7988,
313
+ 8936
314
+ ],
315
+ "mp_ef": [],
316
+ "skill_type": [
317
+ "uncoordinated"
318
+ ]
319
+ }
320
+ ],
321
+ "primitive_annotation": [
322
+ {
323
+ "primitive_idx": 0,
324
+ "primitive_id": [
325
+ 10
326
+ ],
327
+ "primitive_description": [
328
+ "open door"
329
+ ],
330
+ "object_id": [
331
+ [
332
+ "washer_ynwamu_0"
333
+ ]
334
+ ],
335
+ "manipulating_object_id": [],
336
+ "spatial_prefix": [],
337
+ "frame_duration": [
338
+ 0,
339
+ 2341
340
+ ],
341
+ "skill_idxes": [
342
+ 0,
343
+ 1
344
+ ]
345
+ },
346
+ {
347
+ "primitive_idx": 1,
348
+ "primitive_id": [
349
+ 2,
350
+ 4
351
+ ],
352
+ "primitive_description": [
353
+ "pick up from",
354
+ "place in"
355
+ ],
356
+ "object_id": [
357
+ [
358
+ [
359
+ "baseball_cap_189",
360
+ "baseball_cap_188"
361
+ ],
362
+ "countertop_ikwqer_0"
363
+ ],
364
+ [
365
+ [
366
+ "baseball_cap_188",
367
+ "baseball_cap_189"
368
+ ],
369
+ "washer_ynwamu_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "baseball_cap_189",
375
+ "baseball_cap_188"
376
+ ],
377
+ [
378
+ "baseball_cap_188",
379
+ "baseball_cap_189"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [],
383
+ "frame_duration": [
384
+ 2341,
385
+ 7265
386
+ ],
387
+ "skill_idxes": [
388
+ 2,
389
+ 3,
390
+ 4,
391
+ 5,
392
+ 6,
393
+ 7,
394
+ 8,
395
+ 9
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 2,
400
+ "primitive_id": [
401
+ 12
402
+ ],
403
+ "primitive_description": [
404
+ "close door"
405
+ ],
406
+ "object_id": [
407
+ [
408
+ "washer_ynwamu_0"
409
+ ]
410
+ ],
411
+ "manipulating_object_id": [],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 7265,
415
+ 7988
416
+ ],
417
+ "skill_idxes": [
418
+ 10
419
+ ]
420
+ },
421
+ {
422
+ "primitive_idx": 3,
423
+ "primitive_id": [
424
+ 69
425
+ ],
426
+ "primitive_description": [
427
+ "turn on switch"
428
+ ],
429
+ "object_id": [
430
+ [
431
+ "washer_ynwamu_0"
432
+ ]
433
+ ],
434
+ "manipulating_object_id": [],
435
+ "spatial_prefix": [],
436
+ "frame_duration": [
437
+ 7988,
438
+ 8936
439
+ ],
440
+ "skill_idxes": [
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000014.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9672,
6
+ "valid_duration": [
7
+ 0,
8
+ 9672
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 222
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 222,
53
+ 1649
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1649,
77
+ 2550
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2550,
104
+ 3066
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 3066,
128
+ 3737
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 93
139
+ ],
140
+ "skill_description": [
141
+ "turn to"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_189",
146
+ "robot"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_189"
151
+ ],
152
+ "spatial_prefix": [
153
+ [
154
+ "",
155
+ "face"
156
+ ]
157
+ ],
158
+ "frame_duration": [
159
+ 3737,
160
+ 4829
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "uncoordinated"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 2
171
+ ],
172
+ "skill_description": [
173
+ "pick up from"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_189",
178
+ "countertop_ikwqer_0"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_189"
183
+ ],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 4829,
187
+ 5351
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "uncoordinated"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 1
198
+ ],
199
+ "skill_description": [
200
+ "move to"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "washer_ynwamu_0"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [],
208
+ "spatial_prefix": [],
209
+ "frame_duration": [
210
+ 5351,
211
+ 5950
212
+ ],
213
+ "mp_ef": [],
214
+ "skill_type": [
215
+ "navigation"
216
+ ]
217
+ },
218
+ {
219
+ "skill_idx": 8,
220
+ "skill_id": [
221
+ 4
222
+ ],
223
+ "skill_description": [
224
+ "place in"
225
+ ],
226
+ "object_id": [
227
+ [
228
+ "baseball_cap_189",
229
+ "washer_ynwamu_0"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [
233
+ "baseball_cap_189"
234
+ ],
235
+ "spatial_prefix": [],
236
+ "frame_duration": [
237
+ 5950,
238
+ 6865
239
+ ],
240
+ "mp_ef": [],
241
+ "skill_type": [
242
+ "uncoordinated"
243
+ ]
244
+ },
245
+ {
246
+ "skill_idx": 9,
247
+ "skill_id": [
248
+ 4
249
+ ],
250
+ "skill_description": [
251
+ "place in"
252
+ ],
253
+ "object_id": [
254
+ [
255
+ "baseball_cap_188",
256
+ "washer_ynwamu_0"
257
+ ]
258
+ ],
259
+ "manipulating_object_id": [
260
+ "baseball_cap_188"
261
+ ],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 6865,
265
+ 7917
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 12
276
+ ],
277
+ "skill_description": [
278
+ "close door"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 7917,
289
+ 8718
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ },
296
+ {
297
+ "skill_idx": 11,
298
+ "skill_id": [
299
+ 69
300
+ ],
301
+ "skill_description": [
302
+ "turn on switch"
303
+ ],
304
+ "object_id": [
305
+ [
306
+ "washer_ynwamu_0"
307
+ ]
308
+ ],
309
+ "manipulating_object_id": [],
310
+ "spatial_prefix": [],
311
+ "frame_duration": [
312
+ 8718,
313
+ 9672
314
+ ],
315
+ "mp_ef": [],
316
+ "skill_type": [
317
+ "uncoordinated"
318
+ ]
319
+ }
320
+ ],
321
+ "primitive_annotation": [
322
+ {
323
+ "primitive_idx": 0,
324
+ "primitive_id": [
325
+ 10
326
+ ],
327
+ "primitive_description": [
328
+ "open door"
329
+ ],
330
+ "object_id": [
331
+ [
332
+ "washer_ynwamu_0"
333
+ ]
334
+ ],
335
+ "manipulating_object_id": [],
336
+ "spatial_prefix": [],
337
+ "frame_duration": [
338
+ 0,
339
+ 1649
340
+ ],
341
+ "skill_idxes": [
342
+ 0,
343
+ 1
344
+ ]
345
+ },
346
+ {
347
+ "primitive_idx": 1,
348
+ "primitive_id": [
349
+ 2,
350
+ 4
351
+ ],
352
+ "primitive_description": [
353
+ "pick up from",
354
+ "place in"
355
+ ],
356
+ "object_id": [
357
+ [
358
+ [
359
+ "baseball_cap_188",
360
+ "baseball_cap_189"
361
+ ],
362
+ "countertop_ikwqer_0"
363
+ ],
364
+ [
365
+ [
366
+ "baseball_cap_189",
367
+ "baseball_cap_188"
368
+ ],
369
+ "washer_ynwamu_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "baseball_cap_188",
375
+ "baseball_cap_189"
376
+ ],
377
+ [
378
+ "baseball_cap_189",
379
+ "baseball_cap_188"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [],
383
+ "frame_duration": [
384
+ 1649,
385
+ 7917
386
+ ],
387
+ "skill_idxes": [
388
+ 2,
389
+ 3,
390
+ 4,
391
+ 5,
392
+ 6,
393
+ 7,
394
+ 8,
395
+ 9
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 2,
400
+ "primitive_id": [
401
+ 12
402
+ ],
403
+ "primitive_description": [
404
+ "close door"
405
+ ],
406
+ "object_id": [
407
+ [
408
+ "washer_ynwamu_0"
409
+ ]
410
+ ],
411
+ "manipulating_object_id": [],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 7917,
415
+ 8718
416
+ ],
417
+ "skill_idxes": [
418
+ 10
419
+ ]
420
+ },
421
+ {
422
+ "primitive_idx": 3,
423
+ "primitive_id": [
424
+ 69
425
+ ],
426
+ "primitive_description": [
427
+ "turn on switch"
428
+ ],
429
+ "object_id": [
430
+ [
431
+ "washer_ynwamu_0"
432
+ ]
433
+ ],
434
+ "manipulating_object_id": [],
435
+ "spatial_prefix": [],
436
+ "frame_duration": [
437
+ 8718,
438
+ 9672
439
+ ],
440
+ "skill_idxes": [
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000016.json ADDED
@@ -0,0 +1,412 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8445,
6
+ "valid_duration": [
7
+ 60,
8
+ 8505
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 742
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 742,
53
+ 2262
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2262,
77
+ 3045
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 3045,
104
+ 3549
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_188"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 3549,
128
+ 3789
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 2
139
+ ],
140
+ "skill_description": [
141
+ "pick up from"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_188",
146
+ "countertop_ikwqer_0"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_188"
151
+ ],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 3789,
155
+ 4063
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "uncoordinated"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 1
166
+ ],
167
+ "skill_description": [
168
+ "move to"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "washer_ynwamu_0"
173
+ ]
174
+ ],
175
+ "manipulating_object_id": [],
176
+ "spatial_prefix": [],
177
+ "frame_duration": [
178
+ 4063,
179
+ 4805
180
+ ],
181
+ "mp_ef": [],
182
+ "skill_type": [
183
+ "navigation"
184
+ ]
185
+ },
186
+ {
187
+ "skill_idx": 7,
188
+ "skill_id": [
189
+ 4
190
+ ],
191
+ "skill_description": [
192
+ "place in"
193
+ ],
194
+ "object_id": [
195
+ [
196
+ "baseball_cap_188",
197
+ "washer_ynwamu_0"
198
+ ]
199
+ ],
200
+ "manipulating_object_id": [
201
+ "baseball_cap_188"
202
+ ],
203
+ "spatial_prefix": [],
204
+ "frame_duration": [
205
+ 4805,
206
+ 5685
207
+ ],
208
+ "mp_ef": [],
209
+ "skill_type": [
210
+ "uncoordinated"
211
+ ]
212
+ },
213
+ {
214
+ "skill_idx": 8,
215
+ "skill_id": [
216
+ 4
217
+ ],
218
+ "skill_description": [
219
+ "place in"
220
+ ],
221
+ "object_id": [
222
+ [
223
+ "baseball_cap_189",
224
+ "washer_ynwamu_0"
225
+ ]
226
+ ],
227
+ "manipulating_object_id": [
228
+ "baseball_cap_189"
229
+ ],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 5685,
233
+ 6702
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 12
244
+ ],
245
+ "skill_description": [
246
+ "close door"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 6702,
257
+ 7533
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ },
264
+ {
265
+ "skill_idx": 10,
266
+ "skill_id": [
267
+ 69
268
+ ],
269
+ "skill_description": [
270
+ "turn on switch"
271
+ ],
272
+ "object_id": [
273
+ [
274
+ "washer_ynwamu_0"
275
+ ]
276
+ ],
277
+ "manipulating_object_id": [],
278
+ "spatial_prefix": [],
279
+ "frame_duration": [
280
+ 7533,
281
+ 8505
282
+ ],
283
+ "mp_ef": [],
284
+ "skill_type": [
285
+ "uncoordinated"
286
+ ]
287
+ }
288
+ ],
289
+ "primitive_annotation": [
290
+ {
291
+ "primitive_idx": 0,
292
+ "primitive_id": [
293
+ 10
294
+ ],
295
+ "primitive_description": [
296
+ "open door"
297
+ ],
298
+ "object_id": [
299
+ [
300
+ "washer_ynwamu_0"
301
+ ]
302
+ ],
303
+ "manipulating_object_id": [],
304
+ "spatial_prefix": [],
305
+ "frame_duration": [
306
+ 60,
307
+ 2262
308
+ ],
309
+ "skill_idxes": [
310
+ 0,
311
+ 1
312
+ ]
313
+ },
314
+ {
315
+ "primitive_idx": 1,
316
+ "primitive_id": [
317
+ 2,
318
+ 4
319
+ ],
320
+ "primitive_description": [
321
+ "pick up from",
322
+ "place in"
323
+ ],
324
+ "object_id": [
325
+ [
326
+ [
327
+ "baseball_cap_189",
328
+ "baseball_cap_188"
329
+ ],
330
+ "countertop_ikwqer_0"
331
+ ],
332
+ [
333
+ [
334
+ "baseball_cap_188",
335
+ "baseball_cap_189"
336
+ ],
337
+ "washer_ynwamu_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ [
342
+ "baseball_cap_189",
343
+ "baseball_cap_188"
344
+ ],
345
+ [
346
+ "baseball_cap_188",
347
+ "baseball_cap_189"
348
+ ]
349
+ ],
350
+ "spatial_prefix": [],
351
+ "frame_duration": [
352
+ 2262,
353
+ 6702
354
+ ],
355
+ "skill_idxes": [
356
+ 2,
357
+ 3,
358
+ 4,
359
+ 5,
360
+ 6,
361
+ 7,
362
+ 8
363
+ ]
364
+ },
365
+ {
366
+ "primitive_idx": 2,
367
+ "primitive_id": [
368
+ 12
369
+ ],
370
+ "primitive_description": [
371
+ "close door"
372
+ ],
373
+ "object_id": [
374
+ [
375
+ "washer_ynwamu_0"
376
+ ]
377
+ ],
378
+ "manipulating_object_id": [],
379
+ "spatial_prefix": [],
380
+ "frame_duration": [
381
+ 6702,
382
+ 7533
383
+ ],
384
+ "skill_idxes": [
385
+ 9
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 3,
390
+ "primitive_id": [
391
+ 69
392
+ ],
393
+ "primitive_description": [
394
+ "turn on switch"
395
+ ],
396
+ "object_id": [
397
+ [
398
+ "washer_ynwamu_0"
399
+ ]
400
+ ],
401
+ "manipulating_object_id": [],
402
+ "spatial_prefix": [],
403
+ "frame_duration": [
404
+ 7533,
405
+ 8505
406
+ ],
407
+ "skill_idxes": [
408
+ 10
409
+ ]
410
+ }
411
+ ]
412
+ }
annotations/episode_00000018.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8793,
6
+ "valid_duration": [
7
+ 0,
8
+ 8793
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 418
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 418,
53
+ 1590
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1590,
77
+ 2497
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2497,
104
+ 3675
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 3675,
128
+ 4394
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 93
139
+ ],
140
+ "skill_description": [
141
+ "turn to"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_189",
146
+ "robot"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_189"
151
+ ],
152
+ "spatial_prefix": [
153
+ [
154
+ "",
155
+ "face"
156
+ ]
157
+ ],
158
+ "frame_duration": [
159
+ 4394,
160
+ 4993
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "uncoordinated"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 2
171
+ ],
172
+ "skill_description": [
173
+ "pick up from"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_189",
178
+ "countertop_ikwqer_0"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_189"
183
+ ],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 4993,
187
+ 5443
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "uncoordinated"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 1
198
+ ],
199
+ "skill_description": [
200
+ "move to"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "washer_ynwamu_0"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [],
208
+ "spatial_prefix": [],
209
+ "frame_duration": [
210
+ 5443,
211
+ 6048
212
+ ],
213
+ "mp_ef": [],
214
+ "skill_type": [
215
+ "navigation"
216
+ ]
217
+ },
218
+ {
219
+ "skill_idx": 8,
220
+ "skill_id": [
221
+ 4
222
+ ],
223
+ "skill_description": [
224
+ "place in"
225
+ ],
226
+ "object_id": [
227
+ [
228
+ "baseball_cap_189",
229
+ "washer_ynwamu_0"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [
233
+ "baseball_cap_189"
234
+ ],
235
+ "spatial_prefix": [],
236
+ "frame_duration": [
237
+ 6048,
238
+ 6862
239
+ ],
240
+ "mp_ef": [],
241
+ "skill_type": [
242
+ "uncoordinated"
243
+ ]
244
+ },
245
+ {
246
+ "skill_idx": 9,
247
+ "skill_id": [
248
+ 4
249
+ ],
250
+ "skill_description": [
251
+ "place in"
252
+ ],
253
+ "object_id": [
254
+ [
255
+ "baseball_cap_188",
256
+ "washer_ynwamu_0"
257
+ ]
258
+ ],
259
+ "manipulating_object_id": [
260
+ "baseball_cap_188"
261
+ ],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 6862,
265
+ 7700
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 12
276
+ ],
277
+ "skill_description": [
278
+ "close door"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 7700,
289
+ 8421
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ },
296
+ {
297
+ "skill_idx": 11,
298
+ "skill_id": [
299
+ 69
300
+ ],
301
+ "skill_description": [
302
+ "turn on switch"
303
+ ],
304
+ "object_id": [
305
+ [
306
+ "washer_ynwamu_0"
307
+ ]
308
+ ],
309
+ "manipulating_object_id": [],
310
+ "spatial_prefix": [],
311
+ "frame_duration": [
312
+ 8421,
313
+ 8793
314
+ ],
315
+ "mp_ef": [],
316
+ "skill_type": [
317
+ "uncoordinated"
318
+ ]
319
+ }
320
+ ],
321
+ "primitive_annotation": [
322
+ {
323
+ "primitive_idx": 0,
324
+ "primitive_id": [
325
+ 10
326
+ ],
327
+ "primitive_description": [
328
+ "open door"
329
+ ],
330
+ "object_id": [
331
+ [
332
+ "washer_ynwamu_0"
333
+ ]
334
+ ],
335
+ "manipulating_object_id": [],
336
+ "spatial_prefix": [],
337
+ "frame_duration": [
338
+ 0,
339
+ 1590
340
+ ],
341
+ "skill_idxes": [
342
+ 0,
343
+ 1
344
+ ]
345
+ },
346
+ {
347
+ "primitive_idx": 1,
348
+ "primitive_id": [
349
+ 2,
350
+ 4
351
+ ],
352
+ "primitive_description": [
353
+ "pick up from",
354
+ "place in"
355
+ ],
356
+ "object_id": [
357
+ [
358
+ [
359
+ "baseball_cap_188",
360
+ "baseball_cap_189"
361
+ ],
362
+ "countertop_ikwqer_0"
363
+ ],
364
+ [
365
+ [
366
+ "baseball_cap_189",
367
+ "baseball_cap_188"
368
+ ],
369
+ "washer_ynwamu_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "baseball_cap_188",
375
+ "baseball_cap_189"
376
+ ],
377
+ [
378
+ "baseball_cap_189",
379
+ "baseball_cap_188"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [],
383
+ "frame_duration": [
384
+ 1590,
385
+ 7700
386
+ ],
387
+ "skill_idxes": [
388
+ 2,
389
+ 3,
390
+ 4,
391
+ 5,
392
+ 6,
393
+ 7,
394
+ 8,
395
+ 9
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 2,
400
+ "primitive_id": [
401
+ 12
402
+ ],
403
+ "primitive_description": [
404
+ "close door"
405
+ ],
406
+ "object_id": [
407
+ [
408
+ "washer_ynwamu_0"
409
+ ]
410
+ ],
411
+ "manipulating_object_id": [],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 7700,
415
+ 8421
416
+ ],
417
+ "skill_idxes": [
418
+ 10
419
+ ]
420
+ },
421
+ {
422
+ "primitive_idx": 3,
423
+ "primitive_id": [
424
+ 69
425
+ ],
426
+ "primitive_description": [
427
+ "turn on switch"
428
+ ],
429
+ "object_id": [
430
+ [
431
+ "washer_ynwamu_0"
432
+ ]
433
+ ],
434
+ "manipulating_object_id": [],
435
+ "spatial_prefix": [],
436
+ "frame_duration": [
437
+ 8421,
438
+ 8793
439
+ ],
440
+ "skill_idxes": [
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000019.json ADDED
@@ -0,0 +1,478 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9428,
6
+ "valid_duration": [
7
+ 0,
8
+ 9428
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 448
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 448,
53
+ 2100
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2100,
77
+ 2819
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2819,
109
+ 3725
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3725,
136
+ 4383
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 4383,
160
+ 4628
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 93
171
+ ],
172
+ "skill_description": [
173
+ "turn to"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_188",
178
+ "robot"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_188"
183
+ ],
184
+ "spatial_prefix": [
185
+ [
186
+ "",
187
+ "face"
188
+ ]
189
+ ],
190
+ "frame_duration": [
191
+ 4628,
192
+ 5006
193
+ ],
194
+ "mp_ef": [],
195
+ "skill_type": [
196
+ "uncoordinated"
197
+ ]
198
+ },
199
+ {
200
+ "skill_idx": 7,
201
+ "skill_id": [
202
+ 2
203
+ ],
204
+ "skill_description": [
205
+ "pick up from"
206
+ ],
207
+ "object_id": [
208
+ [
209
+ "baseball_cap_188",
210
+ "countertop_ikwqer_0"
211
+ ]
212
+ ],
213
+ "manipulating_object_id": [
214
+ "baseball_cap_188"
215
+ ],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 5007,
219
+ 5643
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "uncoordinated"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 1
230
+ ],
231
+ "skill_description": [
232
+ "move to"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "washer_ynwamu_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 5644,
243
+ 6101
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "navigation"
248
+ ]
249
+ },
250
+ {
251
+ "skill_idx": 9,
252
+ "skill_id": [
253
+ 4
254
+ ],
255
+ "skill_description": [
256
+ "place in"
257
+ ],
258
+ "object_id": [
259
+ [
260
+ "baseball_cap_188",
261
+ "washer_ynwamu_0"
262
+ ]
263
+ ],
264
+ "manipulating_object_id": [
265
+ "baseball_cap_188"
266
+ ],
267
+ "spatial_prefix": [],
268
+ "frame_duration": [
269
+ 6101,
270
+ 7196
271
+ ],
272
+ "mp_ef": [],
273
+ "skill_type": [
274
+ "uncoordinated"
275
+ ]
276
+ },
277
+ {
278
+ "skill_idx": 10,
279
+ "skill_id": [
280
+ 4
281
+ ],
282
+ "skill_description": [
283
+ "place in"
284
+ ],
285
+ "object_id": [
286
+ [
287
+ "baseball_cap_189",
288
+ "washer_ynwamu_0"
289
+ ]
290
+ ],
291
+ "manipulating_object_id": [
292
+ "baseball_cap_189"
293
+ ],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 7196,
297
+ 8297
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 12
308
+ ],
309
+ "skill_description": [
310
+ "close door"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 8297,
321
+ 9060
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ },
328
+ {
329
+ "skill_idx": 12,
330
+ "skill_id": [
331
+ 69
332
+ ],
333
+ "skill_description": [
334
+ "turn on switch"
335
+ ],
336
+ "object_id": [
337
+ [
338
+ "washer_ynwamu_0"
339
+ ]
340
+ ],
341
+ "manipulating_object_id": [],
342
+ "spatial_prefix": [],
343
+ "frame_duration": [
344
+ 9060,
345
+ 9428
346
+ ],
347
+ "mp_ef": [],
348
+ "skill_type": [
349
+ "uncoordinated"
350
+ ]
351
+ }
352
+ ],
353
+ "primitive_annotation": [
354
+ {
355
+ "primitive_idx": 0,
356
+ "primitive_id": [
357
+ 10
358
+ ],
359
+ "primitive_description": [
360
+ "open door"
361
+ ],
362
+ "object_id": [
363
+ [
364
+ "washer_ynwamu_0"
365
+ ]
366
+ ],
367
+ "manipulating_object_id": [],
368
+ "spatial_prefix": [],
369
+ "frame_duration": [
370
+ 0,
371
+ 2100
372
+ ],
373
+ "skill_idxes": [
374
+ 0,
375
+ 1
376
+ ]
377
+ },
378
+ {
379
+ "primitive_idx": 1,
380
+ "primitive_id": [
381
+ 2,
382
+ 4
383
+ ],
384
+ "primitive_description": [
385
+ "pick up from",
386
+ "place in"
387
+ ],
388
+ "object_id": [
389
+ [
390
+ [
391
+ "baseball_cap_189",
392
+ "baseball_cap_188"
393
+ ],
394
+ "countertop_ikwqer_0"
395
+ ],
396
+ [
397
+ [
398
+ "baseball_cap_188",
399
+ "baseball_cap_189"
400
+ ],
401
+ "washer_ynwamu_0"
402
+ ]
403
+ ],
404
+ "manipulating_object_id": [
405
+ [
406
+ "baseball_cap_189",
407
+ "baseball_cap_188"
408
+ ],
409
+ [
410
+ "baseball_cap_188",
411
+ "baseball_cap_189"
412
+ ]
413
+ ],
414
+ "spatial_prefix": [],
415
+ "frame_duration": [
416
+ 2100,
417
+ 8297
418
+ ],
419
+ "skill_idxes": [
420
+ 2,
421
+ 3,
422
+ 4,
423
+ 5,
424
+ 6,
425
+ 7,
426
+ 8,
427
+ 9,
428
+ 10
429
+ ]
430
+ },
431
+ {
432
+ "primitive_idx": 2,
433
+ "primitive_id": [
434
+ 12
435
+ ],
436
+ "primitive_description": [
437
+ "close door"
438
+ ],
439
+ "object_id": [
440
+ [
441
+ "washer_ynwamu_0"
442
+ ]
443
+ ],
444
+ "manipulating_object_id": [],
445
+ "spatial_prefix": [],
446
+ "frame_duration": [
447
+ 8297,
448
+ 9060
449
+ ],
450
+ "skill_idxes": [
451
+ 11
452
+ ]
453
+ },
454
+ {
455
+ "primitive_idx": 3,
456
+ "primitive_id": [
457
+ 69
458
+ ],
459
+ "primitive_description": [
460
+ "turn on switch"
461
+ ],
462
+ "object_id": [
463
+ [
464
+ "washer_ynwamu_0"
465
+ ]
466
+ ],
467
+ "manipulating_object_id": [],
468
+ "spatial_prefix": [],
469
+ "frame_duration": [
470
+ 9060,
471
+ 9428
472
+ ],
473
+ "skill_idxes": [
474
+ 12
475
+ ]
476
+ }
477
+ ]
478
+ }
annotations/episode_00000021.json ADDED
@@ -0,0 +1,453 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8411,
6
+ "valid_duration": [
7
+ 0,
8
+ 8411
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 201
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 202,
53
+ 1553
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1553,
77
+ 2299
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2314,
109
+ 3028
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3028,
136
+ 3958
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 93
147
+ ],
148
+ "skill_description": [
149
+ "turn to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188",
154
+ "robot"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "baseball_cap_188"
159
+ ],
160
+ "spatial_prefix": [
161
+ [
162
+ "",
163
+ "face"
164
+ ]
165
+ ],
166
+ "frame_duration": [
167
+ 3959,
168
+ 4295
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 2
179
+ ],
180
+ "skill_description": [
181
+ "pick up from"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "baseball_cap_188",
186
+ "countertop_ikwqer_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "baseball_cap_188"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 4295,
195
+ 4770
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "washer_ynwamu_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 4771,
219
+ 5284
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 4
230
+ ],
231
+ "skill_description": [
232
+ "place in"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "baseball_cap_188",
237
+ "washer_ynwamu_0"
238
+ ]
239
+ ],
240
+ "manipulating_object_id": [
241
+ "baseball_cap_188"
242
+ ],
243
+ "spatial_prefix": [],
244
+ "frame_duration": [
245
+ 5285,
246
+ 6062
247
+ ],
248
+ "mp_ef": [],
249
+ "skill_type": [
250
+ "uncoordinated"
251
+ ]
252
+ },
253
+ {
254
+ "skill_idx": 9,
255
+ "skill_id": [
256
+ 4
257
+ ],
258
+ "skill_description": [
259
+ "place in"
260
+ ],
261
+ "object_id": [
262
+ [
263
+ "baseball_cap_189",
264
+ "washer_ynwamu_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [
268
+ "baseball_cap_189"
269
+ ],
270
+ "spatial_prefix": [],
271
+ "frame_duration": [
272
+ 6062,
273
+ 7179
274
+ ],
275
+ "mp_ef": [],
276
+ "skill_type": [
277
+ "uncoordinated"
278
+ ]
279
+ },
280
+ {
281
+ "skill_idx": 10,
282
+ "skill_id": [
283
+ 12
284
+ ],
285
+ "skill_description": [
286
+ "close door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "washer_ynwamu_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 7180,
297
+ 8070
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 69
308
+ ],
309
+ "skill_description": [
310
+ "turn on switch"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 8070,
321
+ 8411
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ }
328
+ ],
329
+ "primitive_annotation": [
330
+ {
331
+ "primitive_idx": 0,
332
+ "primitive_id": [
333
+ 10
334
+ ],
335
+ "primitive_description": [
336
+ "open door"
337
+ ],
338
+ "object_id": [
339
+ [
340
+ "washer_ynwamu_0"
341
+ ]
342
+ ],
343
+ "manipulating_object_id": [],
344
+ "spatial_prefix": [],
345
+ "frame_duration": [
346
+ 0,
347
+ 1553
348
+ ],
349
+ "skill_idxes": [
350
+ 0,
351
+ 1
352
+ ]
353
+ },
354
+ {
355
+ "primitive_idx": 1,
356
+ "primitive_id": [
357
+ 2,
358
+ 4
359
+ ],
360
+ "primitive_description": [
361
+ "pick up from",
362
+ "place in"
363
+ ],
364
+ "object_id": [
365
+ [
366
+ [
367
+ "baseball_cap_189",
368
+ "baseball_cap_188"
369
+ ],
370
+ "countertop_ikwqer_0"
371
+ ],
372
+ [
373
+ [
374
+ "baseball_cap_188",
375
+ "baseball_cap_189"
376
+ ],
377
+ "washer_ynwamu_0"
378
+ ]
379
+ ],
380
+ "manipulating_object_id": [
381
+ [
382
+ "baseball_cap_189",
383
+ "baseball_cap_188"
384
+ ],
385
+ [
386
+ "baseball_cap_188",
387
+ "baseball_cap_189"
388
+ ]
389
+ ],
390
+ "spatial_prefix": [],
391
+ "frame_duration": [
392
+ 1553,
393
+ 7179
394
+ ],
395
+ "skill_idxes": [
396
+ 2,
397
+ 3,
398
+ 4,
399
+ 5,
400
+ 6,
401
+ 7,
402
+ 8,
403
+ 9
404
+ ]
405
+ },
406
+ {
407
+ "primitive_idx": 2,
408
+ "primitive_id": [
409
+ 12
410
+ ],
411
+ "primitive_description": [
412
+ "close door"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "washer_ynwamu_0"
417
+ ]
418
+ ],
419
+ "manipulating_object_id": [],
420
+ "spatial_prefix": [],
421
+ "frame_duration": [
422
+ 7180,
423
+ 8070
424
+ ],
425
+ "skill_idxes": [
426
+ 10
427
+ ]
428
+ },
429
+ {
430
+ "primitive_idx": 3,
431
+ "primitive_id": [
432
+ 69
433
+ ],
434
+ "primitive_description": [
435
+ "turn on switch"
436
+ ],
437
+ "object_id": [
438
+ [
439
+ "washer_ynwamu_0"
440
+ ]
441
+ ],
442
+ "manipulating_object_id": [],
443
+ "spatial_prefix": [],
444
+ "frame_duration": [
445
+ 8070,
446
+ 8411
447
+ ],
448
+ "skill_idxes": [
449
+ 11
450
+ ]
451
+ }
452
+ ]
453
+ }
annotations/episode_00000023.json ADDED
@@ -0,0 +1,412 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9497,
6
+ "valid_duration": [
7
+ 103,
8
+ 9600
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 103,
29
+ 499
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 500,
53
+ 2541
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2541,
77
+ 3663
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 3663,
104
+ 4408
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 4408,
128
+ 5365
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 2
139
+ ],
140
+ "skill_description": [
141
+ "pick up from"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_189",
146
+ "countertop_ikwqer_0"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_189"
151
+ ],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 5365,
155
+ 5725
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "uncoordinated"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 1
166
+ ],
167
+ "skill_description": [
168
+ "move to"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "washer_ynwamu_0"
173
+ ]
174
+ ],
175
+ "manipulating_object_id": [],
176
+ "spatial_prefix": [],
177
+ "frame_duration": [
178
+ 5726,
179
+ 6291
180
+ ],
181
+ "mp_ef": [],
182
+ "skill_type": [
183
+ "navigation"
184
+ ]
185
+ },
186
+ {
187
+ "skill_idx": 7,
188
+ "skill_id": [
189
+ 4
190
+ ],
191
+ "skill_description": [
192
+ "place in"
193
+ ],
194
+ "object_id": [
195
+ [
196
+ "baseball_cap_189",
197
+ "washer_ynwamu_0"
198
+ ]
199
+ ],
200
+ "manipulating_object_id": [
201
+ "baseball_cap_189"
202
+ ],
203
+ "spatial_prefix": [],
204
+ "frame_duration": [
205
+ 6291,
206
+ 7224
207
+ ],
208
+ "mp_ef": [],
209
+ "skill_type": [
210
+ "uncoordinated"
211
+ ]
212
+ },
213
+ {
214
+ "skill_idx": 8,
215
+ "skill_id": [
216
+ 4
217
+ ],
218
+ "skill_description": [
219
+ "place in"
220
+ ],
221
+ "object_id": [
222
+ [
223
+ "baseball_cap_188",
224
+ "washer_ynwamu_0"
225
+ ]
226
+ ],
227
+ "manipulating_object_id": [
228
+ "baseball_cap_188"
229
+ ],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 7224,
233
+ 8121
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 12
244
+ ],
245
+ "skill_description": [
246
+ "close door"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 8121,
257
+ 9027
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ },
264
+ {
265
+ "skill_idx": 10,
266
+ "skill_id": [
267
+ 69
268
+ ],
269
+ "skill_description": [
270
+ "turn on switch"
271
+ ],
272
+ "object_id": [
273
+ [
274
+ "washer_ynwamu_0"
275
+ ]
276
+ ],
277
+ "manipulating_object_id": [],
278
+ "spatial_prefix": [],
279
+ "frame_duration": [
280
+ 9102,
281
+ 9600
282
+ ],
283
+ "mp_ef": [],
284
+ "skill_type": [
285
+ "uncoordinated"
286
+ ]
287
+ }
288
+ ],
289
+ "primitive_annotation": [
290
+ {
291
+ "primitive_idx": 0,
292
+ "primitive_id": [
293
+ 10
294
+ ],
295
+ "primitive_description": [
296
+ "open door"
297
+ ],
298
+ "object_id": [
299
+ [
300
+ "washer_ynwamu_0"
301
+ ]
302
+ ],
303
+ "manipulating_object_id": [],
304
+ "spatial_prefix": [],
305
+ "frame_duration": [
306
+ 103,
307
+ 2541
308
+ ],
309
+ "skill_idxes": [
310
+ 0,
311
+ 1
312
+ ]
313
+ },
314
+ {
315
+ "primitive_idx": 1,
316
+ "primitive_id": [
317
+ 2,
318
+ 4
319
+ ],
320
+ "primitive_description": [
321
+ "pick up from",
322
+ "place in"
323
+ ],
324
+ "object_id": [
325
+ [
326
+ [
327
+ "baseball_cap_188",
328
+ "baseball_cap_189"
329
+ ],
330
+ "countertop_ikwqer_0"
331
+ ],
332
+ [
333
+ [
334
+ "baseball_cap_189",
335
+ "baseball_cap_188"
336
+ ],
337
+ "washer_ynwamu_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ [
342
+ "baseball_cap_188",
343
+ "baseball_cap_189"
344
+ ],
345
+ [
346
+ "baseball_cap_189",
347
+ "baseball_cap_188"
348
+ ]
349
+ ],
350
+ "spatial_prefix": [],
351
+ "frame_duration": [
352
+ 2541,
353
+ 8121
354
+ ],
355
+ "skill_idxes": [
356
+ 2,
357
+ 3,
358
+ 4,
359
+ 5,
360
+ 6,
361
+ 7,
362
+ 8
363
+ ]
364
+ },
365
+ {
366
+ "primitive_idx": 2,
367
+ "primitive_id": [
368
+ 12
369
+ ],
370
+ "primitive_description": [
371
+ "close door"
372
+ ],
373
+ "object_id": [
374
+ [
375
+ "washer_ynwamu_0"
376
+ ]
377
+ ],
378
+ "manipulating_object_id": [],
379
+ "spatial_prefix": [],
380
+ "frame_duration": [
381
+ 8121,
382
+ 9027
383
+ ],
384
+ "skill_idxes": [
385
+ 9
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 3,
390
+ "primitive_id": [
391
+ 69
392
+ ],
393
+ "primitive_description": [
394
+ "turn on switch"
395
+ ],
396
+ "object_id": [
397
+ [
398
+ "washer_ynwamu_0"
399
+ ]
400
+ ],
401
+ "manipulating_object_id": [],
402
+ "spatial_prefix": [],
403
+ "frame_duration": [
404
+ 9102,
405
+ 9600
406
+ ],
407
+ "skill_idxes": [
408
+ 10
409
+ ]
410
+ }
411
+ ]
412
+ }
annotations/episode_00000025.json ADDED
@@ -0,0 +1,478 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8780,
6
+ "valid_duration": [
7
+ 0,
8
+ 8780
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 190
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 190,
53
+ 1783
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1783,
77
+ 2190
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2190,
109
+ 3087
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3087,
136
+ 3679
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_189"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 3679,
160
+ 3703
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 93
171
+ ],
172
+ "skill_description": [
173
+ "turn to"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_189",
178
+ "robot"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_189"
183
+ ],
184
+ "spatial_prefix": [
185
+ [
186
+ "",
187
+ "face"
188
+ ]
189
+ ],
190
+ "frame_duration": [
191
+ 3703,
192
+ 4542
193
+ ],
194
+ "mp_ef": [],
195
+ "skill_type": [
196
+ "uncoordinated"
197
+ ]
198
+ },
199
+ {
200
+ "skill_idx": 7,
201
+ "skill_id": [
202
+ 2
203
+ ],
204
+ "skill_description": [
205
+ "pick up from"
206
+ ],
207
+ "object_id": [
208
+ [
209
+ "baseball_cap_189",
210
+ "countertop_ikwqer_0"
211
+ ]
212
+ ],
213
+ "manipulating_object_id": [
214
+ "baseball_cap_189"
215
+ ],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 4542,
219
+ 4900
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "uncoordinated"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 1
230
+ ],
231
+ "skill_description": [
232
+ "move to"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "washer_ynwamu_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 4900,
243
+ 5385
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "navigation"
248
+ ]
249
+ },
250
+ {
251
+ "skill_idx": 9,
252
+ "skill_id": [
253
+ 4
254
+ ],
255
+ "skill_description": [
256
+ "place in"
257
+ ],
258
+ "object_id": [
259
+ [
260
+ "baseball_cap_189",
261
+ "washer_ynwamu_0"
262
+ ]
263
+ ],
264
+ "manipulating_object_id": [
265
+ "baseball_cap_189"
266
+ ],
267
+ "spatial_prefix": [],
268
+ "frame_duration": [
269
+ 5385,
270
+ 6377
271
+ ],
272
+ "mp_ef": [],
273
+ "skill_type": [
274
+ "uncoordinated"
275
+ ]
276
+ },
277
+ {
278
+ "skill_idx": 10,
279
+ "skill_id": [
280
+ 4
281
+ ],
282
+ "skill_description": [
283
+ "place in"
284
+ ],
285
+ "object_id": [
286
+ [
287
+ "baseball_cap_188",
288
+ "washer_ynwamu_0"
289
+ ]
290
+ ],
291
+ "manipulating_object_id": [
292
+ "baseball_cap_188"
293
+ ],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 6377,
297
+ 7298
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 12
308
+ ],
309
+ "skill_description": [
310
+ "close door"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 7298,
321
+ 8256
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ },
328
+ {
329
+ "skill_idx": 12,
330
+ "skill_id": [
331
+ 69
332
+ ],
333
+ "skill_description": [
334
+ "turn on switch"
335
+ ],
336
+ "object_id": [
337
+ [
338
+ "washer_ynwamu_0"
339
+ ]
340
+ ],
341
+ "manipulating_object_id": [],
342
+ "spatial_prefix": [],
343
+ "frame_duration": [
344
+ 8256,
345
+ 8780
346
+ ],
347
+ "mp_ef": [],
348
+ "skill_type": [
349
+ "uncoordinated"
350
+ ]
351
+ }
352
+ ],
353
+ "primitive_annotation": [
354
+ {
355
+ "primitive_idx": 0,
356
+ "primitive_id": [
357
+ 10
358
+ ],
359
+ "primitive_description": [
360
+ "open door"
361
+ ],
362
+ "object_id": [
363
+ [
364
+ "washer_ynwamu_0"
365
+ ]
366
+ ],
367
+ "manipulating_object_id": [],
368
+ "spatial_prefix": [],
369
+ "frame_duration": [
370
+ 0,
371
+ 1783
372
+ ],
373
+ "skill_idxes": [
374
+ 0,
375
+ 1
376
+ ]
377
+ },
378
+ {
379
+ "primitive_idx": 1,
380
+ "primitive_id": [
381
+ 2,
382
+ 4
383
+ ],
384
+ "primitive_description": [
385
+ "pick up from",
386
+ "place in"
387
+ ],
388
+ "object_id": [
389
+ [
390
+ [
391
+ "baseball_cap_188",
392
+ "baseball_cap_189"
393
+ ],
394
+ "countertop_ikwqer_0"
395
+ ],
396
+ [
397
+ [
398
+ "baseball_cap_189",
399
+ "baseball_cap_188"
400
+ ],
401
+ "washer_ynwamu_0"
402
+ ]
403
+ ],
404
+ "manipulating_object_id": [
405
+ [
406
+ "baseball_cap_188",
407
+ "baseball_cap_189"
408
+ ],
409
+ [
410
+ "baseball_cap_189",
411
+ "baseball_cap_188"
412
+ ]
413
+ ],
414
+ "spatial_prefix": [],
415
+ "frame_duration": [
416
+ 1783,
417
+ 7298
418
+ ],
419
+ "skill_idxes": [
420
+ 2,
421
+ 3,
422
+ 4,
423
+ 5,
424
+ 6,
425
+ 7,
426
+ 8,
427
+ 9,
428
+ 10
429
+ ]
430
+ },
431
+ {
432
+ "primitive_idx": 2,
433
+ "primitive_id": [
434
+ 12
435
+ ],
436
+ "primitive_description": [
437
+ "close door"
438
+ ],
439
+ "object_id": [
440
+ [
441
+ "washer_ynwamu_0"
442
+ ]
443
+ ],
444
+ "manipulating_object_id": [],
445
+ "spatial_prefix": [],
446
+ "frame_duration": [
447
+ 7298,
448
+ 8256
449
+ ],
450
+ "skill_idxes": [
451
+ 11
452
+ ]
453
+ },
454
+ {
455
+ "primitive_idx": 3,
456
+ "primitive_id": [
457
+ 69
458
+ ],
459
+ "primitive_description": [
460
+ "turn on switch"
461
+ ],
462
+ "object_id": [
463
+ [
464
+ "washer_ynwamu_0"
465
+ ]
466
+ ],
467
+ "manipulating_object_id": [],
468
+ "spatial_prefix": [],
469
+ "frame_duration": [
470
+ 8256,
471
+ 8780
472
+ ],
473
+ "skill_idxes": [
474
+ 12
475
+ ]
476
+ }
477
+ ]
478
+ }
annotations/episode_00000027.json ADDED
@@ -0,0 +1,387 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9477,
6
+ "valid_duration": [
7
+ 57,
8
+ 9534
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 57,
29
+ 583
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 583,
53
+ 2403
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2403,
77
+ 3299
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 3299,
104
+ 4158
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 2
115
+ ],
116
+ "skill_description": [
117
+ "pick up from"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189",
122
+ "countertop_ikwqer_0"
123
+ ]
124
+ ],
125
+ "manipulating_object_id": [
126
+ "baseball_cap_189"
127
+ ],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 4158,
131
+ 4671
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "uncoordinated"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 1
142
+ ],
143
+ "skill_description": [
144
+ "move to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "washer_ynwamu_0"
149
+ ]
150
+ ],
151
+ "manipulating_object_id": [],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 4671,
155
+ 5251
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "navigation"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 4
166
+ ],
167
+ "skill_description": [
168
+ "place in"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "baseball_cap_189",
173
+ "washer_ynwamu_0"
174
+ ]
175
+ ],
176
+ "manipulating_object_id": [
177
+ "baseball_cap_189"
178
+ ],
179
+ "spatial_prefix": [],
180
+ "frame_duration": [
181
+ 5252,
182
+ 6207
183
+ ],
184
+ "mp_ef": [],
185
+ "skill_type": [
186
+ "uncoordinated"
187
+ ]
188
+ },
189
+ {
190
+ "skill_idx": 7,
191
+ "skill_id": [
192
+ 4
193
+ ],
194
+ "skill_description": [
195
+ "place in"
196
+ ],
197
+ "object_id": [
198
+ [
199
+ "baseball_cap_188",
200
+ "washer_ynwamu_0"
201
+ ]
202
+ ],
203
+ "manipulating_object_id": [
204
+ "baseball_cap_188"
205
+ ],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [
208
+ 6207,
209
+ 7442
210
+ ],
211
+ "mp_ef": [],
212
+ "skill_type": [
213
+ "uncoordinated"
214
+ ]
215
+ },
216
+ {
217
+ "skill_idx": 8,
218
+ "skill_id": [
219
+ 12
220
+ ],
221
+ "skill_description": [
222
+ "close door"
223
+ ],
224
+ "object_id": [
225
+ [
226
+ "washer_ynwamu_0"
227
+ ]
228
+ ],
229
+ "manipulating_object_id": [],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 7442,
233
+ 8445
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 69
244
+ ],
245
+ "skill_description": [
246
+ "turn on switch"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 8445,
257
+ 9534
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ }
264
+ ],
265
+ "primitive_annotation": [
266
+ {
267
+ "primitive_idx": 0,
268
+ "primitive_id": [
269
+ 10
270
+ ],
271
+ "primitive_description": [
272
+ "open door"
273
+ ],
274
+ "object_id": [
275
+ [
276
+ "washer_ynwamu_0"
277
+ ]
278
+ ],
279
+ "manipulating_object_id": [],
280
+ "spatial_prefix": [],
281
+ "frame_duration": [
282
+ 57,
283
+ 2403
284
+ ],
285
+ "skill_idxes": [
286
+ 0,
287
+ 1
288
+ ]
289
+ },
290
+ {
291
+ "primitive_idx": 1,
292
+ "primitive_id": [
293
+ 2,
294
+ 4
295
+ ],
296
+ "primitive_description": [
297
+ "pick up from",
298
+ "place in"
299
+ ],
300
+ "object_id": [
301
+ [
302
+ [
303
+ "baseball_cap_188",
304
+ "baseball_cap_189"
305
+ ],
306
+ "countertop_ikwqer_0"
307
+ ],
308
+ [
309
+ [
310
+ "baseball_cap_189",
311
+ "baseball_cap_188"
312
+ ],
313
+ "washer_ynwamu_0"
314
+ ]
315
+ ],
316
+ "manipulating_object_id": [
317
+ [
318
+ "baseball_cap_188",
319
+ "baseball_cap_189"
320
+ ],
321
+ [
322
+ "baseball_cap_189",
323
+ "baseball_cap_188"
324
+ ]
325
+ ],
326
+ "spatial_prefix": [],
327
+ "frame_duration": [
328
+ 2403,
329
+ 7442
330
+ ],
331
+ "skill_idxes": [
332
+ 2,
333
+ 3,
334
+ 4,
335
+ 5,
336
+ 6,
337
+ 7
338
+ ]
339
+ },
340
+ {
341
+ "primitive_idx": 2,
342
+ "primitive_id": [
343
+ 12
344
+ ],
345
+ "primitive_description": [
346
+ "close door"
347
+ ],
348
+ "object_id": [
349
+ [
350
+ "washer_ynwamu_0"
351
+ ]
352
+ ],
353
+ "manipulating_object_id": [],
354
+ "spatial_prefix": [],
355
+ "frame_duration": [
356
+ 7442,
357
+ 8445
358
+ ],
359
+ "skill_idxes": [
360
+ 8
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 3,
365
+ "primitive_id": [
366
+ 69
367
+ ],
368
+ "primitive_description": [
369
+ "turn on switch"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "washer_ynwamu_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 8445,
380
+ 9534
381
+ ],
382
+ "skill_idxes": [
383
+ 9
384
+ ]
385
+ }
386
+ ]
387
+ }
annotations/episode_00000030.json ADDED
@@ -0,0 +1,412 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8163,
6
+ "valid_duration": [
7
+ 191,
8
+ 8354
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 191,
29
+ 615
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 615,
53
+ 2302
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2302,
77
+ 3135
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 3135,
104
+ 3586
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_188"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 3586,
128
+ 4012
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 2
139
+ ],
140
+ "skill_description": [
141
+ "pick up from"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_188",
146
+ "countertop_ikwqer_0"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_188"
151
+ ],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 4012,
155
+ 4589
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "uncoordinated"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 1
166
+ ],
167
+ "skill_description": [
168
+ "move to"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "washer_ynwamu_0"
173
+ ]
174
+ ],
175
+ "manipulating_object_id": [],
176
+ "spatial_prefix": [],
177
+ "frame_duration": [
178
+ 4649,
179
+ 5244
180
+ ],
181
+ "mp_ef": [],
182
+ "skill_type": [
183
+ "navigation"
184
+ ]
185
+ },
186
+ {
187
+ "skill_idx": 7,
188
+ "skill_id": [
189
+ 4
190
+ ],
191
+ "skill_description": [
192
+ "place in"
193
+ ],
194
+ "object_id": [
195
+ [
196
+ "baseball_cap_188",
197
+ "washer_ynwamu_0"
198
+ ]
199
+ ],
200
+ "manipulating_object_id": [
201
+ "baseball_cap_188"
202
+ ],
203
+ "spatial_prefix": [],
204
+ "frame_duration": [
205
+ 5244,
206
+ 6018
207
+ ],
208
+ "mp_ef": [],
209
+ "skill_type": [
210
+ "uncoordinated"
211
+ ]
212
+ },
213
+ {
214
+ "skill_idx": 8,
215
+ "skill_id": [
216
+ 4
217
+ ],
218
+ "skill_description": [
219
+ "place in"
220
+ ],
221
+ "object_id": [
222
+ [
223
+ "baseball_cap_189",
224
+ "washer_ynwamu_0"
225
+ ]
226
+ ],
227
+ "manipulating_object_id": [
228
+ "baseball_cap_189"
229
+ ],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 6018,
233
+ 7071
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 12
244
+ ],
245
+ "skill_description": [
246
+ "close door"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 7071,
257
+ 7726
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ },
264
+ {
265
+ "skill_idx": 10,
266
+ "skill_id": [
267
+ 69
268
+ ],
269
+ "skill_description": [
270
+ "turn on switch"
271
+ ],
272
+ "object_id": [
273
+ [
274
+ "washer_ynwamu_0"
275
+ ]
276
+ ],
277
+ "manipulating_object_id": [],
278
+ "spatial_prefix": [],
279
+ "frame_duration": [
280
+ 7771,
281
+ 8354
282
+ ],
283
+ "mp_ef": [],
284
+ "skill_type": [
285
+ "uncoordinated"
286
+ ]
287
+ }
288
+ ],
289
+ "primitive_annotation": [
290
+ {
291
+ "primitive_idx": 0,
292
+ "primitive_id": [
293
+ 10
294
+ ],
295
+ "primitive_description": [
296
+ "open door"
297
+ ],
298
+ "object_id": [
299
+ [
300
+ "washer_ynwamu_0"
301
+ ]
302
+ ],
303
+ "manipulating_object_id": [],
304
+ "spatial_prefix": [],
305
+ "frame_duration": [
306
+ 191,
307
+ 2302
308
+ ],
309
+ "skill_idxes": [
310
+ 0,
311
+ 1
312
+ ]
313
+ },
314
+ {
315
+ "primitive_idx": 1,
316
+ "primitive_id": [
317
+ 2,
318
+ 4
319
+ ],
320
+ "primitive_description": [
321
+ "pick up from",
322
+ "place in"
323
+ ],
324
+ "object_id": [
325
+ [
326
+ [
327
+ "baseball_cap_189",
328
+ "baseball_cap_188"
329
+ ],
330
+ "countertop_ikwqer_0"
331
+ ],
332
+ [
333
+ [
334
+ "baseball_cap_188",
335
+ "baseball_cap_189"
336
+ ],
337
+ "washer_ynwamu_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ [
342
+ "baseball_cap_189",
343
+ "baseball_cap_188"
344
+ ],
345
+ [
346
+ "baseball_cap_188",
347
+ "baseball_cap_189"
348
+ ]
349
+ ],
350
+ "spatial_prefix": [],
351
+ "frame_duration": [
352
+ 2302,
353
+ 7071
354
+ ],
355
+ "skill_idxes": [
356
+ 2,
357
+ 3,
358
+ 4,
359
+ 5,
360
+ 6,
361
+ 7,
362
+ 8
363
+ ]
364
+ },
365
+ {
366
+ "primitive_idx": 2,
367
+ "primitive_id": [
368
+ 12
369
+ ],
370
+ "primitive_description": [
371
+ "close door"
372
+ ],
373
+ "object_id": [
374
+ [
375
+ "washer_ynwamu_0"
376
+ ]
377
+ ],
378
+ "manipulating_object_id": [],
379
+ "spatial_prefix": [],
380
+ "frame_duration": [
381
+ 7071,
382
+ 7726
383
+ ],
384
+ "skill_idxes": [
385
+ 9
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 3,
390
+ "primitive_id": [
391
+ 69
392
+ ],
393
+ "primitive_description": [
394
+ "turn on switch"
395
+ ],
396
+ "object_id": [
397
+ [
398
+ "washer_ynwamu_0"
399
+ ]
400
+ ],
401
+ "manipulating_object_id": [],
402
+ "spatial_prefix": [],
403
+ "frame_duration": [
404
+ 7771,
405
+ 8354
406
+ ],
407
+ "skill_idxes": [
408
+ 10
409
+ ]
410
+ }
411
+ ]
412
+ }
annotations/episode_00000033.json ADDED
@@ -0,0 +1,420 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9540,
6
+ "valid_duration": [
7
+ 0,
8
+ 9540
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 215
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 215,
53
+ 1820
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1820,
77
+ 2882
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2882,
109
+ 3911
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3911,
136
+ 4557
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 2
147
+ ],
148
+ "skill_description": [
149
+ "pick up from"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_189",
154
+ "countertop_ikwqer_0"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "baseball_cap_189"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 4557,
163
+ 5057
164
+ ],
165
+ "mp_ef": [],
166
+ "skill_type": [
167
+ "uncoordinated"
168
+ ]
169
+ },
170
+ {
171
+ "skill_idx": 6,
172
+ "skill_id": [
173
+ 1
174
+ ],
175
+ "skill_description": [
176
+ "move to"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "washer_ynwamu_0"
181
+ ]
182
+ ],
183
+ "manipulating_object_id": [],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 5057,
187
+ 5726
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "navigation"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 4
198
+ ],
199
+ "skill_description": [
200
+ "place in"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "baseball_cap_189",
205
+ "washer_ynwamu_0"
206
+ ]
207
+ ],
208
+ "manipulating_object_id": [
209
+ "baseball_cap_189"
210
+ ],
211
+ "spatial_prefix": [],
212
+ "frame_duration": [
213
+ 5726,
214
+ 6606
215
+ ],
216
+ "mp_ef": [],
217
+ "skill_type": [
218
+ "uncoordinated"
219
+ ]
220
+ },
221
+ {
222
+ "skill_idx": 8,
223
+ "skill_id": [
224
+ 4
225
+ ],
226
+ "skill_description": [
227
+ "place in"
228
+ ],
229
+ "object_id": [
230
+ [
231
+ "baseball_cap_188",
232
+ "washer_ynwamu_0"
233
+ ]
234
+ ],
235
+ "manipulating_object_id": [
236
+ "baseball_cap_188"
237
+ ],
238
+ "spatial_prefix": [],
239
+ "frame_duration": [
240
+ 6606,
241
+ 7640
242
+ ],
243
+ "mp_ef": [],
244
+ "skill_type": [
245
+ "uncoordinated"
246
+ ]
247
+ },
248
+ {
249
+ "skill_idx": 9,
250
+ "skill_id": [
251
+ 12
252
+ ],
253
+ "skill_description": [
254
+ "close door"
255
+ ],
256
+ "object_id": [
257
+ [
258
+ "washer_ynwamu_0"
259
+ ]
260
+ ],
261
+ "manipulating_object_id": [],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 7640,
265
+ 8496
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 69
276
+ ],
277
+ "skill_description": [
278
+ "turn on switch"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 8496,
289
+ 9540
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ }
296
+ ],
297
+ "primitive_annotation": [
298
+ {
299
+ "primitive_idx": 0,
300
+ "primitive_id": [
301
+ 10
302
+ ],
303
+ "primitive_description": [
304
+ "open door"
305
+ ],
306
+ "object_id": [
307
+ [
308
+ "washer_ynwamu_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [],
312
+ "spatial_prefix": [],
313
+ "frame_duration": [
314
+ 0,
315
+ 1820
316
+ ],
317
+ "skill_idxes": [
318
+ 0,
319
+ 1
320
+ ]
321
+ },
322
+ {
323
+ "primitive_idx": 1,
324
+ "primitive_id": [
325
+ 2,
326
+ 4
327
+ ],
328
+ "primitive_description": [
329
+ "pick up from",
330
+ "place in"
331
+ ],
332
+ "object_id": [
333
+ [
334
+ [
335
+ "baseball_cap_188",
336
+ "baseball_cap_189"
337
+ ],
338
+ "countertop_ikwqer_0"
339
+ ],
340
+ [
341
+ [
342
+ "baseball_cap_189",
343
+ "baseball_cap_188"
344
+ ],
345
+ "washer_ynwamu_0"
346
+ ]
347
+ ],
348
+ "manipulating_object_id": [
349
+ [
350
+ "baseball_cap_188",
351
+ "baseball_cap_189"
352
+ ],
353
+ [
354
+ "baseball_cap_189",
355
+ "baseball_cap_188"
356
+ ]
357
+ ],
358
+ "spatial_prefix": [],
359
+ "frame_duration": [
360
+ 1820,
361
+ 7640
362
+ ],
363
+ "skill_idxes": [
364
+ 2,
365
+ 3,
366
+ 4,
367
+ 5,
368
+ 6,
369
+ 7,
370
+ 8
371
+ ]
372
+ },
373
+ {
374
+ "primitive_idx": 2,
375
+ "primitive_id": [
376
+ 12
377
+ ],
378
+ "primitive_description": [
379
+ "close door"
380
+ ],
381
+ "object_id": [
382
+ [
383
+ "washer_ynwamu_0"
384
+ ]
385
+ ],
386
+ "manipulating_object_id": [],
387
+ "spatial_prefix": [],
388
+ "frame_duration": [
389
+ 7640,
390
+ 8496
391
+ ],
392
+ "skill_idxes": [
393
+ 9
394
+ ]
395
+ },
396
+ {
397
+ "primitive_idx": 3,
398
+ "primitive_id": [
399
+ 69
400
+ ],
401
+ "primitive_description": [
402
+ "turn on switch"
403
+ ],
404
+ "object_id": [
405
+ [
406
+ "washer_ynwamu_0"
407
+ ]
408
+ ],
409
+ "manipulating_object_id": [],
410
+ "spatial_prefix": [],
411
+ "frame_duration": [
412
+ 8496,
413
+ 9540
414
+ ],
415
+ "skill_idxes": [
416
+ 10
417
+ ]
418
+ }
419
+ ]
420
+ }
annotations/episode_00000034.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7878,
6
+ "valid_duration": [
7
+ 0,
8
+ 7878
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 404
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 404,
53
+ 2008
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2008,
77
+ 2799
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2799,
104
+ 3355
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 3355,
128
+ 3459
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 93
139
+ ],
140
+ "skill_description": [
141
+ "turn to"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_189",
146
+ "robot"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_189"
151
+ ],
152
+ "spatial_prefix": [
153
+ [
154
+ "",
155
+ "face"
156
+ ]
157
+ ],
158
+ "frame_duration": [
159
+ 3459,
160
+ 3751
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "uncoordinated"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 2
171
+ ],
172
+ "skill_description": [
173
+ "pick up from"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_189",
178
+ "countertop_ikwqer_0"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_189"
183
+ ],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 3751,
187
+ 4229
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "uncoordinated"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 1
198
+ ],
199
+ "skill_description": [
200
+ "move to"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "washer_ynwamu_0"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [],
208
+ "spatial_prefix": [],
209
+ "frame_duration": [
210
+ 4229,
211
+ 4613
212
+ ],
213
+ "mp_ef": [],
214
+ "skill_type": [
215
+ "navigation"
216
+ ]
217
+ },
218
+ {
219
+ "skill_idx": 8,
220
+ "skill_id": [
221
+ 4
222
+ ],
223
+ "skill_description": [
224
+ "place in"
225
+ ],
226
+ "object_id": [
227
+ [
228
+ "baseball_cap_189",
229
+ "washer_ynwamu_0"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [
233
+ "baseball_cap_189"
234
+ ],
235
+ "spatial_prefix": [],
236
+ "frame_duration": [
237
+ 4613,
238
+ 5469
239
+ ],
240
+ "mp_ef": [],
241
+ "skill_type": [
242
+ "uncoordinated"
243
+ ]
244
+ },
245
+ {
246
+ "skill_idx": 9,
247
+ "skill_id": [
248
+ 4
249
+ ],
250
+ "skill_description": [
251
+ "place in"
252
+ ],
253
+ "object_id": [
254
+ [
255
+ "baseball_cap_188",
256
+ "washer_ynwamu_0"
257
+ ]
258
+ ],
259
+ "manipulating_object_id": [
260
+ "baseball_cap_188"
261
+ ],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 5469,
265
+ 6559
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 12
276
+ ],
277
+ "skill_description": [
278
+ "close door"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 6559,
289
+ 7386
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ },
296
+ {
297
+ "skill_idx": 11,
298
+ "skill_id": [
299
+ 69
300
+ ],
301
+ "skill_description": [
302
+ "turn on switch"
303
+ ],
304
+ "object_id": [
305
+ [
306
+ "washer_ynwamu_0"
307
+ ]
308
+ ],
309
+ "manipulating_object_id": [],
310
+ "spatial_prefix": [],
311
+ "frame_duration": [
312
+ 7386,
313
+ 7878
314
+ ],
315
+ "mp_ef": [],
316
+ "skill_type": [
317
+ "uncoordinated"
318
+ ]
319
+ }
320
+ ],
321
+ "primitive_annotation": [
322
+ {
323
+ "primitive_idx": 0,
324
+ "primitive_id": [
325
+ 10
326
+ ],
327
+ "primitive_description": [
328
+ "open door"
329
+ ],
330
+ "object_id": [
331
+ [
332
+ "washer_ynwamu_0"
333
+ ]
334
+ ],
335
+ "manipulating_object_id": [],
336
+ "spatial_prefix": [],
337
+ "frame_duration": [
338
+ 0,
339
+ 2008
340
+ ],
341
+ "skill_idxes": [
342
+ 0,
343
+ 1
344
+ ]
345
+ },
346
+ {
347
+ "primitive_idx": 1,
348
+ "primitive_id": [
349
+ 2,
350
+ 4
351
+ ],
352
+ "primitive_description": [
353
+ "pick up from",
354
+ "place in"
355
+ ],
356
+ "object_id": [
357
+ [
358
+ [
359
+ "baseball_cap_188",
360
+ "baseball_cap_189"
361
+ ],
362
+ "countertop_ikwqer_0"
363
+ ],
364
+ [
365
+ [
366
+ "baseball_cap_189",
367
+ "baseball_cap_188"
368
+ ],
369
+ "washer_ynwamu_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "baseball_cap_188",
375
+ "baseball_cap_189"
376
+ ],
377
+ [
378
+ "baseball_cap_189",
379
+ "baseball_cap_188"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [],
383
+ "frame_duration": [
384
+ 2008,
385
+ 6559
386
+ ],
387
+ "skill_idxes": [
388
+ 2,
389
+ 3,
390
+ 4,
391
+ 5,
392
+ 6,
393
+ 7,
394
+ 8,
395
+ 9
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 2,
400
+ "primitive_id": [
401
+ 12
402
+ ],
403
+ "primitive_description": [
404
+ "close door"
405
+ ],
406
+ "object_id": [
407
+ [
408
+ "washer_ynwamu_0"
409
+ ]
410
+ ],
411
+ "manipulating_object_id": [],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 6559,
415
+ 7386
416
+ ],
417
+ "skill_idxes": [
418
+ 10
419
+ ]
420
+ },
421
+ {
422
+ "primitive_idx": 3,
423
+ "primitive_id": [
424
+ 69
425
+ ],
426
+ "primitive_description": [
427
+ "turn on switch"
428
+ ],
429
+ "object_id": [
430
+ [
431
+ "washer_ynwamu_0"
432
+ ]
433
+ ],
434
+ "manipulating_object_id": [],
435
+ "spatial_prefix": [],
436
+ "frame_duration": [
437
+ 7386,
438
+ 7878
439
+ ],
440
+ "skill_idxes": [
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000035.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10212,
6
+ "valid_duration": [
7
+ 0,
8
+ 10212
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 444
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 444,
53
+ 2091
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2091,
77
+ 3172
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 3172,
109
+ 4339
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 4339,
136
+ 4821
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_189"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 4821,
160
+ 4932
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 2
171
+ ],
172
+ "skill_description": [
173
+ "pick up from"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_189",
178
+ "countertop_ikwqer_0"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_189"
183
+ ],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 4932,
187
+ 5384
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "uncoordinated"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 1
198
+ ],
199
+ "skill_description": [
200
+ "move to"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "washer_ynwamu_0"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [],
208
+ "spatial_prefix": [],
209
+ "frame_duration": [
210
+ 5384,
211
+ 6322
212
+ ],
213
+ "mp_ef": [],
214
+ "skill_type": [
215
+ "navigation"
216
+ ]
217
+ },
218
+ {
219
+ "skill_idx": 8,
220
+ "skill_id": [
221
+ 4
222
+ ],
223
+ "skill_description": [
224
+ "place in"
225
+ ],
226
+ "object_id": [
227
+ [
228
+ "baseball_cap_189",
229
+ "washer_ynwamu_0"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [
233
+ "baseball_cap_189"
234
+ ],
235
+ "spatial_prefix": [],
236
+ "frame_duration": [
237
+ 6322,
238
+ 7089
239
+ ],
240
+ "mp_ef": [],
241
+ "skill_type": [
242
+ "uncoordinated"
243
+ ]
244
+ },
245
+ {
246
+ "skill_idx": 9,
247
+ "skill_id": [
248
+ 4
249
+ ],
250
+ "skill_description": [
251
+ "place in"
252
+ ],
253
+ "object_id": [
254
+ [
255
+ "baseball_cap_188",
256
+ "washer_ynwamu_0"
257
+ ]
258
+ ],
259
+ "manipulating_object_id": [
260
+ "baseball_cap_188"
261
+ ],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 7089,
265
+ 8206
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 12
276
+ ],
277
+ "skill_description": [
278
+ "close door"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 8206,
289
+ 9067
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ },
296
+ {
297
+ "skill_idx": 11,
298
+ "skill_id": [
299
+ 69
300
+ ],
301
+ "skill_description": [
302
+ "turn on switch"
303
+ ],
304
+ "object_id": [
305
+ [
306
+ "washer_ynwamu_0"
307
+ ]
308
+ ],
309
+ "manipulating_object_id": [],
310
+ "spatial_prefix": [],
311
+ "frame_duration": [
312
+ 9067,
313
+ 10212
314
+ ],
315
+ "mp_ef": [],
316
+ "skill_type": [
317
+ "uncoordinated"
318
+ ]
319
+ }
320
+ ],
321
+ "primitive_annotation": [
322
+ {
323
+ "primitive_idx": 0,
324
+ "primitive_id": [
325
+ 10
326
+ ],
327
+ "primitive_description": [
328
+ "open door"
329
+ ],
330
+ "object_id": [
331
+ [
332
+ "washer_ynwamu_0"
333
+ ]
334
+ ],
335
+ "manipulating_object_id": [],
336
+ "spatial_prefix": [],
337
+ "frame_duration": [
338
+ 0,
339
+ 2091
340
+ ],
341
+ "skill_idxes": [
342
+ 0,
343
+ 1
344
+ ]
345
+ },
346
+ {
347
+ "primitive_idx": 1,
348
+ "primitive_id": [
349
+ 2,
350
+ 4
351
+ ],
352
+ "primitive_description": [
353
+ "pick up from",
354
+ "place in"
355
+ ],
356
+ "object_id": [
357
+ [
358
+ [
359
+ "baseball_cap_188",
360
+ "baseball_cap_189"
361
+ ],
362
+ "countertop_ikwqer_0"
363
+ ],
364
+ [
365
+ [
366
+ "baseball_cap_189",
367
+ "baseball_cap_188"
368
+ ],
369
+ "washer_ynwamu_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "baseball_cap_188",
375
+ "baseball_cap_189"
376
+ ],
377
+ [
378
+ "baseball_cap_189",
379
+ "baseball_cap_188"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [],
383
+ "frame_duration": [
384
+ 2091,
385
+ 8206
386
+ ],
387
+ "skill_idxes": [
388
+ 2,
389
+ 3,
390
+ 4,
391
+ 5,
392
+ 6,
393
+ 7,
394
+ 8,
395
+ 9
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 2,
400
+ "primitive_id": [
401
+ 12
402
+ ],
403
+ "primitive_description": [
404
+ "close door"
405
+ ],
406
+ "object_id": [
407
+ [
408
+ "washer_ynwamu_0"
409
+ ]
410
+ ],
411
+ "manipulating_object_id": [],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 8206,
415
+ 9067
416
+ ],
417
+ "skill_idxes": [
418
+ 10
419
+ ]
420
+ },
421
+ {
422
+ "primitive_idx": 3,
423
+ "primitive_id": [
424
+ 69
425
+ ],
426
+ "primitive_description": [
427
+ "turn on switch"
428
+ ],
429
+ "object_id": [
430
+ [
431
+ "washer_ynwamu_0"
432
+ ]
433
+ ],
434
+ "manipulating_object_id": [],
435
+ "spatial_prefix": [],
436
+ "frame_duration": [
437
+ 9067,
438
+ 10212
439
+ ],
440
+ "skill_idxes": [
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000036.json ADDED
@@ -0,0 +1,420 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9646,
6
+ "valid_duration": [
7
+ 118,
8
+ 9764
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 118,
29
+ 759
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 760,
53
+ 2466
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2466,
77
+ 3440
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 3440,
104
+ 4060
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 93
115
+ ],
116
+ "skill_description": [
117
+ "turn to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_188",
122
+ "robot"
123
+ ]
124
+ ],
125
+ "manipulating_object_id": [
126
+ "baseball_cap_188"
127
+ ],
128
+ "spatial_prefix": [
129
+ [
130
+ "",
131
+ "face"
132
+ ]
133
+ ],
134
+ "frame_duration": [
135
+ 4060,
136
+ 5410
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 2
147
+ ],
148
+ "skill_description": [
149
+ "pick up from"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188",
154
+ "countertop_ikwqer_0"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "baseball_cap_188"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 5410,
163
+ 5747
164
+ ],
165
+ "mp_ef": [],
166
+ "skill_type": [
167
+ "uncoordinated"
168
+ ]
169
+ },
170
+ {
171
+ "skill_idx": 6,
172
+ "skill_id": [
173
+ 1
174
+ ],
175
+ "skill_description": [
176
+ "move to"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "washer_ynwamu_0"
181
+ ]
182
+ ],
183
+ "manipulating_object_id": [],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 5747,
187
+ 6513
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "navigation"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 4
198
+ ],
199
+ "skill_description": [
200
+ "place in"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "baseball_cap_188",
205
+ "washer_ynwamu_0"
206
+ ]
207
+ ],
208
+ "manipulating_object_id": [
209
+ "baseball_cap_188"
210
+ ],
211
+ "spatial_prefix": [],
212
+ "frame_duration": [
213
+ 6514,
214
+ 7429
215
+ ],
216
+ "mp_ef": [],
217
+ "skill_type": [
218
+ "uncoordinated"
219
+ ]
220
+ },
221
+ {
222
+ "skill_idx": 8,
223
+ "skill_id": [
224
+ 4
225
+ ],
226
+ "skill_description": [
227
+ "place in"
228
+ ],
229
+ "object_id": [
230
+ [
231
+ "baseball_cap_189",
232
+ "washer_ynwamu_0"
233
+ ]
234
+ ],
235
+ "manipulating_object_id": [
236
+ "baseball_cap_189"
237
+ ],
238
+ "spatial_prefix": [],
239
+ "frame_duration": [
240
+ 7429,
241
+ 8385
242
+ ],
243
+ "mp_ef": [],
244
+ "skill_type": [
245
+ "uncoordinated"
246
+ ]
247
+ },
248
+ {
249
+ "skill_idx": 9,
250
+ "skill_id": [
251
+ 12
252
+ ],
253
+ "skill_description": [
254
+ "close door"
255
+ ],
256
+ "object_id": [
257
+ [
258
+ "washer_ynwamu_0"
259
+ ]
260
+ ],
261
+ "manipulating_object_id": [],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 8385,
265
+ 9299
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 69
276
+ ],
277
+ "skill_description": [
278
+ "turn on switch"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 9299,
289
+ 9764
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ }
296
+ ],
297
+ "primitive_annotation": [
298
+ {
299
+ "primitive_idx": 0,
300
+ "primitive_id": [
301
+ 10
302
+ ],
303
+ "primitive_description": [
304
+ "open door"
305
+ ],
306
+ "object_id": [
307
+ [
308
+ "washer_ynwamu_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [],
312
+ "spatial_prefix": [],
313
+ "frame_duration": [
314
+ 118,
315
+ 2466
316
+ ],
317
+ "skill_idxes": [
318
+ 0,
319
+ 1
320
+ ]
321
+ },
322
+ {
323
+ "primitive_idx": 1,
324
+ "primitive_id": [
325
+ 2,
326
+ 4
327
+ ],
328
+ "primitive_description": [
329
+ "pick up from",
330
+ "place in"
331
+ ],
332
+ "object_id": [
333
+ [
334
+ [
335
+ "baseball_cap_189",
336
+ "baseball_cap_188"
337
+ ],
338
+ "countertop_ikwqer_0"
339
+ ],
340
+ [
341
+ [
342
+ "baseball_cap_188",
343
+ "baseball_cap_189"
344
+ ],
345
+ "washer_ynwamu_0"
346
+ ]
347
+ ],
348
+ "manipulating_object_id": [
349
+ [
350
+ "baseball_cap_189",
351
+ "baseball_cap_188"
352
+ ],
353
+ [
354
+ "baseball_cap_188",
355
+ "baseball_cap_189"
356
+ ]
357
+ ],
358
+ "spatial_prefix": [],
359
+ "frame_duration": [
360
+ 2466,
361
+ 8385
362
+ ],
363
+ "skill_idxes": [
364
+ 2,
365
+ 3,
366
+ 4,
367
+ 5,
368
+ 6,
369
+ 7,
370
+ 8
371
+ ]
372
+ },
373
+ {
374
+ "primitive_idx": 2,
375
+ "primitive_id": [
376
+ 12
377
+ ],
378
+ "primitive_description": [
379
+ "close door"
380
+ ],
381
+ "object_id": [
382
+ [
383
+ "washer_ynwamu_0"
384
+ ]
385
+ ],
386
+ "manipulating_object_id": [],
387
+ "spatial_prefix": [],
388
+ "frame_duration": [
389
+ 8385,
390
+ 9299
391
+ ],
392
+ "skill_idxes": [
393
+ 9
394
+ ]
395
+ },
396
+ {
397
+ "primitive_idx": 3,
398
+ "primitive_id": [
399
+ 69
400
+ ],
401
+ "primitive_description": [
402
+ "turn on switch"
403
+ ],
404
+ "object_id": [
405
+ [
406
+ "washer_ynwamu_0"
407
+ ]
408
+ ],
409
+ "manipulating_object_id": [],
410
+ "spatial_prefix": [],
411
+ "frame_duration": [
412
+ 9299,
413
+ 9764
414
+ ],
415
+ "skill_idxes": [
416
+ 10
417
+ ]
418
+ }
419
+ ]
420
+ }
annotations/episode_00000039.json ADDED
@@ -0,0 +1,453 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8481,
6
+ "valid_duration": [
7
+ 0,
8
+ 8481
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 178
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 178,
53
+ 1706
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1707,
77
+ 2430
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2430,
109
+ 3141
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "coordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3141,
136
+ 3586
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 93
147
+ ],
148
+ "skill_description": [
149
+ "turn to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_189",
154
+ "robot"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "baseball_cap_189"
159
+ ],
160
+ "spatial_prefix": [
161
+ [
162
+ "",
163
+ "face"
164
+ ]
165
+ ],
166
+ "frame_duration": [
167
+ 3586,
168
+ 4260
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 2
179
+ ],
180
+ "skill_description": [
181
+ "pick up from"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "baseball_cap_189",
186
+ "countertop_ikwqer_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "baseball_cap_189"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 4260,
195
+ 4756
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "washer_ynwamu_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 4756,
219
+ 5335
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 4
230
+ ],
231
+ "skill_description": [
232
+ "place in"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "baseball_cap_189",
237
+ "washer_ynwamu_0"
238
+ ]
239
+ ],
240
+ "manipulating_object_id": [
241
+ "baseball_cap_189"
242
+ ],
243
+ "spatial_prefix": [],
244
+ "frame_duration": [
245
+ 5335,
246
+ 6227
247
+ ],
248
+ "mp_ef": [],
249
+ "skill_type": [
250
+ "uncoordinated"
251
+ ]
252
+ },
253
+ {
254
+ "skill_idx": 9,
255
+ "skill_id": [
256
+ 4
257
+ ],
258
+ "skill_description": [
259
+ "place in"
260
+ ],
261
+ "object_id": [
262
+ [
263
+ "baseball_cap_188",
264
+ "washer_ynwamu_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [
268
+ "baseball_cap_188"
269
+ ],
270
+ "spatial_prefix": [],
271
+ "frame_duration": [
272
+ 6227,
273
+ 6942
274
+ ],
275
+ "mp_ef": [],
276
+ "skill_type": [
277
+ "uncoordinated"
278
+ ]
279
+ },
280
+ {
281
+ "skill_idx": 10,
282
+ "skill_id": [
283
+ 12
284
+ ],
285
+ "skill_description": [
286
+ "close door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "washer_ynwamu_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 6942,
297
+ 7543
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 69
308
+ ],
309
+ "skill_description": [
310
+ "turn on switch"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 7543,
321
+ 8481
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ }
328
+ ],
329
+ "primitive_annotation": [
330
+ {
331
+ "primitive_idx": 0,
332
+ "primitive_id": [
333
+ 10
334
+ ],
335
+ "primitive_description": [
336
+ "open door"
337
+ ],
338
+ "object_id": [
339
+ [
340
+ "washer_ynwamu_0"
341
+ ]
342
+ ],
343
+ "manipulating_object_id": [],
344
+ "spatial_prefix": [],
345
+ "frame_duration": [
346
+ 0,
347
+ 1706
348
+ ],
349
+ "skill_idxes": [
350
+ 0,
351
+ 1
352
+ ]
353
+ },
354
+ {
355
+ "primitive_idx": 1,
356
+ "primitive_id": [
357
+ 2,
358
+ 4
359
+ ],
360
+ "primitive_description": [
361
+ "pick up from",
362
+ "place in"
363
+ ],
364
+ "object_id": [
365
+ [
366
+ [
367
+ "baseball_cap_188",
368
+ "baseball_cap_189"
369
+ ],
370
+ "countertop_ikwqer_0"
371
+ ],
372
+ [
373
+ [
374
+ "baseball_cap_189",
375
+ "baseball_cap_188"
376
+ ],
377
+ "washer_ynwamu_0"
378
+ ]
379
+ ],
380
+ "manipulating_object_id": [
381
+ [
382
+ "baseball_cap_188",
383
+ "baseball_cap_189"
384
+ ],
385
+ [
386
+ "baseball_cap_189",
387
+ "baseball_cap_188"
388
+ ]
389
+ ],
390
+ "spatial_prefix": [],
391
+ "frame_duration": [
392
+ 1707,
393
+ 6942
394
+ ],
395
+ "skill_idxes": [
396
+ 2,
397
+ 3,
398
+ 4,
399
+ 5,
400
+ 6,
401
+ 7,
402
+ 8,
403
+ 9
404
+ ]
405
+ },
406
+ {
407
+ "primitive_idx": 2,
408
+ "primitive_id": [
409
+ 12
410
+ ],
411
+ "primitive_description": [
412
+ "close door"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "washer_ynwamu_0"
417
+ ]
418
+ ],
419
+ "manipulating_object_id": [],
420
+ "spatial_prefix": [],
421
+ "frame_duration": [
422
+ 6942,
423
+ 7543
424
+ ],
425
+ "skill_idxes": [
426
+ 10
427
+ ]
428
+ },
429
+ {
430
+ "primitive_idx": 3,
431
+ "primitive_id": [
432
+ 69
433
+ ],
434
+ "primitive_description": [
435
+ "turn on switch"
436
+ ],
437
+ "object_id": [
438
+ [
439
+ "washer_ynwamu_0"
440
+ ]
441
+ ],
442
+ "manipulating_object_id": [],
443
+ "spatial_prefix": [],
444
+ "frame_duration": [
445
+ 7543,
446
+ 8481
447
+ ],
448
+ "skill_idxes": [
449
+ 11
450
+ ]
451
+ }
452
+ ]
453
+ }
annotations/episode_00000042.json ADDED
@@ -0,0 +1,453 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9222,
6
+ "valid_duration": [
7
+ 0,
8
+ 9222
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 609
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 609,
53
+ 2111
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2111,
77
+ 2842
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2842,
109
+ 3822
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3822,
136
+ 4306
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 93
147
+ ],
148
+ "skill_description": [
149
+ "turn to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188",
154
+ "robot"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "baseball_cap_188"
159
+ ],
160
+ "spatial_prefix": [
161
+ [
162
+ "",
163
+ "face"
164
+ ]
165
+ ],
166
+ "frame_duration": [
167
+ 4306,
168
+ 4642
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 2
179
+ ],
180
+ "skill_description": [
181
+ "pick up from"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "baseball_cap_188",
186
+ "countertop_ikwqer_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "baseball_cap_188"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 4642,
195
+ 4996
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "washer_ynwamu_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 4996,
219
+ 5599
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 4
230
+ ],
231
+ "skill_description": [
232
+ "place in"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "baseball_cap_188",
237
+ "washer_ynwamu_0"
238
+ ]
239
+ ],
240
+ "manipulating_object_id": [
241
+ "baseball_cap_188"
242
+ ],
243
+ "spatial_prefix": [],
244
+ "frame_duration": [
245
+ 5599,
246
+ 6443
247
+ ],
248
+ "mp_ef": [],
249
+ "skill_type": [
250
+ "uncoordinated"
251
+ ]
252
+ },
253
+ {
254
+ "skill_idx": 9,
255
+ "skill_id": [
256
+ 4
257
+ ],
258
+ "skill_description": [
259
+ "place in"
260
+ ],
261
+ "object_id": [
262
+ [
263
+ "baseball_cap_189",
264
+ "washer_ynwamu_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [
268
+ "baseball_cap_189"
269
+ ],
270
+ "spatial_prefix": [],
271
+ "frame_duration": [
272
+ 6443,
273
+ 7325
274
+ ],
275
+ "mp_ef": [],
276
+ "skill_type": [
277
+ "uncoordinated"
278
+ ]
279
+ },
280
+ {
281
+ "skill_idx": 10,
282
+ "skill_id": [
283
+ 12
284
+ ],
285
+ "skill_description": [
286
+ "close door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "washer_ynwamu_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 7325,
297
+ 8297
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 69
308
+ ],
309
+ "skill_description": [
310
+ "turn on switch"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 8297,
321
+ 9222
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ }
328
+ ],
329
+ "primitive_annotation": [
330
+ {
331
+ "primitive_idx": 0,
332
+ "primitive_id": [
333
+ 10
334
+ ],
335
+ "primitive_description": [
336
+ "open door"
337
+ ],
338
+ "object_id": [
339
+ [
340
+ "washer_ynwamu_0"
341
+ ]
342
+ ],
343
+ "manipulating_object_id": [],
344
+ "spatial_prefix": [],
345
+ "frame_duration": [
346
+ 0,
347
+ 2111
348
+ ],
349
+ "skill_idxes": [
350
+ 0,
351
+ 1
352
+ ]
353
+ },
354
+ {
355
+ "primitive_idx": 1,
356
+ "primitive_id": [
357
+ 2,
358
+ 4
359
+ ],
360
+ "primitive_description": [
361
+ "pick up from",
362
+ "place in"
363
+ ],
364
+ "object_id": [
365
+ [
366
+ [
367
+ "baseball_cap_189",
368
+ "baseball_cap_188"
369
+ ],
370
+ "countertop_ikwqer_0"
371
+ ],
372
+ [
373
+ [
374
+ "baseball_cap_188",
375
+ "baseball_cap_189"
376
+ ],
377
+ "washer_ynwamu_0"
378
+ ]
379
+ ],
380
+ "manipulating_object_id": [
381
+ [
382
+ "baseball_cap_189",
383
+ "baseball_cap_188"
384
+ ],
385
+ [
386
+ "baseball_cap_188",
387
+ "baseball_cap_189"
388
+ ]
389
+ ],
390
+ "spatial_prefix": [],
391
+ "frame_duration": [
392
+ 2111,
393
+ 7325
394
+ ],
395
+ "skill_idxes": [
396
+ 2,
397
+ 3,
398
+ 4,
399
+ 5,
400
+ 6,
401
+ 7,
402
+ 8,
403
+ 9
404
+ ]
405
+ },
406
+ {
407
+ "primitive_idx": 2,
408
+ "primitive_id": [
409
+ 12
410
+ ],
411
+ "primitive_description": [
412
+ "close door"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "washer_ynwamu_0"
417
+ ]
418
+ ],
419
+ "manipulating_object_id": [],
420
+ "spatial_prefix": [],
421
+ "frame_duration": [
422
+ 7325,
423
+ 8297
424
+ ],
425
+ "skill_idxes": [
426
+ 10
427
+ ]
428
+ },
429
+ {
430
+ "primitive_idx": 3,
431
+ "primitive_id": [
432
+ 69
433
+ ],
434
+ "primitive_description": [
435
+ "turn on switch"
436
+ ],
437
+ "object_id": [
438
+ [
439
+ "washer_ynwamu_0"
440
+ ]
441
+ ],
442
+ "manipulating_object_id": [],
443
+ "spatial_prefix": [],
444
+ "frame_duration": [
445
+ 8297,
446
+ 9222
447
+ ],
448
+ "skill_idxes": [
449
+ 11
450
+ ]
451
+ }
452
+ ]
453
+ }
annotations/episode_00000045.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7641,
6
+ "valid_duration": [
7
+ 0,
8
+ 7641
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 593
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 593,
53
+ 2111
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2111,
77
+ 2745
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2745,
109
+ 3458
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3458,
136
+ 3780
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_189"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 3780,
160
+ 4243
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 2
171
+ ],
172
+ "skill_description": [
173
+ "pick up from"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_189",
178
+ "countertop_ikwqer_0"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_189"
183
+ ],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 4243,
187
+ 4549
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "uncoordinated"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 1
198
+ ],
199
+ "skill_description": [
200
+ "move to"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "washer_ynwamu_0"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [],
208
+ "spatial_prefix": [],
209
+ "frame_duration": [
210
+ 4549,
211
+ 4978
212
+ ],
213
+ "mp_ef": [],
214
+ "skill_type": [
215
+ "navigation"
216
+ ]
217
+ },
218
+ {
219
+ "skill_idx": 8,
220
+ "skill_id": [
221
+ 4
222
+ ],
223
+ "skill_description": [
224
+ "place in"
225
+ ],
226
+ "object_id": [
227
+ [
228
+ "baseball_cap_189",
229
+ "washer_ynwamu_0"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [
233
+ "baseball_cap_189"
234
+ ],
235
+ "spatial_prefix": [],
236
+ "frame_duration": [
237
+ 4978,
238
+ 5691
239
+ ],
240
+ "mp_ef": [],
241
+ "skill_type": [
242
+ "uncoordinated"
243
+ ]
244
+ },
245
+ {
246
+ "skill_idx": 9,
247
+ "skill_id": [
248
+ 4
249
+ ],
250
+ "skill_description": [
251
+ "place in"
252
+ ],
253
+ "object_id": [
254
+ [
255
+ "baseball_cap_188",
256
+ "washer_ynwamu_0"
257
+ ]
258
+ ],
259
+ "manipulating_object_id": [
260
+ "baseball_cap_188"
261
+ ],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 5691,
265
+ 6495
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 12
276
+ ],
277
+ "skill_description": [
278
+ "close door"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 6495,
289
+ 7158
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ },
296
+ {
297
+ "skill_idx": 11,
298
+ "skill_id": [
299
+ 69
300
+ ],
301
+ "skill_description": [
302
+ "turn on switch"
303
+ ],
304
+ "object_id": [
305
+ [
306
+ "washer_ynwamu_0"
307
+ ]
308
+ ],
309
+ "manipulating_object_id": [],
310
+ "spatial_prefix": [],
311
+ "frame_duration": [
312
+ 7158,
313
+ 7641
314
+ ],
315
+ "mp_ef": [],
316
+ "skill_type": [
317
+ "uncoordinated"
318
+ ]
319
+ }
320
+ ],
321
+ "primitive_annotation": [
322
+ {
323
+ "primitive_idx": 0,
324
+ "primitive_id": [
325
+ 10
326
+ ],
327
+ "primitive_description": [
328
+ "open door"
329
+ ],
330
+ "object_id": [
331
+ [
332
+ "washer_ynwamu_0"
333
+ ]
334
+ ],
335
+ "manipulating_object_id": [],
336
+ "spatial_prefix": [],
337
+ "frame_duration": [
338
+ 0,
339
+ 2111
340
+ ],
341
+ "skill_idxes": [
342
+ 0,
343
+ 1
344
+ ]
345
+ },
346
+ {
347
+ "primitive_idx": 1,
348
+ "primitive_id": [
349
+ 2,
350
+ 4
351
+ ],
352
+ "primitive_description": [
353
+ "pick up from",
354
+ "place in"
355
+ ],
356
+ "object_id": [
357
+ [
358
+ [
359
+ "baseball_cap_188",
360
+ "baseball_cap_189"
361
+ ],
362
+ "countertop_ikwqer_0"
363
+ ],
364
+ [
365
+ [
366
+ "baseball_cap_189",
367
+ "baseball_cap_188"
368
+ ],
369
+ "washer_ynwamu_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "baseball_cap_188",
375
+ "baseball_cap_189"
376
+ ],
377
+ [
378
+ "baseball_cap_189",
379
+ "baseball_cap_188"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [],
383
+ "frame_duration": [
384
+ 2111,
385
+ 6495
386
+ ],
387
+ "skill_idxes": [
388
+ 2,
389
+ 3,
390
+ 4,
391
+ 5,
392
+ 6,
393
+ 7,
394
+ 8,
395
+ 9
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 2,
400
+ "primitive_id": [
401
+ 12
402
+ ],
403
+ "primitive_description": [
404
+ "close door"
405
+ ],
406
+ "object_id": [
407
+ [
408
+ "washer_ynwamu_0"
409
+ ]
410
+ ],
411
+ "manipulating_object_id": [],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 6495,
415
+ 7158
416
+ ],
417
+ "skill_idxes": [
418
+ 10
419
+ ]
420
+ },
421
+ {
422
+ "primitive_idx": 3,
423
+ "primitive_id": [
424
+ 69
425
+ ],
426
+ "primitive_description": [
427
+ "turn on switch"
428
+ ],
429
+ "object_id": [
430
+ [
431
+ "washer_ynwamu_0"
432
+ ]
433
+ ],
434
+ "manipulating_object_id": [],
435
+ "spatial_prefix": [],
436
+ "frame_duration": [
437
+ 7158,
438
+ 7641
439
+ ],
440
+ "skill_idxes": [
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000046.json ADDED
@@ -0,0 +1,412 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9180,
6
+ "valid_duration": [
7
+ 21,
8
+ 9201
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 21,
29
+ 735
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 735,
53
+ 2140
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2141,
77
+ 2909
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2909,
104
+ 3526
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 3527,
128
+ 4058
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 2
139
+ ],
140
+ "skill_description": [
141
+ "pick up from"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_189",
146
+ "countertop_ikwqer_0"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_189"
151
+ ],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 4059,
155
+ 4560
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "uncoordinated"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 1
166
+ ],
167
+ "skill_description": [
168
+ "move to"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "washer_ynwamu_0"
173
+ ]
174
+ ],
175
+ "manipulating_object_id": [],
176
+ "spatial_prefix": [],
177
+ "frame_duration": [
178
+ 4560,
179
+ 5117
180
+ ],
181
+ "mp_ef": [],
182
+ "skill_type": [
183
+ "navigation"
184
+ ]
185
+ },
186
+ {
187
+ "skill_idx": 7,
188
+ "skill_id": [
189
+ 4
190
+ ],
191
+ "skill_description": [
192
+ "place in"
193
+ ],
194
+ "object_id": [
195
+ [
196
+ "baseball_cap_189",
197
+ "washer_ynwamu_0"
198
+ ]
199
+ ],
200
+ "manipulating_object_id": [
201
+ "baseball_cap_189"
202
+ ],
203
+ "spatial_prefix": [],
204
+ "frame_duration": [
205
+ 5117,
206
+ 5985
207
+ ],
208
+ "mp_ef": [],
209
+ "skill_type": [
210
+ "uncoordinated"
211
+ ]
212
+ },
213
+ {
214
+ "skill_idx": 8,
215
+ "skill_id": [
216
+ 4
217
+ ],
218
+ "skill_description": [
219
+ "place in"
220
+ ],
221
+ "object_id": [
222
+ [
223
+ "baseball_cap_188",
224
+ "washer_ynwamu_0"
225
+ ]
226
+ ],
227
+ "manipulating_object_id": [
228
+ "baseball_cap_188"
229
+ ],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 5985,
233
+ 7003
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 12
244
+ ],
245
+ "skill_description": [
246
+ "close door"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 7003,
257
+ 8138
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ },
264
+ {
265
+ "skill_idx": 10,
266
+ "skill_id": [
267
+ 69
268
+ ],
269
+ "skill_description": [
270
+ "turn on switch"
271
+ ],
272
+ "object_id": [
273
+ [
274
+ "washer_ynwamu_0"
275
+ ]
276
+ ],
277
+ "manipulating_object_id": [],
278
+ "spatial_prefix": [],
279
+ "frame_duration": [
280
+ 8138,
281
+ 9201
282
+ ],
283
+ "mp_ef": [],
284
+ "skill_type": [
285
+ "uncoordinated"
286
+ ]
287
+ }
288
+ ],
289
+ "primitive_annotation": [
290
+ {
291
+ "primitive_idx": 0,
292
+ "primitive_id": [
293
+ 10
294
+ ],
295
+ "primitive_description": [
296
+ "open door"
297
+ ],
298
+ "object_id": [
299
+ [
300
+ "washer_ynwamu_0"
301
+ ]
302
+ ],
303
+ "manipulating_object_id": [],
304
+ "spatial_prefix": [],
305
+ "frame_duration": [
306
+ 21,
307
+ 2140
308
+ ],
309
+ "skill_idxes": [
310
+ 0,
311
+ 1
312
+ ]
313
+ },
314
+ {
315
+ "primitive_idx": 1,
316
+ "primitive_id": [
317
+ 2,
318
+ 4
319
+ ],
320
+ "primitive_description": [
321
+ "pick up from",
322
+ "place in"
323
+ ],
324
+ "object_id": [
325
+ [
326
+ [
327
+ "baseball_cap_188",
328
+ "baseball_cap_189"
329
+ ],
330
+ "countertop_ikwqer_0"
331
+ ],
332
+ [
333
+ [
334
+ "baseball_cap_189",
335
+ "baseball_cap_188"
336
+ ],
337
+ "washer_ynwamu_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ [
342
+ "baseball_cap_188",
343
+ "baseball_cap_189"
344
+ ],
345
+ [
346
+ "baseball_cap_189",
347
+ "baseball_cap_188"
348
+ ]
349
+ ],
350
+ "spatial_prefix": [],
351
+ "frame_duration": [
352
+ 2141,
353
+ 7003
354
+ ],
355
+ "skill_idxes": [
356
+ 2,
357
+ 3,
358
+ 4,
359
+ 5,
360
+ 6,
361
+ 7,
362
+ 8
363
+ ]
364
+ },
365
+ {
366
+ "primitive_idx": 2,
367
+ "primitive_id": [
368
+ 12
369
+ ],
370
+ "primitive_description": [
371
+ "close door"
372
+ ],
373
+ "object_id": [
374
+ [
375
+ "washer_ynwamu_0"
376
+ ]
377
+ ],
378
+ "manipulating_object_id": [],
379
+ "spatial_prefix": [],
380
+ "frame_duration": [
381
+ 7003,
382
+ 8138
383
+ ],
384
+ "skill_idxes": [
385
+ 9
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 3,
390
+ "primitive_id": [
391
+ 69
392
+ ],
393
+ "primitive_description": [
394
+ "turn on switch"
395
+ ],
396
+ "object_id": [
397
+ [
398
+ "washer_ynwamu_0"
399
+ ]
400
+ ],
401
+ "manipulating_object_id": [],
402
+ "spatial_prefix": [],
403
+ "frame_duration": [
404
+ 8138,
405
+ 9201
406
+ ],
407
+ "skill_idxes": [
408
+ 10
409
+ ]
410
+ }
411
+ ]
412
+ }
annotations/episode_00000049.json ADDED
@@ -0,0 +1,478 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9209,
6
+ "valid_duration": [
7
+ 93,
8
+ 9302
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 93,
29
+ 468
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 468,
53
+ 1971
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1971,
77
+ 2967
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2967,
109
+ 3427
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3427,
136
+ 3777
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 3777,
160
+ 4655
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 93
171
+ ],
172
+ "skill_description": [
173
+ "turn to"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_188",
178
+ "robot"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_188"
183
+ ],
184
+ "spatial_prefix": [
185
+ [
186
+ "",
187
+ "face"
188
+ ]
189
+ ],
190
+ "frame_duration": [
191
+ 4655,
192
+ 5442
193
+ ],
194
+ "mp_ef": [],
195
+ "skill_type": [
196
+ "uncoordinated"
197
+ ]
198
+ },
199
+ {
200
+ "skill_idx": 7,
201
+ "skill_id": [
202
+ 2
203
+ ],
204
+ "skill_description": [
205
+ "pick up from"
206
+ ],
207
+ "object_id": [
208
+ [
209
+ "baseball_cap_188",
210
+ "countertop_ikwqer_0"
211
+ ]
212
+ ],
213
+ "manipulating_object_id": [
214
+ "baseball_cap_188"
215
+ ],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 5442,
219
+ 5769
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "uncoordinated"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 1
230
+ ],
231
+ "skill_description": [
232
+ "move to"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "washer_ynwamu_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 5769,
243
+ 6248
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "navigation"
248
+ ]
249
+ },
250
+ {
251
+ "skill_idx": 9,
252
+ "skill_id": [
253
+ 4
254
+ ],
255
+ "skill_description": [
256
+ "place in"
257
+ ],
258
+ "object_id": [
259
+ [
260
+ "baseball_cap_188",
261
+ "washer_ynwamu_0"
262
+ ]
263
+ ],
264
+ "manipulating_object_id": [
265
+ "baseball_cap_188"
266
+ ],
267
+ "spatial_prefix": [],
268
+ "frame_duration": [
269
+ 6248,
270
+ 7098
271
+ ],
272
+ "mp_ef": [],
273
+ "skill_type": [
274
+ "uncoordinated"
275
+ ]
276
+ },
277
+ {
278
+ "skill_idx": 10,
279
+ "skill_id": [
280
+ 4
281
+ ],
282
+ "skill_description": [
283
+ "place in"
284
+ ],
285
+ "object_id": [
286
+ [
287
+ "baseball_cap_189",
288
+ "washer_ynwamu_0"
289
+ ]
290
+ ],
291
+ "manipulating_object_id": [
292
+ "baseball_cap_189"
293
+ ],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 7098,
297
+ 8031
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 12
308
+ ],
309
+ "skill_description": [
310
+ "close door"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 8031,
321
+ 8802
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ },
328
+ {
329
+ "skill_idx": 12,
330
+ "skill_id": [
331
+ 69
332
+ ],
333
+ "skill_description": [
334
+ "turn on switch"
335
+ ],
336
+ "object_id": [
337
+ [
338
+ "washer_ynwamu_0"
339
+ ]
340
+ ],
341
+ "manipulating_object_id": [],
342
+ "spatial_prefix": [],
343
+ "frame_duration": [
344
+ 8802,
345
+ 9302
346
+ ],
347
+ "mp_ef": [],
348
+ "skill_type": [
349
+ "uncoordinated"
350
+ ]
351
+ }
352
+ ],
353
+ "primitive_annotation": [
354
+ {
355
+ "primitive_idx": 0,
356
+ "primitive_id": [
357
+ 10
358
+ ],
359
+ "primitive_description": [
360
+ "open door"
361
+ ],
362
+ "object_id": [
363
+ [
364
+ "washer_ynwamu_0"
365
+ ]
366
+ ],
367
+ "manipulating_object_id": [],
368
+ "spatial_prefix": [],
369
+ "frame_duration": [
370
+ 93,
371
+ 1971
372
+ ],
373
+ "skill_idxes": [
374
+ 0,
375
+ 1
376
+ ]
377
+ },
378
+ {
379
+ "primitive_idx": 1,
380
+ "primitive_id": [
381
+ 2,
382
+ 4
383
+ ],
384
+ "primitive_description": [
385
+ "pick up from",
386
+ "place in"
387
+ ],
388
+ "object_id": [
389
+ [
390
+ [
391
+ "baseball_cap_189",
392
+ "baseball_cap_188"
393
+ ],
394
+ "countertop_ikwqer_0"
395
+ ],
396
+ [
397
+ [
398
+ "baseball_cap_188",
399
+ "baseball_cap_189"
400
+ ],
401
+ "washer_ynwamu_0"
402
+ ]
403
+ ],
404
+ "manipulating_object_id": [
405
+ [
406
+ "baseball_cap_189",
407
+ "baseball_cap_188"
408
+ ],
409
+ [
410
+ "baseball_cap_188",
411
+ "baseball_cap_189"
412
+ ]
413
+ ],
414
+ "spatial_prefix": [],
415
+ "frame_duration": [
416
+ 1971,
417
+ 8031
418
+ ],
419
+ "skill_idxes": [
420
+ 2,
421
+ 3,
422
+ 4,
423
+ 5,
424
+ 6,
425
+ 7,
426
+ 8,
427
+ 9,
428
+ 10
429
+ ]
430
+ },
431
+ {
432
+ "primitive_idx": 2,
433
+ "primitive_id": [
434
+ 12
435
+ ],
436
+ "primitive_description": [
437
+ "close door"
438
+ ],
439
+ "object_id": [
440
+ [
441
+ "washer_ynwamu_0"
442
+ ]
443
+ ],
444
+ "manipulating_object_id": [],
445
+ "spatial_prefix": [],
446
+ "frame_duration": [
447
+ 8031,
448
+ 8802
449
+ ],
450
+ "skill_idxes": [
451
+ 11
452
+ ]
453
+ },
454
+ {
455
+ "primitive_idx": 3,
456
+ "primitive_id": [
457
+ 69
458
+ ],
459
+ "primitive_description": [
460
+ "turn on switch"
461
+ ],
462
+ "object_id": [
463
+ [
464
+ "washer_ynwamu_0"
465
+ ]
466
+ ],
467
+ "manipulating_object_id": [],
468
+ "spatial_prefix": [],
469
+ "frame_duration": [
470
+ 8802,
471
+ 9302
472
+ ],
473
+ "skill_idxes": [
474
+ 12
475
+ ]
476
+ }
477
+ ]
478
+ }
annotations/episode_00000050.json ADDED
@@ -0,0 +1,478 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9122,
6
+ "valid_duration": [
7
+ 0,
8
+ 9122
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 141
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 141,
53
+ 1495
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1495,
77
+ 2250
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2250,
109
+ 3163
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3164,
136
+ 3629
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 3629,
160
+ 3705
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 93
171
+ ],
172
+ "skill_description": [
173
+ "turn to"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_188",
178
+ "robot"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_188"
183
+ ],
184
+ "spatial_prefix": [
185
+ [
186
+ "",
187
+ "face"
188
+ ]
189
+ ],
190
+ "frame_duration": [
191
+ 3706,
192
+ 4593
193
+ ],
194
+ "mp_ef": [],
195
+ "skill_type": [
196
+ "uncoordinated"
197
+ ]
198
+ },
199
+ {
200
+ "skill_idx": 7,
201
+ "skill_id": [
202
+ 2
203
+ ],
204
+ "skill_description": [
205
+ "pick up from"
206
+ ],
207
+ "object_id": [
208
+ [
209
+ "baseball_cap_188",
210
+ "countertop_ikwqer_0"
211
+ ]
212
+ ],
213
+ "manipulating_object_id": [
214
+ "baseball_cap_188"
215
+ ],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 4593,
219
+ 5057
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "uncoordinated"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 1
230
+ ],
231
+ "skill_description": [
232
+ "move to"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "washer_ynwamu_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 5058,
243
+ 5509
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "navigation"
248
+ ]
249
+ },
250
+ {
251
+ "skill_idx": 9,
252
+ "skill_id": [
253
+ 4
254
+ ],
255
+ "skill_description": [
256
+ "place in"
257
+ ],
258
+ "object_id": [
259
+ [
260
+ "baseball_cap_188",
261
+ "washer_ynwamu_0"
262
+ ]
263
+ ],
264
+ "manipulating_object_id": [
265
+ "baseball_cap_188"
266
+ ],
267
+ "spatial_prefix": [],
268
+ "frame_duration": [
269
+ 5510,
270
+ 6294
271
+ ],
272
+ "mp_ef": [],
273
+ "skill_type": [
274
+ "uncoordinated"
275
+ ]
276
+ },
277
+ {
278
+ "skill_idx": 10,
279
+ "skill_id": [
280
+ 4
281
+ ],
282
+ "skill_description": [
283
+ "place in"
284
+ ],
285
+ "object_id": [
286
+ [
287
+ "baseball_cap_189",
288
+ "washer_ynwamu_0"
289
+ ]
290
+ ],
291
+ "manipulating_object_id": [
292
+ "baseball_cap_189"
293
+ ],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 6294,
297
+ 7074
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 12
308
+ ],
309
+ "skill_description": [
310
+ "close door"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 7074,
321
+ 7937
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ },
328
+ {
329
+ "skill_idx": 12,
330
+ "skill_id": [
331
+ 69
332
+ ],
333
+ "skill_description": [
334
+ "turn on switch"
335
+ ],
336
+ "object_id": [
337
+ [
338
+ "washer_ynwamu_0"
339
+ ]
340
+ ],
341
+ "manipulating_object_id": [],
342
+ "spatial_prefix": [],
343
+ "frame_duration": [
344
+ 7937,
345
+ 9122
346
+ ],
347
+ "mp_ef": [],
348
+ "skill_type": [
349
+ "uncoordinated"
350
+ ]
351
+ }
352
+ ],
353
+ "primitive_annotation": [
354
+ {
355
+ "primitive_idx": 0,
356
+ "primitive_id": [
357
+ 10
358
+ ],
359
+ "primitive_description": [
360
+ "open door"
361
+ ],
362
+ "object_id": [
363
+ [
364
+ "washer_ynwamu_0"
365
+ ]
366
+ ],
367
+ "manipulating_object_id": [],
368
+ "spatial_prefix": [],
369
+ "frame_duration": [
370
+ 0,
371
+ 1495
372
+ ],
373
+ "skill_idxes": [
374
+ 0,
375
+ 1
376
+ ]
377
+ },
378
+ {
379
+ "primitive_idx": 1,
380
+ "primitive_id": [
381
+ 2,
382
+ 4
383
+ ],
384
+ "primitive_description": [
385
+ "pick up from",
386
+ "place in"
387
+ ],
388
+ "object_id": [
389
+ [
390
+ [
391
+ "baseball_cap_189",
392
+ "baseball_cap_188"
393
+ ],
394
+ "countertop_ikwqer_0"
395
+ ],
396
+ [
397
+ [
398
+ "baseball_cap_188",
399
+ "baseball_cap_189"
400
+ ],
401
+ "washer_ynwamu_0"
402
+ ]
403
+ ],
404
+ "manipulating_object_id": [
405
+ [
406
+ "baseball_cap_189",
407
+ "baseball_cap_188"
408
+ ],
409
+ [
410
+ "baseball_cap_188",
411
+ "baseball_cap_189"
412
+ ]
413
+ ],
414
+ "spatial_prefix": [],
415
+ "frame_duration": [
416
+ 1495,
417
+ 7074
418
+ ],
419
+ "skill_idxes": [
420
+ 2,
421
+ 3,
422
+ 4,
423
+ 5,
424
+ 6,
425
+ 7,
426
+ 8,
427
+ 9,
428
+ 10
429
+ ]
430
+ },
431
+ {
432
+ "primitive_idx": 2,
433
+ "primitive_id": [
434
+ 12
435
+ ],
436
+ "primitive_description": [
437
+ "close door"
438
+ ],
439
+ "object_id": [
440
+ [
441
+ "washer_ynwamu_0"
442
+ ]
443
+ ],
444
+ "manipulating_object_id": [],
445
+ "spatial_prefix": [],
446
+ "frame_duration": [
447
+ 7074,
448
+ 7937
449
+ ],
450
+ "skill_idxes": [
451
+ 11
452
+ ]
453
+ },
454
+ {
455
+ "primitive_idx": 3,
456
+ "primitive_id": [
457
+ 69
458
+ ],
459
+ "primitive_description": [
460
+ "turn on switch"
461
+ ],
462
+ "object_id": [
463
+ [
464
+ "washer_ynwamu_0"
465
+ ]
466
+ ],
467
+ "manipulating_object_id": [],
468
+ "spatial_prefix": [],
469
+ "frame_duration": [
470
+ 7937,
471
+ 9122
472
+ ],
473
+ "skill_idxes": [
474
+ 12
475
+ ]
476
+ }
477
+ ]
478
+ }
annotations/episode_00000053.json ADDED
@@ -0,0 +1,387 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7194,
6
+ "valid_duration": [
7
+ 0,
8
+ 7194
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 331
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 331,
53
+ 1854
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1854,
77
+ 2829
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2829,
104
+ 3248
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 2
115
+ ],
116
+ "skill_description": [
117
+ "pick up from"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189",
122
+ "countertop_ikwqer_0"
123
+ ]
124
+ ],
125
+ "manipulating_object_id": [
126
+ "baseball_cap_189"
127
+ ],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3248,
131
+ 3513
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "uncoordinated"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 1
142
+ ],
143
+ "skill_description": [
144
+ "move to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "washer_ynwamu_0"
149
+ ]
150
+ ],
151
+ "manipulating_object_id": [],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 3513,
155
+ 3945
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "navigation"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 4
166
+ ],
167
+ "skill_description": [
168
+ "place in"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "baseball_cap_189",
173
+ "washer_ynwamu_0"
174
+ ]
175
+ ],
176
+ "manipulating_object_id": [
177
+ "baseball_cap_189"
178
+ ],
179
+ "spatial_prefix": [],
180
+ "frame_duration": [
181
+ 3945,
182
+ 4806
183
+ ],
184
+ "mp_ef": [],
185
+ "skill_type": [
186
+ "uncoordinated"
187
+ ]
188
+ },
189
+ {
190
+ "skill_idx": 7,
191
+ "skill_id": [
192
+ 4
193
+ ],
194
+ "skill_description": [
195
+ "place in"
196
+ ],
197
+ "object_id": [
198
+ [
199
+ "baseball_cap_188",
200
+ "washer_ynwamu_0"
201
+ ]
202
+ ],
203
+ "manipulating_object_id": [
204
+ "baseball_cap_188"
205
+ ],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [
208
+ 4806,
209
+ 5766
210
+ ],
211
+ "mp_ef": [],
212
+ "skill_type": [
213
+ "uncoordinated"
214
+ ]
215
+ },
216
+ {
217
+ "skill_idx": 8,
218
+ "skill_id": [
219
+ 12
220
+ ],
221
+ "skill_description": [
222
+ "close door"
223
+ ],
224
+ "object_id": [
225
+ [
226
+ "washer_ynwamu_0"
227
+ ]
228
+ ],
229
+ "manipulating_object_id": [],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 5766,
233
+ 6641
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 69
244
+ ],
245
+ "skill_description": [
246
+ "turn on switch"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 6641,
257
+ 7194
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ }
264
+ ],
265
+ "primitive_annotation": [
266
+ {
267
+ "primitive_idx": 0,
268
+ "primitive_id": [
269
+ 10
270
+ ],
271
+ "primitive_description": [
272
+ "open door"
273
+ ],
274
+ "object_id": [
275
+ [
276
+ "washer_ynwamu_0"
277
+ ]
278
+ ],
279
+ "manipulating_object_id": [],
280
+ "spatial_prefix": [],
281
+ "frame_duration": [
282
+ 0,
283
+ 1854
284
+ ],
285
+ "skill_idxes": [
286
+ 0,
287
+ 1
288
+ ]
289
+ },
290
+ {
291
+ "primitive_idx": 1,
292
+ "primitive_id": [
293
+ 2,
294
+ 4
295
+ ],
296
+ "primitive_description": [
297
+ "pick up from",
298
+ "place in"
299
+ ],
300
+ "object_id": [
301
+ [
302
+ [
303
+ "baseball_cap_188",
304
+ "baseball_cap_189"
305
+ ],
306
+ "countertop_ikwqer_0"
307
+ ],
308
+ [
309
+ [
310
+ "baseball_cap_189",
311
+ "baseball_cap_188"
312
+ ],
313
+ "washer_ynwamu_0"
314
+ ]
315
+ ],
316
+ "manipulating_object_id": [
317
+ [
318
+ "baseball_cap_188",
319
+ "baseball_cap_189"
320
+ ],
321
+ [
322
+ "baseball_cap_189",
323
+ "baseball_cap_188"
324
+ ]
325
+ ],
326
+ "spatial_prefix": [],
327
+ "frame_duration": [
328
+ 1854,
329
+ 5766
330
+ ],
331
+ "skill_idxes": [
332
+ 2,
333
+ 3,
334
+ 4,
335
+ 5,
336
+ 6,
337
+ 7
338
+ ]
339
+ },
340
+ {
341
+ "primitive_idx": 2,
342
+ "primitive_id": [
343
+ 12
344
+ ],
345
+ "primitive_description": [
346
+ "close door"
347
+ ],
348
+ "object_id": [
349
+ [
350
+ "washer_ynwamu_0"
351
+ ]
352
+ ],
353
+ "manipulating_object_id": [],
354
+ "spatial_prefix": [],
355
+ "frame_duration": [
356
+ 5766,
357
+ 6641
358
+ ],
359
+ "skill_idxes": [
360
+ 8
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 3,
365
+ "primitive_id": [
366
+ 69
367
+ ],
368
+ "primitive_description": [
369
+ "turn on switch"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "washer_ynwamu_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 6641,
380
+ 7194
381
+ ],
382
+ "skill_idxes": [
383
+ 9
384
+ ]
385
+ }
386
+ ]
387
+ }
annotations/episode_00000054.json ADDED
@@ -0,0 +1,387 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8019,
6
+ "valid_duration": [
7
+ 0,
8
+ 8019
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 632
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 632,
53
+ 2010
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2010,
77
+ 2795
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2795,
104
+ 3260
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 2
115
+ ],
116
+ "skill_description": [
117
+ "pick up from"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_188",
122
+ "countertop_ikwqer_0"
123
+ ]
124
+ ],
125
+ "manipulating_object_id": [
126
+ "baseball_cap_188"
127
+ ],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3260,
131
+ 3602
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "uncoordinated"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 1
142
+ ],
143
+ "skill_description": [
144
+ "move to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "washer_ynwamu_0"
149
+ ]
150
+ ],
151
+ "manipulating_object_id": [],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 3602,
155
+ 4187
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "navigation"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 4
166
+ ],
167
+ "skill_description": [
168
+ "place in"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "baseball_cap_189",
173
+ "washer_ynwamu_0"
174
+ ]
175
+ ],
176
+ "manipulating_object_id": [
177
+ "baseball_cap_189"
178
+ ],
179
+ "spatial_prefix": [],
180
+ "frame_duration": [
181
+ 4187,
182
+ 5096
183
+ ],
184
+ "mp_ef": [],
185
+ "skill_type": [
186
+ "uncoordinated"
187
+ ]
188
+ },
189
+ {
190
+ "skill_idx": 7,
191
+ "skill_id": [
192
+ 4
193
+ ],
194
+ "skill_description": [
195
+ "place in"
196
+ ],
197
+ "object_id": [
198
+ [
199
+ "baseball_cap_188",
200
+ "washer_ynwamu_0"
201
+ ]
202
+ ],
203
+ "manipulating_object_id": [
204
+ "baseball_cap_188"
205
+ ],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [
208
+ 5096,
209
+ 6032
210
+ ],
211
+ "mp_ef": [],
212
+ "skill_type": [
213
+ "uncoordinated"
214
+ ]
215
+ },
216
+ {
217
+ "skill_idx": 8,
218
+ "skill_id": [
219
+ 12
220
+ ],
221
+ "skill_description": [
222
+ "close door"
223
+ ],
224
+ "object_id": [
225
+ [
226
+ "washer_ynwamu_0"
227
+ ]
228
+ ],
229
+ "manipulating_object_id": [],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 6032,
233
+ 6896
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 69
244
+ ],
245
+ "skill_description": [
246
+ "turn on switch"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 6896,
257
+ 8019
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ }
264
+ ],
265
+ "primitive_annotation": [
266
+ {
267
+ "primitive_idx": 0,
268
+ "primitive_id": [
269
+ 10
270
+ ],
271
+ "primitive_description": [
272
+ "open door"
273
+ ],
274
+ "object_id": [
275
+ [
276
+ "washer_ynwamu_0"
277
+ ]
278
+ ],
279
+ "manipulating_object_id": [],
280
+ "spatial_prefix": [],
281
+ "frame_duration": [
282
+ 0,
283
+ 2010
284
+ ],
285
+ "skill_idxes": [
286
+ 0,
287
+ 1
288
+ ]
289
+ },
290
+ {
291
+ "primitive_idx": 1,
292
+ "primitive_id": [
293
+ 2,
294
+ 4
295
+ ],
296
+ "primitive_description": [
297
+ "pick up from",
298
+ "place in"
299
+ ],
300
+ "object_id": [
301
+ [
302
+ [
303
+ "baseball_cap_189",
304
+ "baseball_cap_188"
305
+ ],
306
+ "countertop_ikwqer_0"
307
+ ],
308
+ [
309
+ [
310
+ "baseball_cap_189",
311
+ "baseball_cap_188"
312
+ ],
313
+ "washer_ynwamu_0"
314
+ ]
315
+ ],
316
+ "manipulating_object_id": [
317
+ [
318
+ "baseball_cap_189",
319
+ "baseball_cap_188"
320
+ ],
321
+ [
322
+ "baseball_cap_189",
323
+ "baseball_cap_188"
324
+ ]
325
+ ],
326
+ "spatial_prefix": [],
327
+ "frame_duration": [
328
+ 2010,
329
+ 6032
330
+ ],
331
+ "skill_idxes": [
332
+ 2,
333
+ 3,
334
+ 4,
335
+ 5,
336
+ 6,
337
+ 7
338
+ ]
339
+ },
340
+ {
341
+ "primitive_idx": 2,
342
+ "primitive_id": [
343
+ 12
344
+ ],
345
+ "primitive_description": [
346
+ "close door"
347
+ ],
348
+ "object_id": [
349
+ [
350
+ "washer_ynwamu_0"
351
+ ]
352
+ ],
353
+ "manipulating_object_id": [],
354
+ "spatial_prefix": [],
355
+ "frame_duration": [
356
+ 6032,
357
+ 6896
358
+ ],
359
+ "skill_idxes": [
360
+ 8
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 3,
365
+ "primitive_id": [
366
+ 69
367
+ ],
368
+ "primitive_description": [
369
+ "turn on switch"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "washer_ynwamu_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 6896,
380
+ 8019
381
+ ],
382
+ "skill_idxes": [
383
+ 9
384
+ ]
385
+ }
386
+ ]
387
+ }
annotations/episode_00000055.json ADDED
@@ -0,0 +1,478 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9960,
6
+ "valid_duration": [
7
+ 0,
8
+ 9960
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 459
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 460,
53
+ 2129
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2129,
77
+ 3009
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 3009,
109
+ 4101
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 4101,
136
+ 4533
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_189"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 4533,
160
+ 5441
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 93
171
+ ],
172
+ "skill_description": [
173
+ "turn to"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_189",
178
+ "robot"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_189"
183
+ ],
184
+ "spatial_prefix": [
185
+ [
186
+ "",
187
+ "face"
188
+ ]
189
+ ],
190
+ "frame_duration": [
191
+ 5441,
192
+ 5901
193
+ ],
194
+ "mp_ef": [],
195
+ "skill_type": [
196
+ "uncoordinated"
197
+ ]
198
+ },
199
+ {
200
+ "skill_idx": 7,
201
+ "skill_id": [
202
+ 2
203
+ ],
204
+ "skill_description": [
205
+ "pick up from"
206
+ ],
207
+ "object_id": [
208
+ [
209
+ "baseball_cap_189",
210
+ "countertop_ikwqer_0"
211
+ ]
212
+ ],
213
+ "manipulating_object_id": [
214
+ "baseball_cap_189"
215
+ ],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 5901,
219
+ 6282
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "uncoordinated"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 1
230
+ ],
231
+ "skill_description": [
232
+ "move to"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "washer_ynwamu_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 6283,
243
+ 6750
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "navigation"
248
+ ]
249
+ },
250
+ {
251
+ "skill_idx": 9,
252
+ "skill_id": [
253
+ 4
254
+ ],
255
+ "skill_description": [
256
+ "place in"
257
+ ],
258
+ "object_id": [
259
+ [
260
+ "baseball_cap_189",
261
+ "washer_ynwamu_0"
262
+ ]
263
+ ],
264
+ "manipulating_object_id": [
265
+ "baseball_cap_189"
266
+ ],
267
+ "spatial_prefix": [],
268
+ "frame_duration": [
269
+ 6750,
270
+ 7649
271
+ ],
272
+ "mp_ef": [],
273
+ "skill_type": [
274
+ "uncoordinated"
275
+ ]
276
+ },
277
+ {
278
+ "skill_idx": 10,
279
+ "skill_id": [
280
+ 4
281
+ ],
282
+ "skill_description": [
283
+ "place in"
284
+ ],
285
+ "object_id": [
286
+ [
287
+ "baseball_cap_188",
288
+ "washer_ynwamu_0"
289
+ ]
290
+ ],
291
+ "manipulating_object_id": [
292
+ "baseball_cap_188"
293
+ ],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 7649,
297
+ 8911
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 12
308
+ ],
309
+ "skill_description": [
310
+ "close door"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 8912,
321
+ 9519
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ },
328
+ {
329
+ "skill_idx": 12,
330
+ "skill_id": [
331
+ 69
332
+ ],
333
+ "skill_description": [
334
+ "turn on switch"
335
+ ],
336
+ "object_id": [
337
+ [
338
+ "washer_ynwamu_0"
339
+ ]
340
+ ],
341
+ "manipulating_object_id": [],
342
+ "spatial_prefix": [],
343
+ "frame_duration": [
344
+ 9519,
345
+ 9960
346
+ ],
347
+ "mp_ef": [],
348
+ "skill_type": [
349
+ "uncoordinated"
350
+ ]
351
+ }
352
+ ],
353
+ "primitive_annotation": [
354
+ {
355
+ "primitive_idx": 0,
356
+ "primitive_id": [
357
+ 10
358
+ ],
359
+ "primitive_description": [
360
+ "open door"
361
+ ],
362
+ "object_id": [
363
+ [
364
+ "washer_ynwamu_0"
365
+ ]
366
+ ],
367
+ "manipulating_object_id": [],
368
+ "spatial_prefix": [],
369
+ "frame_duration": [
370
+ 0,
371
+ 2129
372
+ ],
373
+ "skill_idxes": [
374
+ 0,
375
+ 1
376
+ ]
377
+ },
378
+ {
379
+ "primitive_idx": 1,
380
+ "primitive_id": [
381
+ 2,
382
+ 4
383
+ ],
384
+ "primitive_description": [
385
+ "pick up from",
386
+ "place in"
387
+ ],
388
+ "object_id": [
389
+ [
390
+ [
391
+ "baseball_cap_188",
392
+ "baseball_cap_189"
393
+ ],
394
+ "countertop_ikwqer_0"
395
+ ],
396
+ [
397
+ [
398
+ "baseball_cap_189",
399
+ "baseball_cap_188"
400
+ ],
401
+ "washer_ynwamu_0"
402
+ ]
403
+ ],
404
+ "manipulating_object_id": [
405
+ [
406
+ "baseball_cap_188",
407
+ "baseball_cap_189"
408
+ ],
409
+ [
410
+ "baseball_cap_189",
411
+ "baseball_cap_188"
412
+ ]
413
+ ],
414
+ "spatial_prefix": [],
415
+ "frame_duration": [
416
+ 2129,
417
+ 8911
418
+ ],
419
+ "skill_idxes": [
420
+ 2,
421
+ 3,
422
+ 4,
423
+ 5,
424
+ 6,
425
+ 7,
426
+ 8,
427
+ 9,
428
+ 10
429
+ ]
430
+ },
431
+ {
432
+ "primitive_idx": 2,
433
+ "primitive_id": [
434
+ 12
435
+ ],
436
+ "primitive_description": [
437
+ "close door"
438
+ ],
439
+ "object_id": [
440
+ [
441
+ "washer_ynwamu_0"
442
+ ]
443
+ ],
444
+ "manipulating_object_id": [],
445
+ "spatial_prefix": [],
446
+ "frame_duration": [
447
+ 8912,
448
+ 9519
449
+ ],
450
+ "skill_idxes": [
451
+ 11
452
+ ]
453
+ },
454
+ {
455
+ "primitive_idx": 3,
456
+ "primitive_id": [
457
+ 69
458
+ ],
459
+ "primitive_description": [
460
+ "turn on switch"
461
+ ],
462
+ "object_id": [
463
+ [
464
+ "washer_ynwamu_0"
465
+ ]
466
+ ],
467
+ "manipulating_object_id": [],
468
+ "spatial_prefix": [],
469
+ "frame_duration": [
470
+ 9519,
471
+ 9960
472
+ ],
473
+ "skill_idxes": [
474
+ 12
475
+ ]
476
+ }
477
+ ]
478
+ }
annotations/episode_00000056.json ADDED
@@ -0,0 +1,420 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8108,
6
+ "valid_duration": [
7
+ 33,
8
+ 8141
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 33,
29
+ 729
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 729,
53
+ 2057
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2057,
77
+ 2800
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2800,
109
+ 3422
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3423,
136
+ 3775
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 2
147
+ ],
148
+ "skill_description": [
149
+ "pick up from"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188",
154
+ "countertop_ikwqer_0"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "baseball_cap_188"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 3775,
163
+ 4395
164
+ ],
165
+ "mp_ef": [],
166
+ "skill_type": [
167
+ "uncoordinated"
168
+ ]
169
+ },
170
+ {
171
+ "skill_idx": 6,
172
+ "skill_id": [
173
+ 1
174
+ ],
175
+ "skill_description": [
176
+ "move to"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "washer_ynwamu_0"
181
+ ]
182
+ ],
183
+ "manipulating_object_id": [],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 4395,
187
+ 4808
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "navigation"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 4
198
+ ],
199
+ "skill_description": [
200
+ "place in"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "baseball_cap_188",
205
+ "washer_ynwamu_0"
206
+ ]
207
+ ],
208
+ "manipulating_object_id": [
209
+ "baseball_cap_188"
210
+ ],
211
+ "spatial_prefix": [],
212
+ "frame_duration": [
213
+ 4809,
214
+ 5634
215
+ ],
216
+ "mp_ef": [],
217
+ "skill_type": [
218
+ "uncoordinated"
219
+ ]
220
+ },
221
+ {
222
+ "skill_idx": 8,
223
+ "skill_id": [
224
+ 4
225
+ ],
226
+ "skill_description": [
227
+ "place in"
228
+ ],
229
+ "object_id": [
230
+ [
231
+ "baseball_cap_189",
232
+ "washer_ynwamu_0"
233
+ ]
234
+ ],
235
+ "manipulating_object_id": [
236
+ "baseball_cap_189"
237
+ ],
238
+ "spatial_prefix": [],
239
+ "frame_duration": [
240
+ 5640,
241
+ 6511
242
+ ],
243
+ "mp_ef": [],
244
+ "skill_type": [
245
+ "uncoordinated"
246
+ ]
247
+ },
248
+ {
249
+ "skill_idx": 9,
250
+ "skill_id": [
251
+ 12
252
+ ],
253
+ "skill_description": [
254
+ "close door"
255
+ ],
256
+ "object_id": [
257
+ [
258
+ "washer_ynwamu_0"
259
+ ]
260
+ ],
261
+ "manipulating_object_id": [],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 6511,
265
+ 7214
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 69
276
+ ],
277
+ "skill_description": [
278
+ "turn on switch"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 7215,
289
+ 8141
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ }
296
+ ],
297
+ "primitive_annotation": [
298
+ {
299
+ "primitive_idx": 0,
300
+ "primitive_id": [
301
+ 10
302
+ ],
303
+ "primitive_description": [
304
+ "open door"
305
+ ],
306
+ "object_id": [
307
+ [
308
+ "washer_ynwamu_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [],
312
+ "spatial_prefix": [],
313
+ "frame_duration": [
314
+ 33,
315
+ 2057
316
+ ],
317
+ "skill_idxes": [
318
+ 0,
319
+ 1
320
+ ]
321
+ },
322
+ {
323
+ "primitive_idx": 1,
324
+ "primitive_id": [
325
+ 2,
326
+ 4
327
+ ],
328
+ "primitive_description": [
329
+ "pick up from",
330
+ "place in"
331
+ ],
332
+ "object_id": [
333
+ [
334
+ [
335
+ "baseball_cap_189",
336
+ "baseball_cap_188"
337
+ ],
338
+ "countertop_ikwqer_0"
339
+ ],
340
+ [
341
+ [
342
+ "baseball_cap_188",
343
+ "baseball_cap_189"
344
+ ],
345
+ "washer_ynwamu_0"
346
+ ]
347
+ ],
348
+ "manipulating_object_id": [
349
+ [
350
+ "baseball_cap_189",
351
+ "baseball_cap_188"
352
+ ],
353
+ [
354
+ "baseball_cap_188",
355
+ "baseball_cap_189"
356
+ ]
357
+ ],
358
+ "spatial_prefix": [],
359
+ "frame_duration": [
360
+ 2057,
361
+ 6511
362
+ ],
363
+ "skill_idxes": [
364
+ 2,
365
+ 3,
366
+ 4,
367
+ 5,
368
+ 6,
369
+ 7,
370
+ 8
371
+ ]
372
+ },
373
+ {
374
+ "primitive_idx": 2,
375
+ "primitive_id": [
376
+ 12
377
+ ],
378
+ "primitive_description": [
379
+ "close door"
380
+ ],
381
+ "object_id": [
382
+ [
383
+ "washer_ynwamu_0"
384
+ ]
385
+ ],
386
+ "manipulating_object_id": [],
387
+ "spatial_prefix": [],
388
+ "frame_duration": [
389
+ 6511,
390
+ 7214
391
+ ],
392
+ "skill_idxes": [
393
+ 9
394
+ ]
395
+ },
396
+ {
397
+ "primitive_idx": 3,
398
+ "primitive_id": [
399
+ 69
400
+ ],
401
+ "primitive_description": [
402
+ "turn on switch"
403
+ ],
404
+ "object_id": [
405
+ [
406
+ "washer_ynwamu_0"
407
+ ]
408
+ ],
409
+ "manipulating_object_id": [],
410
+ "spatial_prefix": [],
411
+ "frame_duration": [
412
+ 7215,
413
+ 8141
414
+ ],
415
+ "skill_idxes": [
416
+ 10
417
+ ]
418
+ }
419
+ ]
420
+ }
annotations/episode_00000061.json ADDED
@@ -0,0 +1,387 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8559,
6
+ "valid_duration": [
7
+ 0,
8
+ 8559
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 510
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 510,
53
+ 2067
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2068,
77
+ 2640
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2640,
104
+ 3489
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 2
115
+ ],
116
+ "skill_description": [
117
+ "pick up from"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_188",
122
+ "countertop_ikwqer_0"
123
+ ]
124
+ ],
125
+ "manipulating_object_id": [
126
+ "baseball_cap_188"
127
+ ],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3489,
131
+ 4582
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "uncoordinated"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 1
142
+ ],
143
+ "skill_description": [
144
+ "move to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "washer_ynwamu_0"
149
+ ]
150
+ ],
151
+ "manipulating_object_id": [],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 4608,
155
+ 5258
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "navigation"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 4
166
+ ],
167
+ "skill_description": [
168
+ "place in"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "baseball_cap_189",
173
+ "washer_ynwamu_0"
174
+ ]
175
+ ],
176
+ "manipulating_object_id": [
177
+ "baseball_cap_189"
178
+ ],
179
+ "spatial_prefix": [],
180
+ "frame_duration": [
181
+ 5259,
182
+ 5988
183
+ ],
184
+ "mp_ef": [],
185
+ "skill_type": [
186
+ "uncoordinated"
187
+ ]
188
+ },
189
+ {
190
+ "skill_idx": 7,
191
+ "skill_id": [
192
+ 4
193
+ ],
194
+ "skill_description": [
195
+ "place in"
196
+ ],
197
+ "object_id": [
198
+ [
199
+ "baseball_cap_188",
200
+ "washer_ynwamu_0"
201
+ ]
202
+ ],
203
+ "manipulating_object_id": [
204
+ "baseball_cap_188"
205
+ ],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [
208
+ 5988,
209
+ 6780
210
+ ],
211
+ "mp_ef": [],
212
+ "skill_type": [
213
+ "uncoordinated"
214
+ ]
215
+ },
216
+ {
217
+ "skill_idx": 8,
218
+ "skill_id": [
219
+ 12
220
+ ],
221
+ "skill_description": [
222
+ "close door"
223
+ ],
224
+ "object_id": [
225
+ [
226
+ "washer_ynwamu_0"
227
+ ]
228
+ ],
229
+ "manipulating_object_id": [],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 6781,
233
+ 7515
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 69
244
+ ],
245
+ "skill_description": [
246
+ "turn on switch"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 7515,
257
+ 8559
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ }
264
+ ],
265
+ "primitive_annotation": [
266
+ {
267
+ "primitive_idx": 0,
268
+ "primitive_id": [
269
+ 10
270
+ ],
271
+ "primitive_description": [
272
+ "open door"
273
+ ],
274
+ "object_id": [
275
+ [
276
+ "washer_ynwamu_0"
277
+ ]
278
+ ],
279
+ "manipulating_object_id": [],
280
+ "spatial_prefix": [],
281
+ "frame_duration": [
282
+ 0,
283
+ 2067
284
+ ],
285
+ "skill_idxes": [
286
+ 0,
287
+ 1
288
+ ]
289
+ },
290
+ {
291
+ "primitive_idx": 1,
292
+ "primitive_id": [
293
+ 2,
294
+ 4
295
+ ],
296
+ "primitive_description": [
297
+ "pick up from",
298
+ "place in"
299
+ ],
300
+ "object_id": [
301
+ [
302
+ [
303
+ "baseball_cap_189",
304
+ "baseball_cap_188"
305
+ ],
306
+ "countertop_ikwqer_0"
307
+ ],
308
+ [
309
+ [
310
+ "baseball_cap_189",
311
+ "baseball_cap_188"
312
+ ],
313
+ "washer_ynwamu_0"
314
+ ]
315
+ ],
316
+ "manipulating_object_id": [
317
+ [
318
+ "baseball_cap_189",
319
+ "baseball_cap_188"
320
+ ],
321
+ [
322
+ "baseball_cap_189",
323
+ "baseball_cap_188"
324
+ ]
325
+ ],
326
+ "spatial_prefix": [],
327
+ "frame_duration": [
328
+ 2068,
329
+ 6780
330
+ ],
331
+ "skill_idxes": [
332
+ 2,
333
+ 3,
334
+ 4,
335
+ 5,
336
+ 6,
337
+ 7
338
+ ]
339
+ },
340
+ {
341
+ "primitive_idx": 2,
342
+ "primitive_id": [
343
+ 12
344
+ ],
345
+ "primitive_description": [
346
+ "close door"
347
+ ],
348
+ "object_id": [
349
+ [
350
+ "washer_ynwamu_0"
351
+ ]
352
+ ],
353
+ "manipulating_object_id": [],
354
+ "spatial_prefix": [],
355
+ "frame_duration": [
356
+ 6781,
357
+ 7515
358
+ ],
359
+ "skill_idxes": [
360
+ 8
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 3,
365
+ "primitive_id": [
366
+ 69
367
+ ],
368
+ "primitive_description": [
369
+ "turn on switch"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "washer_ynwamu_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 7515,
380
+ 8559
381
+ ],
382
+ "skill_idxes": [
383
+ 9
384
+ ]
385
+ }
386
+ ]
387
+ }
annotations/episode_00000065.json ADDED
@@ -0,0 +1,453 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8999,
6
+ "valid_duration": [
7
+ 0,
8
+ 8999
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 556
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 556,
53
+ 2040
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2040,
77
+ 2741
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2741,
109
+ 3785
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3785,
136
+ 4060
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 93
147
+ ],
148
+ "skill_description": [
149
+ "turn to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_189",
154
+ "robot"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "baseball_cap_189"
159
+ ],
160
+ "spatial_prefix": [
161
+ [
162
+ "",
163
+ "face"
164
+ ]
165
+ ],
166
+ "frame_duration": [
167
+ 4060,
168
+ 4672
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 2
179
+ ],
180
+ "skill_description": [
181
+ "pick up from"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "baseball_cap_189",
186
+ "countertop_ikwqer_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "baseball_cap_189"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 4672,
195
+ 4900
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "washer_ynwamu_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 4900,
219
+ 5351
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 4
230
+ ],
231
+ "skill_description": [
232
+ "place in"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "baseball_cap_189",
237
+ "washer_ynwamu_0"
238
+ ]
239
+ ],
240
+ "manipulating_object_id": [
241
+ "baseball_cap_189"
242
+ ],
243
+ "spatial_prefix": [],
244
+ "frame_duration": [
245
+ 5351,
246
+ 6206
247
+ ],
248
+ "mp_ef": [],
249
+ "skill_type": [
250
+ "uncoordinated"
251
+ ]
252
+ },
253
+ {
254
+ "skill_idx": 9,
255
+ "skill_id": [
256
+ 4
257
+ ],
258
+ "skill_description": [
259
+ "place in"
260
+ ],
261
+ "object_id": [
262
+ [
263
+ "baseball_cap_188",
264
+ "washer_ynwamu_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [
268
+ "baseball_cap_188"
269
+ ],
270
+ "spatial_prefix": [],
271
+ "frame_duration": [
272
+ 6206,
273
+ 7076
274
+ ],
275
+ "mp_ef": [],
276
+ "skill_type": [
277
+ "uncoordinated"
278
+ ]
279
+ },
280
+ {
281
+ "skill_idx": 10,
282
+ "skill_id": [
283
+ 12
284
+ ],
285
+ "skill_description": [
286
+ "close door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "washer_ynwamu_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 7076,
297
+ 8107
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 69
308
+ ],
309
+ "skill_description": [
310
+ "turn on switch"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 8107,
321
+ 8999
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ }
328
+ ],
329
+ "primitive_annotation": [
330
+ {
331
+ "primitive_idx": 0,
332
+ "primitive_id": [
333
+ 10
334
+ ],
335
+ "primitive_description": [
336
+ "open door"
337
+ ],
338
+ "object_id": [
339
+ [
340
+ "washer_ynwamu_0"
341
+ ]
342
+ ],
343
+ "manipulating_object_id": [],
344
+ "spatial_prefix": [],
345
+ "frame_duration": [
346
+ 0,
347
+ 2040
348
+ ],
349
+ "skill_idxes": [
350
+ 0,
351
+ 1
352
+ ]
353
+ },
354
+ {
355
+ "primitive_idx": 1,
356
+ "primitive_id": [
357
+ 2,
358
+ 4
359
+ ],
360
+ "primitive_description": [
361
+ "pick up from",
362
+ "place in"
363
+ ],
364
+ "object_id": [
365
+ [
366
+ [
367
+ "baseball_cap_188",
368
+ "baseball_cap_189"
369
+ ],
370
+ "countertop_ikwqer_0"
371
+ ],
372
+ [
373
+ [
374
+ "baseball_cap_189",
375
+ "baseball_cap_188"
376
+ ],
377
+ "washer_ynwamu_0"
378
+ ]
379
+ ],
380
+ "manipulating_object_id": [
381
+ [
382
+ "baseball_cap_188",
383
+ "baseball_cap_189"
384
+ ],
385
+ [
386
+ "baseball_cap_189",
387
+ "baseball_cap_188"
388
+ ]
389
+ ],
390
+ "spatial_prefix": [],
391
+ "frame_duration": [
392
+ 2040,
393
+ 7076
394
+ ],
395
+ "skill_idxes": [
396
+ 2,
397
+ 3,
398
+ 4,
399
+ 5,
400
+ 6,
401
+ 7,
402
+ 8,
403
+ 9
404
+ ]
405
+ },
406
+ {
407
+ "primitive_idx": 2,
408
+ "primitive_id": [
409
+ 12
410
+ ],
411
+ "primitive_description": [
412
+ "close door"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "washer_ynwamu_0"
417
+ ]
418
+ ],
419
+ "manipulating_object_id": [],
420
+ "spatial_prefix": [],
421
+ "frame_duration": [
422
+ 7076,
423
+ 8107
424
+ ],
425
+ "skill_idxes": [
426
+ 10
427
+ ]
428
+ },
429
+ {
430
+ "primitive_idx": 3,
431
+ "primitive_id": [
432
+ 69
433
+ ],
434
+ "primitive_description": [
435
+ "turn on switch"
436
+ ],
437
+ "object_id": [
438
+ [
439
+ "washer_ynwamu_0"
440
+ ]
441
+ ],
442
+ "manipulating_object_id": [],
443
+ "spatial_prefix": [],
444
+ "frame_duration": [
445
+ 8107,
446
+ 8999
447
+ ],
448
+ "skill_idxes": [
449
+ 11
450
+ ]
451
+ }
452
+ ]
453
+ }
annotations/episode_00000066.json ADDED
@@ -0,0 +1,412 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8396,
6
+ "valid_duration": [
7
+ 0,
8
+ 8396
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 529
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 530,
53
+ 1695
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1695,
77
+ 2532
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2532,
104
+ 3237
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_188"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 3237,
128
+ 4156
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 2
139
+ ],
140
+ "skill_description": [
141
+ "pick up from"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_188",
146
+ "countertop_ikwqer_0"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_188"
151
+ ],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 4156,
155
+ 4587
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "uncoordinated"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 1
166
+ ],
167
+ "skill_description": [
168
+ "move to"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "washer_ynwamu_0"
173
+ ]
174
+ ],
175
+ "manipulating_object_id": [],
176
+ "spatial_prefix": [],
177
+ "frame_duration": [
178
+ 4587,
179
+ 5058
180
+ ],
181
+ "mp_ef": [],
182
+ "skill_type": [
183
+ "navigation"
184
+ ]
185
+ },
186
+ {
187
+ "skill_idx": 7,
188
+ "skill_id": [
189
+ 4
190
+ ],
191
+ "skill_description": [
192
+ "place in"
193
+ ],
194
+ "object_id": [
195
+ [
196
+ "baseball_cap_188",
197
+ "washer_ynwamu_0"
198
+ ]
199
+ ],
200
+ "manipulating_object_id": [
201
+ "baseball_cap_188"
202
+ ],
203
+ "spatial_prefix": [],
204
+ "frame_duration": [
205
+ 5059,
206
+ 5760
207
+ ],
208
+ "mp_ef": [],
209
+ "skill_type": [
210
+ "uncoordinated"
211
+ ]
212
+ },
213
+ {
214
+ "skill_idx": 8,
215
+ "skill_id": [
216
+ 4
217
+ ],
218
+ "skill_description": [
219
+ "place in"
220
+ ],
221
+ "object_id": [
222
+ [
223
+ "baseball_cap_189",
224
+ "washer_ynwamu_0"
225
+ ]
226
+ ],
227
+ "manipulating_object_id": [
228
+ "baseball_cap_189"
229
+ ],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 5760,
233
+ 6621
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 12
244
+ ],
245
+ "skill_description": [
246
+ "close door"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 6622,
257
+ 7535
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ },
264
+ {
265
+ "skill_idx": 10,
266
+ "skill_id": [
267
+ 69
268
+ ],
269
+ "skill_description": [
270
+ "turn on switch"
271
+ ],
272
+ "object_id": [
273
+ [
274
+ "washer_ynwamu_0"
275
+ ]
276
+ ],
277
+ "manipulating_object_id": [],
278
+ "spatial_prefix": [],
279
+ "frame_duration": [
280
+ 7535,
281
+ 8396
282
+ ],
283
+ "mp_ef": [],
284
+ "skill_type": [
285
+ "uncoordinated"
286
+ ]
287
+ }
288
+ ],
289
+ "primitive_annotation": [
290
+ {
291
+ "primitive_idx": 0,
292
+ "primitive_id": [
293
+ 10
294
+ ],
295
+ "primitive_description": [
296
+ "open door"
297
+ ],
298
+ "object_id": [
299
+ [
300
+ "washer_ynwamu_0"
301
+ ]
302
+ ],
303
+ "manipulating_object_id": [],
304
+ "spatial_prefix": [],
305
+ "frame_duration": [
306
+ 0,
307
+ 1695
308
+ ],
309
+ "skill_idxes": [
310
+ 0,
311
+ 1
312
+ ]
313
+ },
314
+ {
315
+ "primitive_idx": 1,
316
+ "primitive_id": [
317
+ 2,
318
+ 4
319
+ ],
320
+ "primitive_description": [
321
+ "pick up from",
322
+ "place in"
323
+ ],
324
+ "object_id": [
325
+ [
326
+ [
327
+ "baseball_cap_189",
328
+ "baseball_cap_188"
329
+ ],
330
+ "countertop_ikwqer_0"
331
+ ],
332
+ [
333
+ [
334
+ "baseball_cap_188",
335
+ "baseball_cap_189"
336
+ ],
337
+ "washer_ynwamu_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ [
342
+ "baseball_cap_189",
343
+ "baseball_cap_188"
344
+ ],
345
+ [
346
+ "baseball_cap_188",
347
+ "baseball_cap_189"
348
+ ]
349
+ ],
350
+ "spatial_prefix": [],
351
+ "frame_duration": [
352
+ 1695,
353
+ 6621
354
+ ],
355
+ "skill_idxes": [
356
+ 2,
357
+ 3,
358
+ 4,
359
+ 5,
360
+ 6,
361
+ 7,
362
+ 8
363
+ ]
364
+ },
365
+ {
366
+ "primitive_idx": 2,
367
+ "primitive_id": [
368
+ 12
369
+ ],
370
+ "primitive_description": [
371
+ "close door"
372
+ ],
373
+ "object_id": [
374
+ [
375
+ "washer_ynwamu_0"
376
+ ]
377
+ ],
378
+ "manipulating_object_id": [],
379
+ "spatial_prefix": [],
380
+ "frame_duration": [
381
+ 6622,
382
+ 7535
383
+ ],
384
+ "skill_idxes": [
385
+ 9
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 3,
390
+ "primitive_id": [
391
+ 69
392
+ ],
393
+ "primitive_description": [
394
+ "turn on switch"
395
+ ],
396
+ "object_id": [
397
+ [
398
+ "washer_ynwamu_0"
399
+ ]
400
+ ],
401
+ "manipulating_object_id": [],
402
+ "spatial_prefix": [],
403
+ "frame_duration": [
404
+ 7535,
405
+ 8396
406
+ ],
407
+ "skill_idxes": [
408
+ 10
409
+ ]
410
+ }
411
+ ]
412
+ }
annotations/episode_00000068.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8730,
6
+ "valid_duration": [
7
+ 0,
8
+ 8730
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 771
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 771,
53
+ 2380
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2385,
77
+ 3140
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 3141,
109
+ 3562
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3562,
136
+ 4089
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 4089,
160
+ 4225
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 2
171
+ ],
172
+ "skill_description": [
173
+ "pick up from"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_188",
178
+ "countertop_ikwqer_0"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_188"
183
+ ],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 4225,
187
+ 4547
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "uncoordinated"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 1
198
+ ],
199
+ "skill_description": [
200
+ "move to"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "washer_ynwamu_0"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [],
208
+ "spatial_prefix": [],
209
+ "frame_duration": [
210
+ 4547,
211
+ 5057
212
+ ],
213
+ "mp_ef": [],
214
+ "skill_type": [
215
+ "navigation"
216
+ ]
217
+ },
218
+ {
219
+ "skill_idx": 8,
220
+ "skill_id": [
221
+ 4
222
+ ],
223
+ "skill_description": [
224
+ "place in"
225
+ ],
226
+ "object_id": [
227
+ [
228
+ "baseball_cap_188",
229
+ "washer_ynwamu_0"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [
233
+ "baseball_cap_188"
234
+ ],
235
+ "spatial_prefix": [],
236
+ "frame_duration": [
237
+ 5057,
238
+ 5854
239
+ ],
240
+ "mp_ef": [],
241
+ "skill_type": [
242
+ "uncoordinated"
243
+ ]
244
+ },
245
+ {
246
+ "skill_idx": 9,
247
+ "skill_id": [
248
+ 4
249
+ ],
250
+ "skill_description": [
251
+ "place in"
252
+ ],
253
+ "object_id": [
254
+ [
255
+ "baseball_cap_189",
256
+ "washer_ynwamu_0"
257
+ ]
258
+ ],
259
+ "manipulating_object_id": [
260
+ "baseball_cap_189"
261
+ ],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 5854,
265
+ 7108
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 12
276
+ ],
277
+ "skill_description": [
278
+ "close door"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 7108,
289
+ 7899
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ },
296
+ {
297
+ "skill_idx": 11,
298
+ "skill_id": [
299
+ 69
300
+ ],
301
+ "skill_description": [
302
+ "turn on switch"
303
+ ],
304
+ "object_id": [
305
+ [
306
+ "washer_ynwamu_0"
307
+ ]
308
+ ],
309
+ "manipulating_object_id": [],
310
+ "spatial_prefix": [],
311
+ "frame_duration": [
312
+ 7899,
313
+ 8730
314
+ ],
315
+ "mp_ef": [],
316
+ "skill_type": [
317
+ "uncoordinated"
318
+ ]
319
+ }
320
+ ],
321
+ "primitive_annotation": [
322
+ {
323
+ "primitive_idx": 0,
324
+ "primitive_id": [
325
+ 10
326
+ ],
327
+ "primitive_description": [
328
+ "open door"
329
+ ],
330
+ "object_id": [
331
+ [
332
+ "washer_ynwamu_0"
333
+ ]
334
+ ],
335
+ "manipulating_object_id": [],
336
+ "spatial_prefix": [],
337
+ "frame_duration": [
338
+ 0,
339
+ 2380
340
+ ],
341
+ "skill_idxes": [
342
+ 0,
343
+ 1
344
+ ]
345
+ },
346
+ {
347
+ "primitive_idx": 1,
348
+ "primitive_id": [
349
+ 2,
350
+ 4
351
+ ],
352
+ "primitive_description": [
353
+ "pick up from",
354
+ "place in"
355
+ ],
356
+ "object_id": [
357
+ [
358
+ [
359
+ "baseball_cap_189",
360
+ "baseball_cap_188"
361
+ ],
362
+ "countertop_ikwqer_0"
363
+ ],
364
+ [
365
+ [
366
+ "baseball_cap_188",
367
+ "baseball_cap_189"
368
+ ],
369
+ "washer_ynwamu_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "baseball_cap_189",
375
+ "baseball_cap_188"
376
+ ],
377
+ [
378
+ "baseball_cap_188",
379
+ "baseball_cap_189"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [],
383
+ "frame_duration": [
384
+ 2385,
385
+ 7108
386
+ ],
387
+ "skill_idxes": [
388
+ 2,
389
+ 3,
390
+ 4,
391
+ 5,
392
+ 6,
393
+ 7,
394
+ 8,
395
+ 9
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 2,
400
+ "primitive_id": [
401
+ 12
402
+ ],
403
+ "primitive_description": [
404
+ "close door"
405
+ ],
406
+ "object_id": [
407
+ [
408
+ "washer_ynwamu_0"
409
+ ]
410
+ ],
411
+ "manipulating_object_id": [],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 7108,
415
+ 7899
416
+ ],
417
+ "skill_idxes": [
418
+ 10
419
+ ]
420
+ },
421
+ {
422
+ "primitive_idx": 3,
423
+ "primitive_id": [
424
+ 69
425
+ ],
426
+ "primitive_description": [
427
+ "turn on switch"
428
+ ],
429
+ "object_id": [
430
+ [
431
+ "washer_ynwamu_0"
432
+ ]
433
+ ],
434
+ "manipulating_object_id": [],
435
+ "spatial_prefix": [],
436
+ "frame_duration": [
437
+ 7899,
438
+ 8730
439
+ ],
440
+ "skill_idxes": [
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000072.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9126,
6
+ "valid_duration": [
7
+ 0,
8
+ 9126
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 408
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 408,
53
+ 2014
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2014,
77
+ 2643
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2643,
104
+ 3145
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_188"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 3145,
128
+ 3247
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 93
139
+ ],
140
+ "skill_description": [
141
+ "turn to"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_188",
146
+ "robot"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_188"
151
+ ],
152
+ "spatial_prefix": [
153
+ [
154
+ "",
155
+ "face"
156
+ ]
157
+ ],
158
+ "frame_duration": [
159
+ 3247,
160
+ 4254
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "uncoordinated"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 2
171
+ ],
172
+ "skill_description": [
173
+ "pick up from"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_188",
178
+ "countertop_ikwqer_0"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_188"
183
+ ],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 4254,
187
+ 4862
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "uncoordinated"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 1
198
+ ],
199
+ "skill_description": [
200
+ "move to"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "washer_ynwamu_0"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [],
208
+ "spatial_prefix": [],
209
+ "frame_duration": [
210
+ 4863,
211
+ 5326
212
+ ],
213
+ "mp_ef": [],
214
+ "skill_type": [
215
+ "navigation"
216
+ ]
217
+ },
218
+ {
219
+ "skill_idx": 8,
220
+ "skill_id": [
221
+ 4
222
+ ],
223
+ "skill_description": [
224
+ "place in"
225
+ ],
226
+ "object_id": [
227
+ [
228
+ "baseball_cap_188",
229
+ "washer_ynwamu_0"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [
233
+ "baseball_cap_188"
234
+ ],
235
+ "spatial_prefix": [],
236
+ "frame_duration": [
237
+ 5326,
238
+ 6228
239
+ ],
240
+ "mp_ef": [],
241
+ "skill_type": [
242
+ "uncoordinated"
243
+ ]
244
+ },
245
+ {
246
+ "skill_idx": 9,
247
+ "skill_id": [
248
+ 4
249
+ ],
250
+ "skill_description": [
251
+ "place in"
252
+ ],
253
+ "object_id": [
254
+ [
255
+ "baseball_cap_189",
256
+ "washer_ynwamu_0"
257
+ ]
258
+ ],
259
+ "manipulating_object_id": [
260
+ "baseball_cap_189"
261
+ ],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 6228,
265
+ 7146
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 12
276
+ ],
277
+ "skill_description": [
278
+ "close door"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 7146,
289
+ 8084
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ },
296
+ {
297
+ "skill_idx": 11,
298
+ "skill_id": [
299
+ 69
300
+ ],
301
+ "skill_description": [
302
+ "turn on switch"
303
+ ],
304
+ "object_id": [
305
+ [
306
+ "washer_ynwamu_0"
307
+ ]
308
+ ],
309
+ "manipulating_object_id": [],
310
+ "spatial_prefix": [],
311
+ "frame_duration": [
312
+ 8084,
313
+ 9126
314
+ ],
315
+ "mp_ef": [],
316
+ "skill_type": [
317
+ "uncoordinated"
318
+ ]
319
+ }
320
+ ],
321
+ "primitive_annotation": [
322
+ {
323
+ "primitive_idx": 0,
324
+ "primitive_id": [
325
+ 10
326
+ ],
327
+ "primitive_description": [
328
+ "open door"
329
+ ],
330
+ "object_id": [
331
+ [
332
+ "washer_ynwamu_0"
333
+ ]
334
+ ],
335
+ "manipulating_object_id": [],
336
+ "spatial_prefix": [],
337
+ "frame_duration": [
338
+ 0,
339
+ 2014
340
+ ],
341
+ "skill_idxes": [
342
+ 0,
343
+ 1
344
+ ]
345
+ },
346
+ {
347
+ "primitive_idx": 1,
348
+ "primitive_id": [
349
+ 2,
350
+ 4
351
+ ],
352
+ "primitive_description": [
353
+ "pick up from",
354
+ "place in"
355
+ ],
356
+ "object_id": [
357
+ [
358
+ [
359
+ "baseball_cap_189",
360
+ "baseball_cap_188"
361
+ ],
362
+ "countertop_ikwqer_0"
363
+ ],
364
+ [
365
+ [
366
+ "baseball_cap_188",
367
+ "baseball_cap_189"
368
+ ],
369
+ "washer_ynwamu_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "baseball_cap_189",
375
+ "baseball_cap_188"
376
+ ],
377
+ [
378
+ "baseball_cap_188",
379
+ "baseball_cap_189"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [],
383
+ "frame_duration": [
384
+ 2014,
385
+ 7146
386
+ ],
387
+ "skill_idxes": [
388
+ 2,
389
+ 3,
390
+ 4,
391
+ 5,
392
+ 6,
393
+ 7,
394
+ 8,
395
+ 9
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 2,
400
+ "primitive_id": [
401
+ 12
402
+ ],
403
+ "primitive_description": [
404
+ "close door"
405
+ ],
406
+ "object_id": [
407
+ [
408
+ "washer_ynwamu_0"
409
+ ]
410
+ ],
411
+ "manipulating_object_id": [],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 7146,
415
+ 8084
416
+ ],
417
+ "skill_idxes": [
418
+ 10
419
+ ]
420
+ },
421
+ {
422
+ "primitive_idx": 3,
423
+ "primitive_id": [
424
+ 69
425
+ ],
426
+ "primitive_description": [
427
+ "turn on switch"
428
+ ],
429
+ "object_id": [
430
+ [
431
+ "washer_ynwamu_0"
432
+ ]
433
+ ],
434
+ "manipulating_object_id": [],
435
+ "spatial_prefix": [],
436
+ "frame_duration": [
437
+ 8084,
438
+ 9126
439
+ ],
440
+ "skill_idxes": [
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000073.json ADDED
@@ -0,0 +1,420 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8556,
6
+ "valid_duration": [
7
+ 0,
8
+ 8556
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 165
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 165,
53
+ 1611
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1611,
77
+ 2402
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2402,
109
+ 3389
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3390,
136
+ 3852
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 2
147
+ ],
148
+ "skill_description": [
149
+ "pick up from"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188",
154
+ "countertop_ikwqer_0"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "baseball_cap_188"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 3852,
163
+ 4321
164
+ ],
165
+ "mp_ef": [],
166
+ "skill_type": [
167
+ "uncoordinated"
168
+ ]
169
+ },
170
+ {
171
+ "skill_idx": 6,
172
+ "skill_id": [
173
+ 1
174
+ ],
175
+ "skill_description": [
176
+ "move to"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "washer_ynwamu_0"
181
+ ]
182
+ ],
183
+ "manipulating_object_id": [],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 4321,
187
+ 4832
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "navigation"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 4
198
+ ],
199
+ "skill_description": [
200
+ "place in"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "baseball_cap_188",
205
+ "washer_ynwamu_0"
206
+ ]
207
+ ],
208
+ "manipulating_object_id": [
209
+ "baseball_cap_188"
210
+ ],
211
+ "spatial_prefix": [],
212
+ "frame_duration": [
213
+ 4832,
214
+ 5561
215
+ ],
216
+ "mp_ef": [],
217
+ "skill_type": [
218
+ "uncoordinated"
219
+ ]
220
+ },
221
+ {
222
+ "skill_idx": 8,
223
+ "skill_id": [
224
+ 4
225
+ ],
226
+ "skill_description": [
227
+ "place in"
228
+ ],
229
+ "object_id": [
230
+ [
231
+ "baseball_cap_189",
232
+ "washer_ynwamu_0"
233
+ ]
234
+ ],
235
+ "manipulating_object_id": [
236
+ "baseball_cap_189"
237
+ ],
238
+ "spatial_prefix": [],
239
+ "frame_duration": [
240
+ 5561,
241
+ 6689
242
+ ],
243
+ "mp_ef": [],
244
+ "skill_type": [
245
+ "uncoordinated"
246
+ ]
247
+ },
248
+ {
249
+ "skill_idx": 9,
250
+ "skill_id": [
251
+ 12
252
+ ],
253
+ "skill_description": [
254
+ "close door"
255
+ ],
256
+ "object_id": [
257
+ [
258
+ "washer_ynwamu_0"
259
+ ]
260
+ ],
261
+ "manipulating_object_id": [],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 6689,
265
+ 7527
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 69
276
+ ],
277
+ "skill_description": [
278
+ "turn on switch"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 7527,
289
+ 8556
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ }
296
+ ],
297
+ "primitive_annotation": [
298
+ {
299
+ "primitive_idx": 0,
300
+ "primitive_id": [
301
+ 10
302
+ ],
303
+ "primitive_description": [
304
+ "open door"
305
+ ],
306
+ "object_id": [
307
+ [
308
+ "washer_ynwamu_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [],
312
+ "spatial_prefix": [],
313
+ "frame_duration": [
314
+ 0,
315
+ 1611
316
+ ],
317
+ "skill_idxes": [
318
+ 0,
319
+ 1
320
+ ]
321
+ },
322
+ {
323
+ "primitive_idx": 1,
324
+ "primitive_id": [
325
+ 2,
326
+ 4
327
+ ],
328
+ "primitive_description": [
329
+ "pick up from",
330
+ "place in"
331
+ ],
332
+ "object_id": [
333
+ [
334
+ [
335
+ "baseball_cap_189",
336
+ "baseball_cap_188"
337
+ ],
338
+ "countertop_ikwqer_0"
339
+ ],
340
+ [
341
+ [
342
+ "baseball_cap_188",
343
+ "baseball_cap_189"
344
+ ],
345
+ "washer_ynwamu_0"
346
+ ]
347
+ ],
348
+ "manipulating_object_id": [
349
+ [
350
+ "baseball_cap_189",
351
+ "baseball_cap_188"
352
+ ],
353
+ [
354
+ "baseball_cap_188",
355
+ "baseball_cap_189"
356
+ ]
357
+ ],
358
+ "spatial_prefix": [],
359
+ "frame_duration": [
360
+ 1611,
361
+ 6689
362
+ ],
363
+ "skill_idxes": [
364
+ 2,
365
+ 3,
366
+ 4,
367
+ 5,
368
+ 6,
369
+ 7,
370
+ 8
371
+ ]
372
+ },
373
+ {
374
+ "primitive_idx": 2,
375
+ "primitive_id": [
376
+ 12
377
+ ],
378
+ "primitive_description": [
379
+ "close door"
380
+ ],
381
+ "object_id": [
382
+ [
383
+ "washer_ynwamu_0"
384
+ ]
385
+ ],
386
+ "manipulating_object_id": [],
387
+ "spatial_prefix": [],
388
+ "frame_duration": [
389
+ 6689,
390
+ 7527
391
+ ],
392
+ "skill_idxes": [
393
+ 9
394
+ ]
395
+ },
396
+ {
397
+ "primitive_idx": 3,
398
+ "primitive_id": [
399
+ 69
400
+ ],
401
+ "primitive_description": [
402
+ "turn on switch"
403
+ ],
404
+ "object_id": [
405
+ [
406
+ "washer_ynwamu_0"
407
+ ]
408
+ ],
409
+ "manipulating_object_id": [],
410
+ "spatial_prefix": [],
411
+ "frame_duration": [
412
+ 7527,
413
+ 8556
414
+ ],
415
+ "skill_idxes": [
416
+ 10
417
+ ]
418
+ }
419
+ ]
420
+ }
annotations/episode_00000074.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9339,
6
+ "valid_duration": [
7
+ 0,
8
+ 9339
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 547
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 547,
53
+ 2041
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2041,
77
+ 3079
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 3079,
109
+ 3669
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3669,
136
+ 4110
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 4111,
160
+ 4878
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 2
171
+ ],
172
+ "skill_description": [
173
+ "pick up from"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_188",
178
+ "countertop_ikwqer_0"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_188"
183
+ ],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 4879,
187
+ 5300
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "uncoordinated"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 1
198
+ ],
199
+ "skill_description": [
200
+ "move to"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "washer_ynwamu_0"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [],
208
+ "spatial_prefix": [],
209
+ "frame_duration": [
210
+ 5300,
211
+ 5696
212
+ ],
213
+ "mp_ef": [],
214
+ "skill_type": [
215
+ "navigation"
216
+ ]
217
+ },
218
+ {
219
+ "skill_idx": 8,
220
+ "skill_id": [
221
+ 4
222
+ ],
223
+ "skill_description": [
224
+ "place in"
225
+ ],
226
+ "object_id": [
227
+ [
228
+ "baseball_cap_188",
229
+ "washer_ynwamu_0"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [
233
+ "baseball_cap_188"
234
+ ],
235
+ "spatial_prefix": [],
236
+ "frame_duration": [
237
+ 5696,
238
+ 6500
239
+ ],
240
+ "mp_ef": [],
241
+ "skill_type": [
242
+ "uncoordinated"
243
+ ]
244
+ },
245
+ {
246
+ "skill_idx": 9,
247
+ "skill_id": [
248
+ 4
249
+ ],
250
+ "skill_description": [
251
+ "place in"
252
+ ],
253
+ "object_id": [
254
+ [
255
+ "baseball_cap_189",
256
+ "washer_ynwamu_0"
257
+ ]
258
+ ],
259
+ "manipulating_object_id": [
260
+ "baseball_cap_189"
261
+ ],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 6500,
265
+ 7457
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 12
276
+ ],
277
+ "skill_description": [
278
+ "close door"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 7457,
289
+ 8289
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ },
296
+ {
297
+ "skill_idx": 11,
298
+ "skill_id": [
299
+ 69
300
+ ],
301
+ "skill_description": [
302
+ "turn on switch"
303
+ ],
304
+ "object_id": [
305
+ [
306
+ "washer_ynwamu_0"
307
+ ]
308
+ ],
309
+ "manipulating_object_id": [],
310
+ "spatial_prefix": [],
311
+ "frame_duration": [
312
+ 8289,
313
+ 9339
314
+ ],
315
+ "mp_ef": [],
316
+ "skill_type": [
317
+ "uncoordinated"
318
+ ]
319
+ }
320
+ ],
321
+ "primitive_annotation": [
322
+ {
323
+ "primitive_idx": 0,
324
+ "primitive_id": [
325
+ 10
326
+ ],
327
+ "primitive_description": [
328
+ "open door"
329
+ ],
330
+ "object_id": [
331
+ [
332
+ "washer_ynwamu_0"
333
+ ]
334
+ ],
335
+ "manipulating_object_id": [],
336
+ "spatial_prefix": [],
337
+ "frame_duration": [
338
+ 0,
339
+ 2041
340
+ ],
341
+ "skill_idxes": [
342
+ 0,
343
+ 1
344
+ ]
345
+ },
346
+ {
347
+ "primitive_idx": 1,
348
+ "primitive_id": [
349
+ 2,
350
+ 4
351
+ ],
352
+ "primitive_description": [
353
+ "pick up from",
354
+ "place in"
355
+ ],
356
+ "object_id": [
357
+ [
358
+ [
359
+ "baseball_cap_189",
360
+ "baseball_cap_188"
361
+ ],
362
+ "countertop_ikwqer_0"
363
+ ],
364
+ [
365
+ [
366
+ "baseball_cap_188",
367
+ "baseball_cap_189"
368
+ ],
369
+ "washer_ynwamu_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "baseball_cap_189",
375
+ "baseball_cap_188"
376
+ ],
377
+ [
378
+ "baseball_cap_188",
379
+ "baseball_cap_189"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [],
383
+ "frame_duration": [
384
+ 2041,
385
+ 7457
386
+ ],
387
+ "skill_idxes": [
388
+ 2,
389
+ 3,
390
+ 4,
391
+ 5,
392
+ 6,
393
+ 7,
394
+ 8,
395
+ 9
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 2,
400
+ "primitive_id": [
401
+ 12
402
+ ],
403
+ "primitive_description": [
404
+ "close door"
405
+ ],
406
+ "object_id": [
407
+ [
408
+ "washer_ynwamu_0"
409
+ ]
410
+ ],
411
+ "manipulating_object_id": [],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 7457,
415
+ 8289
416
+ ],
417
+ "skill_idxes": [
418
+ 10
419
+ ]
420
+ },
421
+ {
422
+ "primitive_idx": 3,
423
+ "primitive_id": [
424
+ 69
425
+ ],
426
+ "primitive_description": [
427
+ "turn on switch"
428
+ ],
429
+ "object_id": [
430
+ [
431
+ "washer_ynwamu_0"
432
+ ]
433
+ ],
434
+ "manipulating_object_id": [],
435
+ "spatial_prefix": [],
436
+ "frame_duration": [
437
+ 8289,
438
+ 9339
439
+ ],
440
+ "skill_idxes": [
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000075.json ADDED
@@ -0,0 +1,453 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8814,
6
+ "valid_duration": [
7
+ 0,
8
+ 8814
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 521
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 521,
53
+ 1761
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1761,
77
+ 2716
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2716,
109
+ 3239
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 93
120
+ ],
121
+ "skill_description": [
122
+ "turn to"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "robot"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [
134
+ [
135
+ "",
136
+ "face"
137
+ ]
138
+ ],
139
+ "frame_duration": [
140
+ 3239,
141
+ 3775
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "uncoordinated"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 2
152
+ ],
153
+ "skill_description": [
154
+ "pick up from"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "baseball_cap_188",
159
+ "countertop_ikwqer_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "baseball_cap_188"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 3776,
168
+ 4128
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 2
179
+ ],
180
+ "skill_description": [
181
+ "pick up from"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "baseball_cap_189",
186
+ "countertop_ikwqer_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "baseball_cap_189"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 4128,
195
+ 4515
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "washer_ynwamu_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 4515,
219
+ 5105
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 4
230
+ ],
231
+ "skill_description": [
232
+ "place in"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "baseball_cap_189",
237
+ "washer_ynwamu_0"
238
+ ]
239
+ ],
240
+ "manipulating_object_id": [
241
+ "baseball_cap_189"
242
+ ],
243
+ "spatial_prefix": [],
244
+ "frame_duration": [
245
+ 5106,
246
+ 6045
247
+ ],
248
+ "mp_ef": [],
249
+ "skill_type": [
250
+ "uncoordinated"
251
+ ]
252
+ },
253
+ {
254
+ "skill_idx": 9,
255
+ "skill_id": [
256
+ 4
257
+ ],
258
+ "skill_description": [
259
+ "place in"
260
+ ],
261
+ "object_id": [
262
+ [
263
+ "baseball_cap_188",
264
+ "washer_ynwamu_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [
268
+ "baseball_cap_188"
269
+ ],
270
+ "spatial_prefix": [],
271
+ "frame_duration": [
272
+ 6046,
273
+ 6987
274
+ ],
275
+ "mp_ef": [],
276
+ "skill_type": [
277
+ "uncoordinated"
278
+ ]
279
+ },
280
+ {
281
+ "skill_idx": 10,
282
+ "skill_id": [
283
+ 12
284
+ ],
285
+ "skill_description": [
286
+ "close door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "washer_ynwamu_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 6987,
297
+ 7802
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 69
308
+ ],
309
+ "skill_description": [
310
+ "turn on switch"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 7802,
321
+ 8814
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ }
328
+ ],
329
+ "primitive_annotation": [
330
+ {
331
+ "primitive_idx": 0,
332
+ "primitive_id": [
333
+ 10
334
+ ],
335
+ "primitive_description": [
336
+ "open door"
337
+ ],
338
+ "object_id": [
339
+ [
340
+ "washer_ynwamu_0"
341
+ ]
342
+ ],
343
+ "manipulating_object_id": [],
344
+ "spatial_prefix": [],
345
+ "frame_duration": [
346
+ 0,
347
+ 1761
348
+ ],
349
+ "skill_idxes": [
350
+ 0,
351
+ 1
352
+ ]
353
+ },
354
+ {
355
+ "primitive_idx": 1,
356
+ "primitive_id": [
357
+ 2,
358
+ 4
359
+ ],
360
+ "primitive_description": [
361
+ "pick up from",
362
+ "place in"
363
+ ],
364
+ "object_id": [
365
+ [
366
+ [
367
+ "baseball_cap_188",
368
+ "baseball_cap_189"
369
+ ],
370
+ "countertop_ikwqer_0"
371
+ ],
372
+ [
373
+ [
374
+ "baseball_cap_189",
375
+ "baseball_cap_188"
376
+ ],
377
+ "washer_ynwamu_0"
378
+ ]
379
+ ],
380
+ "manipulating_object_id": [
381
+ [
382
+ "baseball_cap_188",
383
+ "baseball_cap_189"
384
+ ],
385
+ [
386
+ "baseball_cap_189",
387
+ "baseball_cap_188"
388
+ ]
389
+ ],
390
+ "spatial_prefix": [],
391
+ "frame_duration": [
392
+ 1761,
393
+ 6987
394
+ ],
395
+ "skill_idxes": [
396
+ 2,
397
+ 3,
398
+ 4,
399
+ 5,
400
+ 6,
401
+ 7,
402
+ 8,
403
+ 9
404
+ ]
405
+ },
406
+ {
407
+ "primitive_idx": 2,
408
+ "primitive_id": [
409
+ 12
410
+ ],
411
+ "primitive_description": [
412
+ "close door"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "washer_ynwamu_0"
417
+ ]
418
+ ],
419
+ "manipulating_object_id": [],
420
+ "spatial_prefix": [],
421
+ "frame_duration": [
422
+ 6987,
423
+ 7802
424
+ ],
425
+ "skill_idxes": [
426
+ 10
427
+ ]
428
+ },
429
+ {
430
+ "primitive_idx": 3,
431
+ "primitive_id": [
432
+ 69
433
+ ],
434
+ "primitive_description": [
435
+ "turn on switch"
436
+ ],
437
+ "object_id": [
438
+ [
439
+ "washer_ynwamu_0"
440
+ ]
441
+ ],
442
+ "manipulating_object_id": [],
443
+ "spatial_prefix": [],
444
+ "frame_duration": [
445
+ 7802,
446
+ 8814
447
+ ],
448
+ "skill_idxes": [
449
+ 11
450
+ ]
451
+ }
452
+ ]
453
+ }
annotations/episode_00000077.json ADDED
@@ -0,0 +1,412 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8411,
6
+ "valid_duration": [
7
+ 0,
8
+ 8411
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 649
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 649,
53
+ 1842
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1842,
77
+ 2815
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2815,
104
+ 3480
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 3480,
128
+ 4146
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 2
139
+ ],
140
+ "skill_description": [
141
+ "pick up from"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_189",
146
+ "countertop_ikwqer_0"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_189"
151
+ ],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 4146,
155
+ 4793
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "uncoordinated"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 1
166
+ ],
167
+ "skill_description": [
168
+ "move to"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "washer_ynwamu_0"
173
+ ]
174
+ ],
175
+ "manipulating_object_id": [],
176
+ "spatial_prefix": [],
177
+ "frame_duration": [
178
+ 4793,
179
+ 5248
180
+ ],
181
+ "mp_ef": [],
182
+ "skill_type": [
183
+ "navigation"
184
+ ]
185
+ },
186
+ {
187
+ "skill_idx": 7,
188
+ "skill_id": [
189
+ 4
190
+ ],
191
+ "skill_description": [
192
+ "place in"
193
+ ],
194
+ "object_id": [
195
+ [
196
+ "baseball_cap_189",
197
+ "washer_ynwamu_0"
198
+ ]
199
+ ],
200
+ "manipulating_object_id": [
201
+ "baseball_cap_189"
202
+ ],
203
+ "spatial_prefix": [],
204
+ "frame_duration": [
205
+ 5248,
206
+ 5991
207
+ ],
208
+ "mp_ef": [],
209
+ "skill_type": [
210
+ "uncoordinated"
211
+ ]
212
+ },
213
+ {
214
+ "skill_idx": 8,
215
+ "skill_id": [
216
+ 4
217
+ ],
218
+ "skill_description": [
219
+ "place in"
220
+ ],
221
+ "object_id": [
222
+ [
223
+ "baseball_cap_188",
224
+ "washer_ynwamu_0"
225
+ ]
226
+ ],
227
+ "manipulating_object_id": [
228
+ "baseball_cap_188"
229
+ ],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 5991,
233
+ 6972
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 12
244
+ ],
245
+ "skill_description": [
246
+ "close door"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 6972,
257
+ 7867
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ },
264
+ {
265
+ "skill_idx": 10,
266
+ "skill_id": [
267
+ 69
268
+ ],
269
+ "skill_description": [
270
+ "turn on switch"
271
+ ],
272
+ "object_id": [
273
+ [
274
+ "washer_ynwamu_0"
275
+ ]
276
+ ],
277
+ "manipulating_object_id": [],
278
+ "spatial_prefix": [],
279
+ "frame_duration": [
280
+ 7867,
281
+ 8411
282
+ ],
283
+ "mp_ef": [],
284
+ "skill_type": [
285
+ "uncoordinated"
286
+ ]
287
+ }
288
+ ],
289
+ "primitive_annotation": [
290
+ {
291
+ "primitive_idx": 0,
292
+ "primitive_id": [
293
+ 10
294
+ ],
295
+ "primitive_description": [
296
+ "open door"
297
+ ],
298
+ "object_id": [
299
+ [
300
+ "washer_ynwamu_0"
301
+ ]
302
+ ],
303
+ "manipulating_object_id": [],
304
+ "spatial_prefix": [],
305
+ "frame_duration": [
306
+ 0,
307
+ 1842
308
+ ],
309
+ "skill_idxes": [
310
+ 0,
311
+ 1
312
+ ]
313
+ },
314
+ {
315
+ "primitive_idx": 1,
316
+ "primitive_id": [
317
+ 2,
318
+ 4
319
+ ],
320
+ "primitive_description": [
321
+ "pick up from",
322
+ "place in"
323
+ ],
324
+ "object_id": [
325
+ [
326
+ [
327
+ "baseball_cap_188",
328
+ "baseball_cap_189"
329
+ ],
330
+ "countertop_ikwqer_0"
331
+ ],
332
+ [
333
+ [
334
+ "baseball_cap_189",
335
+ "baseball_cap_188"
336
+ ],
337
+ "washer_ynwamu_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ [
342
+ "baseball_cap_188",
343
+ "baseball_cap_189"
344
+ ],
345
+ [
346
+ "baseball_cap_189",
347
+ "baseball_cap_188"
348
+ ]
349
+ ],
350
+ "spatial_prefix": [],
351
+ "frame_duration": [
352
+ 1842,
353
+ 6972
354
+ ],
355
+ "skill_idxes": [
356
+ 2,
357
+ 3,
358
+ 4,
359
+ 5,
360
+ 6,
361
+ 7,
362
+ 8
363
+ ]
364
+ },
365
+ {
366
+ "primitive_idx": 2,
367
+ "primitive_id": [
368
+ 12
369
+ ],
370
+ "primitive_description": [
371
+ "close door"
372
+ ],
373
+ "object_id": [
374
+ [
375
+ "washer_ynwamu_0"
376
+ ]
377
+ ],
378
+ "manipulating_object_id": [],
379
+ "spatial_prefix": [],
380
+ "frame_duration": [
381
+ 6972,
382
+ 7867
383
+ ],
384
+ "skill_idxes": [
385
+ 9
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 3,
390
+ "primitive_id": [
391
+ 69
392
+ ],
393
+ "primitive_description": [
394
+ "turn on switch"
395
+ ],
396
+ "object_id": [
397
+ [
398
+ "washer_ynwamu_0"
399
+ ]
400
+ ],
401
+ "manipulating_object_id": [],
402
+ "spatial_prefix": [],
403
+ "frame_duration": [
404
+ 7867,
405
+ 8411
406
+ ],
407
+ "skill_idxes": [
408
+ 10
409
+ ]
410
+ }
411
+ ]
412
+ }
annotations/episode_00000078.json ADDED
@@ -0,0 +1,387 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7389,
6
+ "valid_duration": [
7
+ 0,
8
+ 7389
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 774
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 774,
53
+ 1911
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1911,
77
+ 2608
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2609,
104
+ 3018
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 2
115
+ ],
116
+ "skill_description": [
117
+ "pick up from"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189",
122
+ "countertop_ikwqer_0"
123
+ ]
124
+ ],
125
+ "manipulating_object_id": [
126
+ "baseball_cap_189"
127
+ ],
128
+ "spatial_prefix": [],
129
+ "frame_duration": [
130
+ 3018,
131
+ 3327
132
+ ],
133
+ "mp_ef": [],
134
+ "skill_type": [
135
+ "uncoordinated"
136
+ ]
137
+ },
138
+ {
139
+ "skill_idx": 5,
140
+ "skill_id": [
141
+ 1
142
+ ],
143
+ "skill_description": [
144
+ "move to"
145
+ ],
146
+ "object_id": [
147
+ [
148
+ "washer_ynwamu_0"
149
+ ]
150
+ ],
151
+ "manipulating_object_id": [],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 3327,
155
+ 3850
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "navigation"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 4
166
+ ],
167
+ "skill_description": [
168
+ "place in"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "baseball_cap_189",
173
+ "washer_ynwamu_0"
174
+ ]
175
+ ],
176
+ "manipulating_object_id": [
177
+ "baseball_cap_189"
178
+ ],
179
+ "spatial_prefix": [],
180
+ "frame_duration": [
181
+ 3851,
182
+ 4646
183
+ ],
184
+ "mp_ef": [],
185
+ "skill_type": [
186
+ "uncoordinated"
187
+ ]
188
+ },
189
+ {
190
+ "skill_idx": 7,
191
+ "skill_id": [
192
+ 4
193
+ ],
194
+ "skill_description": [
195
+ "place in"
196
+ ],
197
+ "object_id": [
198
+ [
199
+ "baseball_cap_188",
200
+ "washer_ynwamu_0"
201
+ ]
202
+ ],
203
+ "manipulating_object_id": [
204
+ "baseball_cap_188"
205
+ ],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [
208
+ 4646,
209
+ 5722
210
+ ],
211
+ "mp_ef": [],
212
+ "skill_type": [
213
+ "uncoordinated"
214
+ ]
215
+ },
216
+ {
217
+ "skill_idx": 8,
218
+ "skill_id": [
219
+ 12
220
+ ],
221
+ "skill_description": [
222
+ "close door"
223
+ ],
224
+ "object_id": [
225
+ [
226
+ "washer_ynwamu_0"
227
+ ]
228
+ ],
229
+ "manipulating_object_id": [],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 5723,
233
+ 6501
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 69
244
+ ],
245
+ "skill_description": [
246
+ "turn on switch"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 6501,
257
+ 7389
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ }
264
+ ],
265
+ "primitive_annotation": [
266
+ {
267
+ "primitive_idx": 0,
268
+ "primitive_id": [
269
+ 10
270
+ ],
271
+ "primitive_description": [
272
+ "open door"
273
+ ],
274
+ "object_id": [
275
+ [
276
+ "washer_ynwamu_0"
277
+ ]
278
+ ],
279
+ "manipulating_object_id": [],
280
+ "spatial_prefix": [],
281
+ "frame_duration": [
282
+ 0,
283
+ 1911
284
+ ],
285
+ "skill_idxes": [
286
+ 0,
287
+ 1
288
+ ]
289
+ },
290
+ {
291
+ "primitive_idx": 1,
292
+ "primitive_id": [
293
+ 2,
294
+ 4
295
+ ],
296
+ "primitive_description": [
297
+ "pick up from",
298
+ "place in"
299
+ ],
300
+ "object_id": [
301
+ [
302
+ [
303
+ "baseball_cap_188",
304
+ "baseball_cap_189"
305
+ ],
306
+ "countertop_ikwqer_0"
307
+ ],
308
+ [
309
+ [
310
+ "baseball_cap_189",
311
+ "baseball_cap_188"
312
+ ],
313
+ "washer_ynwamu_0"
314
+ ]
315
+ ],
316
+ "manipulating_object_id": [
317
+ [
318
+ "baseball_cap_188",
319
+ "baseball_cap_189"
320
+ ],
321
+ [
322
+ "baseball_cap_189",
323
+ "baseball_cap_188"
324
+ ]
325
+ ],
326
+ "spatial_prefix": [],
327
+ "frame_duration": [
328
+ 1911,
329
+ 5722
330
+ ],
331
+ "skill_idxes": [
332
+ 2,
333
+ 3,
334
+ 4,
335
+ 5,
336
+ 6,
337
+ 7
338
+ ]
339
+ },
340
+ {
341
+ "primitive_idx": 2,
342
+ "primitive_id": [
343
+ 12
344
+ ],
345
+ "primitive_description": [
346
+ "close door"
347
+ ],
348
+ "object_id": [
349
+ [
350
+ "washer_ynwamu_0"
351
+ ]
352
+ ],
353
+ "manipulating_object_id": [],
354
+ "spatial_prefix": [],
355
+ "frame_duration": [
356
+ 5723,
357
+ 6501
358
+ ],
359
+ "skill_idxes": [
360
+ 8
361
+ ]
362
+ },
363
+ {
364
+ "primitive_idx": 3,
365
+ "primitive_id": [
366
+ 69
367
+ ],
368
+ "primitive_description": [
369
+ "turn on switch"
370
+ ],
371
+ "object_id": [
372
+ [
373
+ "washer_ynwamu_0"
374
+ ]
375
+ ],
376
+ "manipulating_object_id": [],
377
+ "spatial_prefix": [],
378
+ "frame_duration": [
379
+ 6501,
380
+ 7389
381
+ ],
382
+ "skill_idxes": [
383
+ 9
384
+ ]
385
+ }
386
+ ]
387
+ }
annotations/episode_00000079.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 10707,
6
+ "valid_duration": [
7
+ 0,
8
+ 10707
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 525
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 525,
53
+ 1935
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1935,
77
+ 2890
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2890,
109
+ 5040
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 5040,
136
+ 5459
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 5459,
160
+ 6283
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 2
171
+ ],
172
+ "skill_description": [
173
+ "pick up from"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_188",
178
+ "countertop_ikwqer_0"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_188"
183
+ ],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 6283,
187
+ 6688
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "uncoordinated"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 1
198
+ ],
199
+ "skill_description": [
200
+ "move to"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "washer_ynwamu_0"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [],
208
+ "spatial_prefix": [],
209
+ "frame_duration": [
210
+ 6688,
211
+ 7107
212
+ ],
213
+ "mp_ef": [],
214
+ "skill_type": [
215
+ "navigation"
216
+ ]
217
+ },
218
+ {
219
+ "skill_idx": 8,
220
+ "skill_id": [
221
+ 4
222
+ ],
223
+ "skill_description": [
224
+ "place in"
225
+ ],
226
+ "object_id": [
227
+ [
228
+ "baseball_cap_188",
229
+ "washer_ynwamu_0"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [
233
+ "baseball_cap_188"
234
+ ],
235
+ "spatial_prefix": [],
236
+ "frame_duration": [
237
+ 7107,
238
+ 7971
239
+ ],
240
+ "mp_ef": [],
241
+ "skill_type": [
242
+ "uncoordinated"
243
+ ]
244
+ },
245
+ {
246
+ "skill_idx": 9,
247
+ "skill_id": [
248
+ 4
249
+ ],
250
+ "skill_description": [
251
+ "place in"
252
+ ],
253
+ "object_id": [
254
+ [
255
+ "baseball_cap_189",
256
+ "washer_ynwamu_0"
257
+ ]
258
+ ],
259
+ "manipulating_object_id": [
260
+ "baseball_cap_189"
261
+ ],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 7971,
265
+ 8936
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 12
276
+ ],
277
+ "skill_description": [
278
+ "close door"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 8936,
289
+ 9748
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ },
296
+ {
297
+ "skill_idx": 11,
298
+ "skill_id": [
299
+ 69
300
+ ],
301
+ "skill_description": [
302
+ "turn on switch"
303
+ ],
304
+ "object_id": [
305
+ [
306
+ "washer_ynwamu_0"
307
+ ]
308
+ ],
309
+ "manipulating_object_id": [],
310
+ "spatial_prefix": [],
311
+ "frame_duration": [
312
+ 9748,
313
+ 10707
314
+ ],
315
+ "mp_ef": [],
316
+ "skill_type": [
317
+ "uncoordinated"
318
+ ]
319
+ }
320
+ ],
321
+ "primitive_annotation": [
322
+ {
323
+ "primitive_idx": 0,
324
+ "primitive_id": [
325
+ 10
326
+ ],
327
+ "primitive_description": [
328
+ "open door"
329
+ ],
330
+ "object_id": [
331
+ [
332
+ "washer_ynwamu_0"
333
+ ]
334
+ ],
335
+ "manipulating_object_id": [],
336
+ "spatial_prefix": [],
337
+ "frame_duration": [
338
+ 0,
339
+ 1935
340
+ ],
341
+ "skill_idxes": [
342
+ 0,
343
+ 1
344
+ ]
345
+ },
346
+ {
347
+ "primitive_idx": 1,
348
+ "primitive_id": [
349
+ 2,
350
+ 4
351
+ ],
352
+ "primitive_description": [
353
+ "pick up from",
354
+ "place in"
355
+ ],
356
+ "object_id": [
357
+ [
358
+ [
359
+ "baseball_cap_189",
360
+ "baseball_cap_188"
361
+ ],
362
+ "countertop_ikwqer_0"
363
+ ],
364
+ [
365
+ [
366
+ "baseball_cap_188",
367
+ "baseball_cap_189"
368
+ ],
369
+ "washer_ynwamu_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "baseball_cap_189",
375
+ "baseball_cap_188"
376
+ ],
377
+ [
378
+ "baseball_cap_188",
379
+ "baseball_cap_189"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [],
383
+ "frame_duration": [
384
+ 1935,
385
+ 8936
386
+ ],
387
+ "skill_idxes": [
388
+ 2,
389
+ 3,
390
+ 4,
391
+ 5,
392
+ 6,
393
+ 7,
394
+ 8,
395
+ 9
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 2,
400
+ "primitive_id": [
401
+ 12
402
+ ],
403
+ "primitive_description": [
404
+ "close door"
405
+ ],
406
+ "object_id": [
407
+ [
408
+ "washer_ynwamu_0"
409
+ ]
410
+ ],
411
+ "manipulating_object_id": [],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 8936,
415
+ 9748
416
+ ],
417
+ "skill_idxes": [
418
+ 10
419
+ ]
420
+ },
421
+ {
422
+ "primitive_idx": 3,
423
+ "primitive_id": [
424
+ 69
425
+ ],
426
+ "primitive_description": [
427
+ "turn on switch"
428
+ ],
429
+ "object_id": [
430
+ [
431
+ "washer_ynwamu_0"
432
+ ]
433
+ ],
434
+ "manipulating_object_id": [],
435
+ "spatial_prefix": [],
436
+ "frame_duration": [
437
+ 9748,
438
+ 10707
439
+ ],
440
+ "skill_idxes": [
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000081.json ADDED
@@ -0,0 +1,412 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8021,
6
+ "valid_duration": [
7
+ 124,
8
+ 8145
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 124,
29
+ 504
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 504,
53
+ 1627
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1627,
77
+ 2448
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2448,
104
+ 3087
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 3088,
128
+ 3498
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 2
139
+ ],
140
+ "skill_description": [
141
+ "pick up from"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_189",
146
+ "countertop_ikwqer_0"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_189"
151
+ ],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 3498,
155
+ 4304
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "uncoordinated"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 1
166
+ ],
167
+ "skill_description": [
168
+ "move to"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "washer_ynwamu_0"
173
+ ]
174
+ ],
175
+ "manipulating_object_id": [],
176
+ "spatial_prefix": [],
177
+ "frame_duration": [
178
+ 4304,
179
+ 4732
180
+ ],
181
+ "mp_ef": [],
182
+ "skill_type": [
183
+ "navigation"
184
+ ]
185
+ },
186
+ {
187
+ "skill_idx": 7,
188
+ "skill_id": [
189
+ 4
190
+ ],
191
+ "skill_description": [
192
+ "place in"
193
+ ],
194
+ "object_id": [
195
+ [
196
+ "baseball_cap_189",
197
+ "washer_ynwamu_0"
198
+ ]
199
+ ],
200
+ "manipulating_object_id": [
201
+ "baseball_cap_189"
202
+ ],
203
+ "spatial_prefix": [],
204
+ "frame_duration": [
205
+ 4733,
206
+ 5799
207
+ ],
208
+ "mp_ef": [],
209
+ "skill_type": [
210
+ "uncoordinated"
211
+ ]
212
+ },
213
+ {
214
+ "skill_idx": 8,
215
+ "skill_id": [
216
+ 4
217
+ ],
218
+ "skill_description": [
219
+ "place in"
220
+ ],
221
+ "object_id": [
222
+ [
223
+ "baseball_cap_188",
224
+ "washer_ynwamu_0"
225
+ ]
226
+ ],
227
+ "manipulating_object_id": [
228
+ "baseball_cap_188"
229
+ ],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 5799,
233
+ 6705
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 12
244
+ ],
245
+ "skill_description": [
246
+ "close door"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 6706,
257
+ 7687
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ },
264
+ {
265
+ "skill_idx": 10,
266
+ "skill_id": [
267
+ 69
268
+ ],
269
+ "skill_description": [
270
+ "turn on switch"
271
+ ],
272
+ "object_id": [
273
+ [
274
+ "washer_ynwamu_0"
275
+ ]
276
+ ],
277
+ "manipulating_object_id": [],
278
+ "spatial_prefix": [],
279
+ "frame_duration": [
280
+ 7687,
281
+ 8145
282
+ ],
283
+ "mp_ef": [],
284
+ "skill_type": [
285
+ "uncoordinated"
286
+ ]
287
+ }
288
+ ],
289
+ "primitive_annotation": [
290
+ {
291
+ "primitive_idx": 0,
292
+ "primitive_id": [
293
+ 10
294
+ ],
295
+ "primitive_description": [
296
+ "open door"
297
+ ],
298
+ "object_id": [
299
+ [
300
+ "washer_ynwamu_0"
301
+ ]
302
+ ],
303
+ "manipulating_object_id": [],
304
+ "spatial_prefix": [],
305
+ "frame_duration": [
306
+ 124,
307
+ 1627
308
+ ],
309
+ "skill_idxes": [
310
+ 0,
311
+ 1
312
+ ]
313
+ },
314
+ {
315
+ "primitive_idx": 1,
316
+ "primitive_id": [
317
+ 2,
318
+ 4
319
+ ],
320
+ "primitive_description": [
321
+ "pick up from",
322
+ "place in"
323
+ ],
324
+ "object_id": [
325
+ [
326
+ [
327
+ "baseball_cap_188",
328
+ "baseball_cap_189"
329
+ ],
330
+ "countertop_ikwqer_0"
331
+ ],
332
+ [
333
+ [
334
+ "baseball_cap_189",
335
+ "baseball_cap_188"
336
+ ],
337
+ "washer_ynwamu_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ [
342
+ "baseball_cap_188",
343
+ "baseball_cap_189"
344
+ ],
345
+ [
346
+ "baseball_cap_189",
347
+ "baseball_cap_188"
348
+ ]
349
+ ],
350
+ "spatial_prefix": [],
351
+ "frame_duration": [
352
+ 1627,
353
+ 6705
354
+ ],
355
+ "skill_idxes": [
356
+ 2,
357
+ 3,
358
+ 4,
359
+ 5,
360
+ 6,
361
+ 7,
362
+ 8
363
+ ]
364
+ },
365
+ {
366
+ "primitive_idx": 2,
367
+ "primitive_id": [
368
+ 12
369
+ ],
370
+ "primitive_description": [
371
+ "close door"
372
+ ],
373
+ "object_id": [
374
+ [
375
+ "washer_ynwamu_0"
376
+ ]
377
+ ],
378
+ "manipulating_object_id": [],
379
+ "spatial_prefix": [],
380
+ "frame_duration": [
381
+ 6706,
382
+ 7687
383
+ ],
384
+ "skill_idxes": [
385
+ 9
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 3,
390
+ "primitive_id": [
391
+ 69
392
+ ],
393
+ "primitive_description": [
394
+ "turn on switch"
395
+ ],
396
+ "object_id": [
397
+ [
398
+ "washer_ynwamu_0"
399
+ ]
400
+ ],
401
+ "manipulating_object_id": [],
402
+ "spatial_prefix": [],
403
+ "frame_duration": [
404
+ 7687,
405
+ 8145
406
+ ],
407
+ "skill_idxes": [
408
+ 10
409
+ ]
410
+ }
411
+ ]
412
+ }
annotations/episode_00000084.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8108,
6
+ "valid_duration": [
7
+ 0,
8
+ 8108
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 480
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 480,
53
+ 1853
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1853,
77
+ 2632
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2632,
104
+ 3253
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 3253,
128
+ 3761
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 93
139
+ ],
140
+ "skill_description": [
141
+ "turn to"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_189",
146
+ "robot"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_189"
151
+ ],
152
+ "spatial_prefix": [
153
+ [
154
+ "",
155
+ "face"
156
+ ]
157
+ ],
158
+ "frame_duration": [
159
+ 3761,
160
+ 4113
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "uncoordinated"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 2
171
+ ],
172
+ "skill_description": [
173
+ "pick up from"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_189",
178
+ "countertop_ikwqer_0"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_189"
183
+ ],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 4113,
187
+ 4558
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "uncoordinated"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 1
198
+ ],
199
+ "skill_description": [
200
+ "move to"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "washer_ynwamu_0"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [],
208
+ "spatial_prefix": [],
209
+ "frame_duration": [
210
+ 4559,
211
+ 4980
212
+ ],
213
+ "mp_ef": [],
214
+ "skill_type": [
215
+ "navigation"
216
+ ]
217
+ },
218
+ {
219
+ "skill_idx": 8,
220
+ "skill_id": [
221
+ 4
222
+ ],
223
+ "skill_description": [
224
+ "place in"
225
+ ],
226
+ "object_id": [
227
+ [
228
+ "baseball_cap_189",
229
+ "washer_ynwamu_0"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [
233
+ "baseball_cap_189"
234
+ ],
235
+ "spatial_prefix": [],
236
+ "frame_duration": [
237
+ 4980,
238
+ 5655
239
+ ],
240
+ "mp_ef": [],
241
+ "skill_type": [
242
+ "uncoordinated"
243
+ ]
244
+ },
245
+ {
246
+ "skill_idx": 9,
247
+ "skill_id": [
248
+ 4
249
+ ],
250
+ "skill_description": [
251
+ "place in"
252
+ ],
253
+ "object_id": [
254
+ [
255
+ "baseball_cap_188",
256
+ "washer_ynwamu_0"
257
+ ]
258
+ ],
259
+ "manipulating_object_id": [
260
+ "baseball_cap_188"
261
+ ],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 5655,
265
+ 6456
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 12
276
+ ],
277
+ "skill_description": [
278
+ "close door"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 6456,
289
+ 7239
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ },
296
+ {
297
+ "skill_idx": 11,
298
+ "skill_id": [
299
+ 69
300
+ ],
301
+ "skill_description": [
302
+ "turn on switch"
303
+ ],
304
+ "object_id": [
305
+ [
306
+ "washer_ynwamu_0"
307
+ ]
308
+ ],
309
+ "manipulating_object_id": [],
310
+ "spatial_prefix": [],
311
+ "frame_duration": [
312
+ 7239,
313
+ 8108
314
+ ],
315
+ "mp_ef": [],
316
+ "skill_type": [
317
+ "uncoordinated"
318
+ ]
319
+ }
320
+ ],
321
+ "primitive_annotation": [
322
+ {
323
+ "primitive_idx": 0,
324
+ "primitive_id": [
325
+ 10
326
+ ],
327
+ "primitive_description": [
328
+ "open door"
329
+ ],
330
+ "object_id": [
331
+ [
332
+ "washer_ynwamu_0"
333
+ ]
334
+ ],
335
+ "manipulating_object_id": [],
336
+ "spatial_prefix": [],
337
+ "frame_duration": [
338
+ 0,
339
+ 1853
340
+ ],
341
+ "skill_idxes": [
342
+ 0,
343
+ 1
344
+ ]
345
+ },
346
+ {
347
+ "primitive_idx": 1,
348
+ "primitive_id": [
349
+ 2,
350
+ 4
351
+ ],
352
+ "primitive_description": [
353
+ "pick up from",
354
+ "place in"
355
+ ],
356
+ "object_id": [
357
+ [
358
+ [
359
+ "baseball_cap_188",
360
+ "baseball_cap_189"
361
+ ],
362
+ "countertop_ikwqer_0"
363
+ ],
364
+ [
365
+ [
366
+ "baseball_cap_189",
367
+ "baseball_cap_188"
368
+ ],
369
+ "washer_ynwamu_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "baseball_cap_188",
375
+ "baseball_cap_189"
376
+ ],
377
+ [
378
+ "baseball_cap_189",
379
+ "baseball_cap_188"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [],
383
+ "frame_duration": [
384
+ 1853,
385
+ 6456
386
+ ],
387
+ "skill_idxes": [
388
+ 2,
389
+ 3,
390
+ 4,
391
+ 5,
392
+ 6,
393
+ 7,
394
+ 8,
395
+ 9
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 2,
400
+ "primitive_id": [
401
+ 12
402
+ ],
403
+ "primitive_description": [
404
+ "close door"
405
+ ],
406
+ "object_id": [
407
+ [
408
+ "washer_ynwamu_0"
409
+ ]
410
+ ],
411
+ "manipulating_object_id": [],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 6456,
415
+ 7239
416
+ ],
417
+ "skill_idxes": [
418
+ 10
419
+ ]
420
+ },
421
+ {
422
+ "primitive_idx": 3,
423
+ "primitive_id": [
424
+ 69
425
+ ],
426
+ "primitive_description": [
427
+ "turn on switch"
428
+ ],
429
+ "object_id": [
430
+ [
431
+ "washer_ynwamu_0"
432
+ ]
433
+ ],
434
+ "manipulating_object_id": [],
435
+ "spatial_prefix": [],
436
+ "frame_duration": [
437
+ 7239,
438
+ 8108
439
+ ],
440
+ "skill_idxes": [
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000089.json ADDED
@@ -0,0 +1,420 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7785,
6
+ "valid_duration": [
7
+ 0,
8
+ 7785
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 696
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 696,
53
+ 1979
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1979,
77
+ 2631
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2631,
104
+ 3061
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 93
115
+ ],
116
+ "skill_description": [
117
+ "turn to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_188",
122
+ "robot"
123
+ ]
124
+ ],
125
+ "manipulating_object_id": [
126
+ "baseball_cap_188"
127
+ ],
128
+ "spatial_prefix": [
129
+ [
130
+ "",
131
+ "face"
132
+ ]
133
+ ],
134
+ "frame_duration": [
135
+ 3061,
136
+ 3633
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 2
147
+ ],
148
+ "skill_description": [
149
+ "pick up from"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188",
154
+ "countertop_ikwqer_0"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "baseball_cap_188"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 3633,
163
+ 4130
164
+ ],
165
+ "mp_ef": [],
166
+ "skill_type": [
167
+ "uncoordinated"
168
+ ]
169
+ },
170
+ {
171
+ "skill_idx": 6,
172
+ "skill_id": [
173
+ 1
174
+ ],
175
+ "skill_description": [
176
+ "move to"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "washer_ynwamu_0"
181
+ ]
182
+ ],
183
+ "manipulating_object_id": [],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 4130,
187
+ 4460
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "navigation"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 4
198
+ ],
199
+ "skill_description": [
200
+ "place in"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "baseball_cap_188",
205
+ "washer_ynwamu_0"
206
+ ]
207
+ ],
208
+ "manipulating_object_id": [
209
+ "baseball_cap_188"
210
+ ],
211
+ "spatial_prefix": [],
212
+ "frame_duration": [
213
+ 4460,
214
+ 5511
215
+ ],
216
+ "mp_ef": [],
217
+ "skill_type": [
218
+ "uncoordinated"
219
+ ]
220
+ },
221
+ {
222
+ "skill_idx": 8,
223
+ "skill_id": [
224
+ 4
225
+ ],
226
+ "skill_description": [
227
+ "place in"
228
+ ],
229
+ "object_id": [
230
+ [
231
+ "baseball_cap_189",
232
+ "washer_ynwamu_0"
233
+ ]
234
+ ],
235
+ "manipulating_object_id": [
236
+ "baseball_cap_189"
237
+ ],
238
+ "spatial_prefix": [],
239
+ "frame_duration": [
240
+ 5512,
241
+ 6378
242
+ ],
243
+ "mp_ef": [],
244
+ "skill_type": [
245
+ "uncoordinated"
246
+ ]
247
+ },
248
+ {
249
+ "skill_idx": 9,
250
+ "skill_id": [
251
+ 12
252
+ ],
253
+ "skill_description": [
254
+ "close door"
255
+ ],
256
+ "object_id": [
257
+ [
258
+ "washer_ynwamu_0"
259
+ ]
260
+ ],
261
+ "manipulating_object_id": [],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 6378,
265
+ 6949
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 69
276
+ ],
277
+ "skill_description": [
278
+ "turn on switch"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 6949,
289
+ 7785
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ }
296
+ ],
297
+ "primitive_annotation": [
298
+ {
299
+ "primitive_idx": 0,
300
+ "primitive_id": [
301
+ 10
302
+ ],
303
+ "primitive_description": [
304
+ "open door"
305
+ ],
306
+ "object_id": [
307
+ [
308
+ "washer_ynwamu_0"
309
+ ]
310
+ ],
311
+ "manipulating_object_id": [],
312
+ "spatial_prefix": [],
313
+ "frame_duration": [
314
+ 0,
315
+ 1979
316
+ ],
317
+ "skill_idxes": [
318
+ 0,
319
+ 1
320
+ ]
321
+ },
322
+ {
323
+ "primitive_idx": 1,
324
+ "primitive_id": [
325
+ 2,
326
+ 4
327
+ ],
328
+ "primitive_description": [
329
+ "pick up from",
330
+ "place in"
331
+ ],
332
+ "object_id": [
333
+ [
334
+ [
335
+ "baseball_cap_189",
336
+ "baseball_cap_188"
337
+ ],
338
+ "countertop_ikwqer_0"
339
+ ],
340
+ [
341
+ [
342
+ "baseball_cap_188",
343
+ "baseball_cap_189"
344
+ ],
345
+ "washer_ynwamu_0"
346
+ ]
347
+ ],
348
+ "manipulating_object_id": [
349
+ [
350
+ "baseball_cap_189",
351
+ "baseball_cap_188"
352
+ ],
353
+ [
354
+ "baseball_cap_188",
355
+ "baseball_cap_189"
356
+ ]
357
+ ],
358
+ "spatial_prefix": [],
359
+ "frame_duration": [
360
+ 1979,
361
+ 6378
362
+ ],
363
+ "skill_idxes": [
364
+ 2,
365
+ 3,
366
+ 4,
367
+ 5,
368
+ 6,
369
+ 7,
370
+ 8
371
+ ]
372
+ },
373
+ {
374
+ "primitive_idx": 2,
375
+ "primitive_id": [
376
+ 12
377
+ ],
378
+ "primitive_description": [
379
+ "close door"
380
+ ],
381
+ "object_id": [
382
+ [
383
+ "washer_ynwamu_0"
384
+ ]
385
+ ],
386
+ "manipulating_object_id": [],
387
+ "spatial_prefix": [],
388
+ "frame_duration": [
389
+ 6378,
390
+ 6949
391
+ ],
392
+ "skill_idxes": [
393
+ 9
394
+ ]
395
+ },
396
+ {
397
+ "primitive_idx": 3,
398
+ "primitive_id": [
399
+ 69
400
+ ],
401
+ "primitive_description": [
402
+ "turn on switch"
403
+ ],
404
+ "object_id": [
405
+ [
406
+ "washer_ynwamu_0"
407
+ ]
408
+ ],
409
+ "manipulating_object_id": [],
410
+ "spatial_prefix": [],
411
+ "frame_duration": [
412
+ 6949,
413
+ 7785
414
+ ],
415
+ "skill_idxes": [
416
+ 10
417
+ ]
418
+ }
419
+ ]
420
+ }
annotations/episode_00000097.json ADDED
@@ -0,0 +1,412 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6192,
6
+ "valid_duration": [
7
+ 141,
8
+ 6333
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 141,
29
+ 680
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 681,
53
+ 2067
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2067,
77
+ 2838
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2838,
104
+ 3391
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_189"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 3391,
128
+ 3454
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 2
139
+ ],
140
+ "skill_description": [
141
+ "pick up from"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_189",
146
+ "countertop_ikwqer_0"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_189"
151
+ ],
152
+ "spatial_prefix": [],
153
+ "frame_duration": [
154
+ 3454,
155
+ 3760
156
+ ],
157
+ "mp_ef": [],
158
+ "skill_type": [
159
+ "uncoordinated"
160
+ ]
161
+ },
162
+ {
163
+ "skill_idx": 6,
164
+ "skill_id": [
165
+ 1
166
+ ],
167
+ "skill_description": [
168
+ "move to"
169
+ ],
170
+ "object_id": [
171
+ [
172
+ "washer_ynwamu_0"
173
+ ]
174
+ ],
175
+ "manipulating_object_id": [],
176
+ "spatial_prefix": [],
177
+ "frame_duration": [
178
+ 3760,
179
+ 4158
180
+ ],
181
+ "mp_ef": [],
182
+ "skill_type": [
183
+ "navigation"
184
+ ]
185
+ },
186
+ {
187
+ "skill_idx": 7,
188
+ "skill_id": [
189
+ 4
190
+ ],
191
+ "skill_description": [
192
+ "place in"
193
+ ],
194
+ "object_id": [
195
+ [
196
+ "baseball_cap_189",
197
+ "washer_ynwamu_0"
198
+ ]
199
+ ],
200
+ "manipulating_object_id": [
201
+ "baseball_cap_189"
202
+ ],
203
+ "spatial_prefix": [],
204
+ "frame_duration": [
205
+ 4158,
206
+ 4794
207
+ ],
208
+ "mp_ef": [],
209
+ "skill_type": [
210
+ "uncoordinated"
211
+ ]
212
+ },
213
+ {
214
+ "skill_idx": 8,
215
+ "skill_id": [
216
+ 4
217
+ ],
218
+ "skill_description": [
219
+ "place in"
220
+ ],
221
+ "object_id": [
222
+ [
223
+ "baseball_cap_188",
224
+ "washer_ynwamu_0"
225
+ ]
226
+ ],
227
+ "manipulating_object_id": [
228
+ "baseball_cap_188"
229
+ ],
230
+ "spatial_prefix": [],
231
+ "frame_duration": [
232
+ 4794,
233
+ 5435
234
+ ],
235
+ "mp_ef": [],
236
+ "skill_type": [
237
+ "uncoordinated"
238
+ ]
239
+ },
240
+ {
241
+ "skill_idx": 9,
242
+ "skill_id": [
243
+ 12
244
+ ],
245
+ "skill_description": [
246
+ "close door"
247
+ ],
248
+ "object_id": [
249
+ [
250
+ "washer_ynwamu_0"
251
+ ]
252
+ ],
253
+ "manipulating_object_id": [],
254
+ "spatial_prefix": [],
255
+ "frame_duration": [
256
+ 5435,
257
+ 6000
258
+ ],
259
+ "mp_ef": [],
260
+ "skill_type": [
261
+ "uncoordinated"
262
+ ]
263
+ },
264
+ {
265
+ "skill_idx": 10,
266
+ "skill_id": [
267
+ 69
268
+ ],
269
+ "skill_description": [
270
+ "turn on switch"
271
+ ],
272
+ "object_id": [
273
+ [
274
+ "washer_ynwamu_0"
275
+ ]
276
+ ],
277
+ "manipulating_object_id": [],
278
+ "spatial_prefix": [],
279
+ "frame_duration": [
280
+ 6000,
281
+ 6333
282
+ ],
283
+ "mp_ef": [],
284
+ "skill_type": [
285
+ "uncoordinated"
286
+ ]
287
+ }
288
+ ],
289
+ "primitive_annotation": [
290
+ {
291
+ "primitive_idx": 0,
292
+ "primitive_id": [
293
+ 10
294
+ ],
295
+ "primitive_description": [
296
+ "open door"
297
+ ],
298
+ "object_id": [
299
+ [
300
+ "washer_ynwamu_0"
301
+ ]
302
+ ],
303
+ "manipulating_object_id": [],
304
+ "spatial_prefix": [],
305
+ "frame_duration": [
306
+ 141,
307
+ 2067
308
+ ],
309
+ "skill_idxes": [
310
+ 0,
311
+ 1
312
+ ]
313
+ },
314
+ {
315
+ "primitive_idx": 1,
316
+ "primitive_id": [
317
+ 2,
318
+ 4
319
+ ],
320
+ "primitive_description": [
321
+ "pick up from",
322
+ "place in"
323
+ ],
324
+ "object_id": [
325
+ [
326
+ [
327
+ "baseball_cap_188",
328
+ "baseball_cap_189"
329
+ ],
330
+ "countertop_ikwqer_0"
331
+ ],
332
+ [
333
+ [
334
+ "baseball_cap_189",
335
+ "baseball_cap_188"
336
+ ],
337
+ "washer_ynwamu_0"
338
+ ]
339
+ ],
340
+ "manipulating_object_id": [
341
+ [
342
+ "baseball_cap_188",
343
+ "baseball_cap_189"
344
+ ],
345
+ [
346
+ "baseball_cap_189",
347
+ "baseball_cap_188"
348
+ ]
349
+ ],
350
+ "spatial_prefix": [],
351
+ "frame_duration": [
352
+ 2067,
353
+ 5435
354
+ ],
355
+ "skill_idxes": [
356
+ 2,
357
+ 3,
358
+ 4,
359
+ 5,
360
+ 6,
361
+ 7,
362
+ 8
363
+ ]
364
+ },
365
+ {
366
+ "primitive_idx": 2,
367
+ "primitive_id": [
368
+ 12
369
+ ],
370
+ "primitive_description": [
371
+ "close door"
372
+ ],
373
+ "object_id": [
374
+ [
375
+ "washer_ynwamu_0"
376
+ ]
377
+ ],
378
+ "manipulating_object_id": [],
379
+ "spatial_prefix": [],
380
+ "frame_duration": [
381
+ 5435,
382
+ 6000
383
+ ],
384
+ "skill_idxes": [
385
+ 9
386
+ ]
387
+ },
388
+ {
389
+ "primitive_idx": 3,
390
+ "primitive_id": [
391
+ 69
392
+ ],
393
+ "primitive_description": [
394
+ "turn on switch"
395
+ ],
396
+ "object_id": [
397
+ [
398
+ "washer_ynwamu_0"
399
+ ]
400
+ ],
401
+ "manipulating_object_id": [],
402
+ "spatial_prefix": [],
403
+ "frame_duration": [
404
+ 6000,
405
+ 6333
406
+ ],
407
+ "skill_idxes": [
408
+ 10
409
+ ]
410
+ }
411
+ ]
412
+ }
annotations/episode_00000098.json ADDED
@@ -0,0 +1,453 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7418,
6
+ "valid_duration": [
7
+ 91,
8
+ 7509
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 91,
29
+ 304
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 304,
53
+ 1713
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1713,
77
+ 2437
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2437,
109
+ 2911
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 93
120
+ ],
121
+ "skill_description": [
122
+ "turn to"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "robot"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [
134
+ [
135
+ "",
136
+ "face"
137
+ ]
138
+ ],
139
+ "frame_duration": [
140
+ 2911,
141
+ 3362
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "uncoordinated"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 2
152
+ ],
153
+ "skill_description": [
154
+ "pick up from"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "baseball_cap_189",
159
+ "countertop_ikwqer_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "baseball_cap_189"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 3362,
168
+ 3668
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 2
179
+ ],
180
+ "skill_description": [
181
+ "pick up from"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "baseball_cap_188",
186
+ "countertop_ikwqer_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "baseball_cap_188"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 3690,
195
+ 4068
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "washer_ynwamu_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 4068,
219
+ 4536
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 4
230
+ ],
231
+ "skill_description": [
232
+ "place in"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "baseball_cap_189",
237
+ "washer_ynwamu_0"
238
+ ]
239
+ ],
240
+ "manipulating_object_id": [
241
+ "baseball_cap_189"
242
+ ],
243
+ "spatial_prefix": [],
244
+ "frame_duration": [
245
+ 4537,
246
+ 5468
247
+ ],
248
+ "mp_ef": [],
249
+ "skill_type": [
250
+ "uncoordinated"
251
+ ]
252
+ },
253
+ {
254
+ "skill_idx": 9,
255
+ "skill_id": [
256
+ 4
257
+ ],
258
+ "skill_description": [
259
+ "place in"
260
+ ],
261
+ "object_id": [
262
+ [
263
+ "baseball_cap_188",
264
+ "washer_ynwamu_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [
268
+ "baseball_cap_188"
269
+ ],
270
+ "spatial_prefix": [],
271
+ "frame_duration": [
272
+ 5469,
273
+ 6544
274
+ ],
275
+ "mp_ef": [],
276
+ "skill_type": [
277
+ "uncoordinated"
278
+ ]
279
+ },
280
+ {
281
+ "skill_idx": 10,
282
+ "skill_id": [
283
+ 12
284
+ ],
285
+ "skill_description": [
286
+ "close door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "washer_ynwamu_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 6546,
297
+ 7157
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 69
308
+ ],
309
+ "skill_description": [
310
+ "turn on switch"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 7158,
321
+ 7509
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ }
328
+ ],
329
+ "primitive_annotation": [
330
+ {
331
+ "primitive_idx": 0,
332
+ "primitive_id": [
333
+ 10
334
+ ],
335
+ "primitive_description": [
336
+ "open door"
337
+ ],
338
+ "object_id": [
339
+ [
340
+ "washer_ynwamu_0"
341
+ ]
342
+ ],
343
+ "manipulating_object_id": [],
344
+ "spatial_prefix": [],
345
+ "frame_duration": [
346
+ 91,
347
+ 1713
348
+ ],
349
+ "skill_idxes": [
350
+ 0,
351
+ 1
352
+ ]
353
+ },
354
+ {
355
+ "primitive_idx": 1,
356
+ "primitive_id": [
357
+ 2,
358
+ 4
359
+ ],
360
+ "primitive_description": [
361
+ "pick up from",
362
+ "place in"
363
+ ],
364
+ "object_id": [
365
+ [
366
+ [
367
+ "baseball_cap_189",
368
+ "baseball_cap_188"
369
+ ],
370
+ "countertop_ikwqer_0"
371
+ ],
372
+ [
373
+ [
374
+ "baseball_cap_189",
375
+ "baseball_cap_188"
376
+ ],
377
+ "washer_ynwamu_0"
378
+ ]
379
+ ],
380
+ "manipulating_object_id": [
381
+ [
382
+ "baseball_cap_189",
383
+ "baseball_cap_188"
384
+ ],
385
+ [
386
+ "baseball_cap_189",
387
+ "baseball_cap_188"
388
+ ]
389
+ ],
390
+ "spatial_prefix": [],
391
+ "frame_duration": [
392
+ 1713,
393
+ 6544
394
+ ],
395
+ "skill_idxes": [
396
+ 2,
397
+ 3,
398
+ 4,
399
+ 5,
400
+ 6,
401
+ 7,
402
+ 8,
403
+ 9
404
+ ]
405
+ },
406
+ {
407
+ "primitive_idx": 2,
408
+ "primitive_id": [
409
+ 12
410
+ ],
411
+ "primitive_description": [
412
+ "close door"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "washer_ynwamu_0"
417
+ ]
418
+ ],
419
+ "manipulating_object_id": [],
420
+ "spatial_prefix": [],
421
+ "frame_duration": [
422
+ 6546,
423
+ 7157
424
+ ],
425
+ "skill_idxes": [
426
+ 10
427
+ ]
428
+ },
429
+ {
430
+ "primitive_idx": 3,
431
+ "primitive_id": [
432
+ 69
433
+ ],
434
+ "primitive_description": [
435
+ "turn on switch"
436
+ ],
437
+ "object_id": [
438
+ [
439
+ "washer_ynwamu_0"
440
+ ]
441
+ ],
442
+ "manipulating_object_id": [],
443
+ "spatial_prefix": [],
444
+ "frame_duration": [
445
+ 7158,
446
+ 7509
447
+ ],
448
+ "skill_idxes": [
449
+ 11
450
+ ]
451
+ }
452
+ ]
453
+ }
annotations/episode_00000101.json ADDED
@@ -0,0 +1,453 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7350,
6
+ "valid_duration": [
7
+ 0,
8
+ 7350
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 504
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 504,
53
+ 1520
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1520,
77
+ 1908
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 1908,
109
+ 2244
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 2244,
136
+ 2567
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 93
147
+ ],
148
+ "skill_description": [
149
+ "turn to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_189",
154
+ "robot"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "baseball_cap_189"
159
+ ],
160
+ "spatial_prefix": [
161
+ [
162
+ "",
163
+ "face"
164
+ ]
165
+ ],
166
+ "frame_duration": [
167
+ 2567,
168
+ 3110
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 2
179
+ ],
180
+ "skill_description": [
181
+ "pick up from"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "baseball_cap_189",
186
+ "countertop_ikwqer_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "baseball_cap_189"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 3110,
195
+ 3768
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "washer_ynwamu_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 3768,
219
+ 4189
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 4
230
+ ],
231
+ "skill_description": [
232
+ "place in"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "baseball_cap_189",
237
+ "washer_ynwamu_0"
238
+ ]
239
+ ],
240
+ "manipulating_object_id": [
241
+ "baseball_cap_189"
242
+ ],
243
+ "spatial_prefix": [],
244
+ "frame_duration": [
245
+ 4189,
246
+ 4969
247
+ ],
248
+ "mp_ef": [],
249
+ "skill_type": [
250
+ "uncoordinated"
251
+ ]
252
+ },
253
+ {
254
+ "skill_idx": 9,
255
+ "skill_id": [
256
+ 4
257
+ ],
258
+ "skill_description": [
259
+ "place in"
260
+ ],
261
+ "object_id": [
262
+ [
263
+ "baseball_cap_188",
264
+ "washer_ynwamu_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [
268
+ "baseball_cap_188"
269
+ ],
270
+ "spatial_prefix": [],
271
+ "frame_duration": [
272
+ 4981,
273
+ 5748
274
+ ],
275
+ "mp_ef": [],
276
+ "skill_type": [
277
+ "uncoordinated"
278
+ ]
279
+ },
280
+ {
281
+ "skill_idx": 10,
282
+ "skill_id": [
283
+ 12
284
+ ],
285
+ "skill_description": [
286
+ "close door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "washer_ynwamu_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 5748,
297
+ 6409
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 69
308
+ ],
309
+ "skill_description": [
310
+ "turn on switch"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 6409,
321
+ 7350
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ }
328
+ ],
329
+ "primitive_annotation": [
330
+ {
331
+ "primitive_idx": 0,
332
+ "primitive_id": [
333
+ 10
334
+ ],
335
+ "primitive_description": [
336
+ "open door"
337
+ ],
338
+ "object_id": [
339
+ [
340
+ "washer_ynwamu_0"
341
+ ]
342
+ ],
343
+ "manipulating_object_id": [],
344
+ "spatial_prefix": [],
345
+ "frame_duration": [
346
+ 0,
347
+ 1520
348
+ ],
349
+ "skill_idxes": [
350
+ 0,
351
+ 1
352
+ ]
353
+ },
354
+ {
355
+ "primitive_idx": 1,
356
+ "primitive_id": [
357
+ 2,
358
+ 4
359
+ ],
360
+ "primitive_description": [
361
+ "pick up from",
362
+ "place in"
363
+ ],
364
+ "object_id": [
365
+ [
366
+ [
367
+ "baseball_cap_188",
368
+ "baseball_cap_189"
369
+ ],
370
+ "countertop_ikwqer_0"
371
+ ],
372
+ [
373
+ [
374
+ "baseball_cap_189",
375
+ "baseball_cap_188"
376
+ ],
377
+ "washer_ynwamu_0"
378
+ ]
379
+ ],
380
+ "manipulating_object_id": [
381
+ [
382
+ "baseball_cap_188",
383
+ "baseball_cap_189"
384
+ ],
385
+ [
386
+ "baseball_cap_189",
387
+ "baseball_cap_188"
388
+ ]
389
+ ],
390
+ "spatial_prefix": [],
391
+ "frame_duration": [
392
+ 1520,
393
+ 5748
394
+ ],
395
+ "skill_idxes": [
396
+ 2,
397
+ 3,
398
+ 4,
399
+ 5,
400
+ 6,
401
+ 7,
402
+ 8,
403
+ 9
404
+ ]
405
+ },
406
+ {
407
+ "primitive_idx": 2,
408
+ "primitive_id": [
409
+ 12
410
+ ],
411
+ "primitive_description": [
412
+ "close door"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "washer_ynwamu_0"
417
+ ]
418
+ ],
419
+ "manipulating_object_id": [],
420
+ "spatial_prefix": [],
421
+ "frame_duration": [
422
+ 5748,
423
+ 6409
424
+ ],
425
+ "skill_idxes": [
426
+ 10
427
+ ]
428
+ },
429
+ {
430
+ "primitive_idx": 3,
431
+ "primitive_id": [
432
+ 69
433
+ ],
434
+ "primitive_description": [
435
+ "turn on switch"
436
+ ],
437
+ "object_id": [
438
+ [
439
+ "washer_ynwamu_0"
440
+ ]
441
+ ],
442
+ "manipulating_object_id": [],
443
+ "spatial_prefix": [],
444
+ "frame_duration": [
445
+ 6409,
446
+ 7350
447
+ ],
448
+ "skill_idxes": [
449
+ 11
450
+ ]
451
+ }
452
+ ]
453
+ }
annotations/episode_00000110.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7237,
6
+ "valid_duration": [
7
+ 30,
8
+ 7267
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 356
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 356,
53
+ 1496
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1496,
77
+ 2020
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 2
88
+ ],
89
+ "skill_description": [
90
+ "pick up from"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "countertop_ikwqer_0"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [],
102
+ "frame_duration": [
103
+ 2021,
104
+ 2631
105
+ ],
106
+ "mp_ef": [],
107
+ "skill_type": [
108
+ "uncoordinated"
109
+ ]
110
+ },
111
+ {
112
+ "skill_idx": 4,
113
+ "skill_id": [
114
+ 1
115
+ ],
116
+ "skill_description": [
117
+ "move to"
118
+ ],
119
+ "object_id": [
120
+ [
121
+ "baseball_cap_188"
122
+ ]
123
+ ],
124
+ "manipulating_object_id": [],
125
+ "spatial_prefix": [],
126
+ "frame_duration": [
127
+ 2631,
128
+ 2679
129
+ ],
130
+ "mp_ef": [],
131
+ "skill_type": [
132
+ "navigation"
133
+ ]
134
+ },
135
+ {
136
+ "skill_idx": 5,
137
+ "skill_id": [
138
+ 93
139
+ ],
140
+ "skill_description": [
141
+ "turn to"
142
+ ],
143
+ "object_id": [
144
+ [
145
+ "baseball_cap_188",
146
+ "robot"
147
+ ]
148
+ ],
149
+ "manipulating_object_id": [
150
+ "baseball_cap_188"
151
+ ],
152
+ "spatial_prefix": [
153
+ [
154
+ "",
155
+ "face"
156
+ ]
157
+ ],
158
+ "frame_duration": [
159
+ 2679,
160
+ 3726
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "uncoordinated"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 2
171
+ ],
172
+ "skill_description": [
173
+ "pick up from"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_188",
178
+ "countertop_ikwqer_0"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_188"
183
+ ],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [
186
+ 3727,
187
+ 4040
188
+ ],
189
+ "mp_ef": [],
190
+ "skill_type": [
191
+ "uncoordinated"
192
+ ]
193
+ },
194
+ {
195
+ "skill_idx": 7,
196
+ "skill_id": [
197
+ 1
198
+ ],
199
+ "skill_description": [
200
+ "move to"
201
+ ],
202
+ "object_id": [
203
+ [
204
+ "washer_ynwamu_0"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [],
208
+ "spatial_prefix": [],
209
+ "frame_duration": [
210
+ 4041,
211
+ 4443
212
+ ],
213
+ "mp_ef": [],
214
+ "skill_type": [
215
+ "navigation"
216
+ ]
217
+ },
218
+ {
219
+ "skill_idx": 8,
220
+ "skill_id": [
221
+ 4
222
+ ],
223
+ "skill_description": [
224
+ "place in"
225
+ ],
226
+ "object_id": [
227
+ [
228
+ "baseball_cap_189",
229
+ "washer_ynwamu_0"
230
+ ]
231
+ ],
232
+ "manipulating_object_id": [
233
+ "baseball_cap_189"
234
+ ],
235
+ "spatial_prefix": [],
236
+ "frame_duration": [
237
+ 4443,
238
+ 5261
239
+ ],
240
+ "mp_ef": [],
241
+ "skill_type": [
242
+ "uncoordinated"
243
+ ]
244
+ },
245
+ {
246
+ "skill_idx": 9,
247
+ "skill_id": [
248
+ 4
249
+ ],
250
+ "skill_description": [
251
+ "place in"
252
+ ],
253
+ "object_id": [
254
+ [
255
+ "baseball_cap_188",
256
+ "washer_ynwamu_0"
257
+ ]
258
+ ],
259
+ "manipulating_object_id": [
260
+ "baseball_cap_188"
261
+ ],
262
+ "spatial_prefix": [],
263
+ "frame_duration": [
264
+ 5262,
265
+ 6096
266
+ ],
267
+ "mp_ef": [],
268
+ "skill_type": [
269
+ "uncoordinated"
270
+ ]
271
+ },
272
+ {
273
+ "skill_idx": 10,
274
+ "skill_id": [
275
+ 12
276
+ ],
277
+ "skill_description": [
278
+ "close door"
279
+ ],
280
+ "object_id": [
281
+ [
282
+ "washer_ynwamu_0"
283
+ ]
284
+ ],
285
+ "manipulating_object_id": [],
286
+ "spatial_prefix": [],
287
+ "frame_duration": [
288
+ 6096,
289
+ 6771
290
+ ],
291
+ "mp_ef": [],
292
+ "skill_type": [
293
+ "uncoordinated"
294
+ ]
295
+ },
296
+ {
297
+ "skill_idx": 11,
298
+ "skill_id": [
299
+ 69
300
+ ],
301
+ "skill_description": [
302
+ "turn on switch"
303
+ ],
304
+ "object_id": [
305
+ [
306
+ "washer_ynwamu_0"
307
+ ]
308
+ ],
309
+ "manipulating_object_id": [],
310
+ "spatial_prefix": [],
311
+ "frame_duration": [
312
+ 6771,
313
+ 7267
314
+ ],
315
+ "mp_ef": [],
316
+ "skill_type": [
317
+ "uncoordinated"
318
+ ]
319
+ }
320
+ ],
321
+ "primitive_annotation": [
322
+ {
323
+ "primitive_idx": 0,
324
+ "primitive_id": [
325
+ 10
326
+ ],
327
+ "primitive_description": [
328
+ "open door"
329
+ ],
330
+ "object_id": [
331
+ [
332
+ "washer_ynwamu_0"
333
+ ]
334
+ ],
335
+ "manipulating_object_id": [],
336
+ "spatial_prefix": [],
337
+ "frame_duration": [
338
+ 30,
339
+ 1496
340
+ ],
341
+ "skill_idxes": [
342
+ 0,
343
+ 1
344
+ ]
345
+ },
346
+ {
347
+ "primitive_idx": 1,
348
+ "primitive_id": [
349
+ 2,
350
+ 4
351
+ ],
352
+ "primitive_description": [
353
+ "pick up from",
354
+ "place in"
355
+ ],
356
+ "object_id": [
357
+ [
358
+ [
359
+ "baseball_cap_189",
360
+ "baseball_cap_188"
361
+ ],
362
+ "countertop_ikwqer_0"
363
+ ],
364
+ [
365
+ [
366
+ "baseball_cap_189",
367
+ "baseball_cap_188"
368
+ ],
369
+ "washer_ynwamu_0"
370
+ ]
371
+ ],
372
+ "manipulating_object_id": [
373
+ [
374
+ "baseball_cap_189",
375
+ "baseball_cap_188"
376
+ ],
377
+ [
378
+ "baseball_cap_189",
379
+ "baseball_cap_188"
380
+ ]
381
+ ],
382
+ "spatial_prefix": [],
383
+ "frame_duration": [
384
+ 1496,
385
+ 6096
386
+ ],
387
+ "skill_idxes": [
388
+ 2,
389
+ 3,
390
+ 4,
391
+ 5,
392
+ 6,
393
+ 7,
394
+ 8,
395
+ 9
396
+ ]
397
+ },
398
+ {
399
+ "primitive_idx": 2,
400
+ "primitive_id": [
401
+ 12
402
+ ],
403
+ "primitive_description": [
404
+ "close door"
405
+ ],
406
+ "object_id": [
407
+ [
408
+ "washer_ynwamu_0"
409
+ ]
410
+ ],
411
+ "manipulating_object_id": [],
412
+ "spatial_prefix": [],
413
+ "frame_duration": [
414
+ 6096,
415
+ 6771
416
+ ],
417
+ "skill_idxes": [
418
+ 10
419
+ ]
420
+ },
421
+ {
422
+ "primitive_idx": 3,
423
+ "primitive_id": [
424
+ 69
425
+ ],
426
+ "primitive_description": [
427
+ "turn on switch"
428
+ ],
429
+ "object_id": [
430
+ [
431
+ "washer_ynwamu_0"
432
+ ]
433
+ ],
434
+ "manipulating_object_id": [],
435
+ "spatial_prefix": [],
436
+ "frame_duration": [
437
+ 6771,
438
+ 7267
439
+ ],
440
+ "skill_idxes": [
441
+ 11
442
+ ]
443
+ }
444
+ ]
445
+ }
annotations/episode_00000111.json ADDED
@@ -0,0 +1,478 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6681,
6
+ "valid_duration": [
7
+ 0,
8
+ 6681
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 546
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 546,
53
+ 1516
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_188"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 1516,
77
+ 2218
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_188",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_188"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2219,
109
+ 2521
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 2521,
136
+ 2886
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_189"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 2886,
160
+ 3212
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 93
171
+ ],
172
+ "skill_description": [
173
+ "turn to"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_189",
178
+ "robot"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_189"
183
+ ],
184
+ "spatial_prefix": [
185
+ [
186
+ "",
187
+ "face"
188
+ ]
189
+ ],
190
+ "frame_duration": [
191
+ 3212,
192
+ 3466
193
+ ],
194
+ "mp_ef": [],
195
+ "skill_type": [
196
+ "uncoordinated"
197
+ ]
198
+ },
199
+ {
200
+ "skill_idx": 7,
201
+ "skill_id": [
202
+ 2
203
+ ],
204
+ "skill_description": [
205
+ "pick up from"
206
+ ],
207
+ "object_id": [
208
+ [
209
+ "baseball_cap_189",
210
+ "countertop_ikwqer_0"
211
+ ]
212
+ ],
213
+ "manipulating_object_id": [
214
+ "baseball_cap_189"
215
+ ],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 3466,
219
+ 3839
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "uncoordinated"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 1
230
+ ],
231
+ "skill_description": [
232
+ "move to"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "washer_ynwamu_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 3839,
243
+ 4238
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "navigation"
248
+ ]
249
+ },
250
+ {
251
+ "skill_idx": 9,
252
+ "skill_id": [
253
+ 4
254
+ ],
255
+ "skill_description": [
256
+ "place in"
257
+ ],
258
+ "object_id": [
259
+ [
260
+ "baseball_cap_189",
261
+ "washer_ynwamu_0"
262
+ ]
263
+ ],
264
+ "manipulating_object_id": [
265
+ "baseball_cap_189"
266
+ ],
267
+ "spatial_prefix": [],
268
+ "frame_duration": [
269
+ 4238,
270
+ 4913
271
+ ],
272
+ "mp_ef": [],
273
+ "skill_type": [
274
+ "uncoordinated"
275
+ ]
276
+ },
277
+ {
278
+ "skill_idx": 10,
279
+ "skill_id": [
280
+ 4
281
+ ],
282
+ "skill_description": [
283
+ "place in"
284
+ ],
285
+ "object_id": [
286
+ [
287
+ "baseball_cap_188",
288
+ "washer_ynwamu_0"
289
+ ]
290
+ ],
291
+ "manipulating_object_id": [
292
+ "baseball_cap_188"
293
+ ],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 4913,
297
+ 5598
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 12
308
+ ],
309
+ "skill_description": [
310
+ "close door"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 5598,
321
+ 6276
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ },
328
+ {
329
+ "skill_idx": 12,
330
+ "skill_id": [
331
+ 69
332
+ ],
333
+ "skill_description": [
334
+ "turn on switch"
335
+ ],
336
+ "object_id": [
337
+ [
338
+ "washer_ynwamu_0"
339
+ ]
340
+ ],
341
+ "manipulating_object_id": [],
342
+ "spatial_prefix": [],
343
+ "frame_duration": [
344
+ 6276,
345
+ 6681
346
+ ],
347
+ "mp_ef": [],
348
+ "skill_type": [
349
+ "uncoordinated"
350
+ ]
351
+ }
352
+ ],
353
+ "primitive_annotation": [
354
+ {
355
+ "primitive_idx": 0,
356
+ "primitive_id": [
357
+ 10
358
+ ],
359
+ "primitive_description": [
360
+ "open door"
361
+ ],
362
+ "object_id": [
363
+ [
364
+ "washer_ynwamu_0"
365
+ ]
366
+ ],
367
+ "manipulating_object_id": [],
368
+ "spatial_prefix": [],
369
+ "frame_duration": [
370
+ 0,
371
+ 1516
372
+ ],
373
+ "skill_idxes": [
374
+ 0,
375
+ 1
376
+ ]
377
+ },
378
+ {
379
+ "primitive_idx": 1,
380
+ "primitive_id": [
381
+ 2,
382
+ 4
383
+ ],
384
+ "primitive_description": [
385
+ "pick up from",
386
+ "place in"
387
+ ],
388
+ "object_id": [
389
+ [
390
+ [
391
+ "baseball_cap_188",
392
+ "baseball_cap_189"
393
+ ],
394
+ "countertop_ikwqer_0"
395
+ ],
396
+ [
397
+ [
398
+ "baseball_cap_189",
399
+ "baseball_cap_188"
400
+ ],
401
+ "washer_ynwamu_0"
402
+ ]
403
+ ],
404
+ "manipulating_object_id": [
405
+ [
406
+ "baseball_cap_188",
407
+ "baseball_cap_189"
408
+ ],
409
+ [
410
+ "baseball_cap_189",
411
+ "baseball_cap_188"
412
+ ]
413
+ ],
414
+ "spatial_prefix": [],
415
+ "frame_duration": [
416
+ 1516,
417
+ 5598
418
+ ],
419
+ "skill_idxes": [
420
+ 2,
421
+ 3,
422
+ 4,
423
+ 5,
424
+ 6,
425
+ 7,
426
+ 8,
427
+ 9,
428
+ 10
429
+ ]
430
+ },
431
+ {
432
+ "primitive_idx": 2,
433
+ "primitive_id": [
434
+ 12
435
+ ],
436
+ "primitive_description": [
437
+ "close door"
438
+ ],
439
+ "object_id": [
440
+ [
441
+ "washer_ynwamu_0"
442
+ ]
443
+ ],
444
+ "manipulating_object_id": [],
445
+ "spatial_prefix": [],
446
+ "frame_duration": [
447
+ 5598,
448
+ 6276
449
+ ],
450
+ "skill_idxes": [
451
+ 11
452
+ ]
453
+ },
454
+ {
455
+ "primitive_idx": 3,
456
+ "primitive_id": [
457
+ 69
458
+ ],
459
+ "primitive_description": [
460
+ "turn on switch"
461
+ ],
462
+ "object_id": [
463
+ [
464
+ "washer_ynwamu_0"
465
+ ]
466
+ ],
467
+ "manipulating_object_id": [],
468
+ "spatial_prefix": [],
469
+ "frame_duration": [
470
+ 6276,
471
+ 6681
472
+ ],
473
+ "skill_idxes": [
474
+ 12
475
+ ]
476
+ }
477
+ ]
478
+ }
annotations/episode_00000150.json ADDED
@@ -0,0 +1,478 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9426,
6
+ "valid_duration": [
7
+ 0,
8
+ 9426
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 466
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 466,
53
+ 2069
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2069,
77
+ 2923
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2924,
109
+ 3640
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3640,
136
+ 4212
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 1
147
+ ],
148
+ "skill_description": [
149
+ "move to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [],
157
+ "spatial_prefix": [],
158
+ "frame_duration": [
159
+ 4212,
160
+ 4747
161
+ ],
162
+ "mp_ef": [],
163
+ "skill_type": [
164
+ "navigation"
165
+ ]
166
+ },
167
+ {
168
+ "skill_idx": 6,
169
+ "skill_id": [
170
+ 93
171
+ ],
172
+ "skill_description": [
173
+ "turn to"
174
+ ],
175
+ "object_id": [
176
+ [
177
+ "baseball_cap_188",
178
+ "robot"
179
+ ]
180
+ ],
181
+ "manipulating_object_id": [
182
+ "baseball_cap_188"
183
+ ],
184
+ "spatial_prefix": [
185
+ [
186
+ "",
187
+ "face"
188
+ ]
189
+ ],
190
+ "frame_duration": [
191
+ 4748,
192
+ 5306
193
+ ],
194
+ "mp_ef": [],
195
+ "skill_type": [
196
+ "uncoordinated"
197
+ ]
198
+ },
199
+ {
200
+ "skill_idx": 7,
201
+ "skill_id": [
202
+ 2
203
+ ],
204
+ "skill_description": [
205
+ "pick up from"
206
+ ],
207
+ "object_id": [
208
+ [
209
+ "baseball_cap_188",
210
+ "countertop_ikwqer_0"
211
+ ]
212
+ ],
213
+ "manipulating_object_id": [
214
+ "baseball_cap_188"
215
+ ],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 5306,
219
+ 5615
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "uncoordinated"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 1
230
+ ],
231
+ "skill_description": [
232
+ "move to"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "washer_ynwamu_0"
237
+ ]
238
+ ],
239
+ "manipulating_object_id": [],
240
+ "spatial_prefix": [],
241
+ "frame_duration": [
242
+ 5615,
243
+ 6124
244
+ ],
245
+ "mp_ef": [],
246
+ "skill_type": [
247
+ "navigation"
248
+ ]
249
+ },
250
+ {
251
+ "skill_idx": 9,
252
+ "skill_id": [
253
+ 4
254
+ ],
255
+ "skill_description": [
256
+ "place in"
257
+ ],
258
+ "object_id": [
259
+ [
260
+ "baseball_cap_188",
261
+ "washer_ynwamu_0"
262
+ ]
263
+ ],
264
+ "manipulating_object_id": [
265
+ "baseball_cap_188"
266
+ ],
267
+ "spatial_prefix": [],
268
+ "frame_duration": [
269
+ 6125,
270
+ 6825
271
+ ],
272
+ "mp_ef": [],
273
+ "skill_type": [
274
+ "uncoordinated"
275
+ ]
276
+ },
277
+ {
278
+ "skill_idx": 10,
279
+ "skill_id": [
280
+ 4
281
+ ],
282
+ "skill_description": [
283
+ "place in"
284
+ ],
285
+ "object_id": [
286
+ [
287
+ "baseball_cap_189",
288
+ "washer_ynwamu_0"
289
+ ]
290
+ ],
291
+ "manipulating_object_id": [
292
+ "baseball_cap_189"
293
+ ],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 6825,
297
+ 7766
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 12
308
+ ],
309
+ "skill_description": [
310
+ "close door"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 7766,
321
+ 8502
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ },
328
+ {
329
+ "skill_idx": 12,
330
+ "skill_id": [
331
+ 69
332
+ ],
333
+ "skill_description": [
334
+ "turn on switch"
335
+ ],
336
+ "object_id": [
337
+ [
338
+ "washer_ynwamu_0"
339
+ ]
340
+ ],
341
+ "manipulating_object_id": [],
342
+ "spatial_prefix": [],
343
+ "frame_duration": [
344
+ 8502,
345
+ 9426
346
+ ],
347
+ "mp_ef": [],
348
+ "skill_type": [
349
+ "uncoordinated"
350
+ ]
351
+ }
352
+ ],
353
+ "primitive_annotation": [
354
+ {
355
+ "primitive_idx": 0,
356
+ "primitive_id": [
357
+ 10
358
+ ],
359
+ "primitive_description": [
360
+ "open door"
361
+ ],
362
+ "object_id": [
363
+ [
364
+ "washer_ynwamu_0"
365
+ ]
366
+ ],
367
+ "manipulating_object_id": [],
368
+ "spatial_prefix": [],
369
+ "frame_duration": [
370
+ 0,
371
+ 2069
372
+ ],
373
+ "skill_idxes": [
374
+ 0,
375
+ 1
376
+ ]
377
+ },
378
+ {
379
+ "primitive_idx": 1,
380
+ "primitive_id": [
381
+ 2,
382
+ 4
383
+ ],
384
+ "primitive_description": [
385
+ "pick up from",
386
+ "place in"
387
+ ],
388
+ "object_id": [
389
+ [
390
+ [
391
+ "baseball_cap_189",
392
+ "baseball_cap_188"
393
+ ],
394
+ "countertop_ikwqer_0"
395
+ ],
396
+ [
397
+ [
398
+ "baseball_cap_188",
399
+ "baseball_cap_189"
400
+ ],
401
+ "washer_ynwamu_0"
402
+ ]
403
+ ],
404
+ "manipulating_object_id": [
405
+ [
406
+ "baseball_cap_189",
407
+ "baseball_cap_188"
408
+ ],
409
+ [
410
+ "baseball_cap_188",
411
+ "baseball_cap_189"
412
+ ]
413
+ ],
414
+ "spatial_prefix": [],
415
+ "frame_duration": [
416
+ 2069,
417
+ 7766
418
+ ],
419
+ "skill_idxes": [
420
+ 2,
421
+ 3,
422
+ 4,
423
+ 5,
424
+ 6,
425
+ 7,
426
+ 8,
427
+ 9,
428
+ 10
429
+ ]
430
+ },
431
+ {
432
+ "primitive_idx": 2,
433
+ "primitive_id": [
434
+ 12
435
+ ],
436
+ "primitive_description": [
437
+ "close door"
438
+ ],
439
+ "object_id": [
440
+ [
441
+ "washer_ynwamu_0"
442
+ ]
443
+ ],
444
+ "manipulating_object_id": [],
445
+ "spatial_prefix": [],
446
+ "frame_duration": [
447
+ 7766,
448
+ 8502
449
+ ],
450
+ "skill_idxes": [
451
+ 11
452
+ ]
453
+ },
454
+ {
455
+ "primitive_idx": 3,
456
+ "primitive_id": [
457
+ 69
458
+ ],
459
+ "primitive_description": [
460
+ "turn on switch"
461
+ ],
462
+ "object_id": [
463
+ [
464
+ "washer_ynwamu_0"
465
+ ]
466
+ ],
467
+ "manipulating_object_id": [],
468
+ "spatial_prefix": [],
469
+ "frame_duration": [
470
+ 8502,
471
+ 9426
472
+ ],
473
+ "skill_idxes": [
474
+ 12
475
+ ]
476
+ }
477
+ ]
478
+ }
annotations/episode_00000157.json ADDED
@@ -0,0 +1,453 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8375,
6
+ "valid_duration": [
7
+ 0,
8
+ 8375
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 707
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 707,
53
+ 2300
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2300,
77
+ 3110
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 3110,
109
+ 3620
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 93
120
+ ],
121
+ "skill_description": [
122
+ "turn to"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_188",
127
+ "robot"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_188"
132
+ ],
133
+ "spatial_prefix": [
134
+ [
135
+ "",
136
+ "face"
137
+ ]
138
+ ],
139
+ "frame_duration": [
140
+ 3620,
141
+ 4225
142
+ ],
143
+ "mp_ef": [],
144
+ "skill_type": [
145
+ "uncoordinated"
146
+ ]
147
+ },
148
+ {
149
+ "skill_idx": 5,
150
+ "skill_id": [
151
+ 2
152
+ ],
153
+ "skill_description": [
154
+ "pick up from"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "baseball_cap_188",
159
+ "countertop_ikwqer_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "baseball_cap_188"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 4225,
168
+ 4680
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 2
179
+ ],
180
+ "skill_description": [
181
+ "pick up from"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "baseball_cap_189",
186
+ "countertop_ikwqer_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "baseball_cap_189"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 4680,
195
+ 4989
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "washer_ynwamu_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 4989,
219
+ 5484
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 4
230
+ ],
231
+ "skill_description": [
232
+ "place in"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "baseball_cap_189",
237
+ "washer_ynwamu_0"
238
+ ]
239
+ ],
240
+ "manipulating_object_id": [
241
+ "baseball_cap_189"
242
+ ],
243
+ "spatial_prefix": [],
244
+ "frame_duration": [
245
+ 5484,
246
+ 6344
247
+ ],
248
+ "mp_ef": [],
249
+ "skill_type": [
250
+ "uncoordinated"
251
+ ]
252
+ },
253
+ {
254
+ "skill_idx": 9,
255
+ "skill_id": [
256
+ 4
257
+ ],
258
+ "skill_description": [
259
+ "place in"
260
+ ],
261
+ "object_id": [
262
+ [
263
+ "baseball_cap_188",
264
+ "washer_ynwamu_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [
268
+ "baseball_cap_188"
269
+ ],
270
+ "spatial_prefix": [],
271
+ "frame_duration": [
272
+ 6344,
273
+ 7236
274
+ ],
275
+ "mp_ef": [],
276
+ "skill_type": [
277
+ "uncoordinated"
278
+ ]
279
+ },
280
+ {
281
+ "skill_idx": 10,
282
+ "skill_id": [
283
+ 12
284
+ ],
285
+ "skill_description": [
286
+ "close door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "washer_ynwamu_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 7236,
297
+ 7907
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 69
308
+ ],
309
+ "skill_description": [
310
+ "turn on switch"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 7907,
321
+ 8375
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ }
328
+ ],
329
+ "primitive_annotation": [
330
+ {
331
+ "primitive_idx": 0,
332
+ "primitive_id": [
333
+ 10
334
+ ],
335
+ "primitive_description": [
336
+ "open door"
337
+ ],
338
+ "object_id": [
339
+ [
340
+ "washer_ynwamu_0"
341
+ ]
342
+ ],
343
+ "manipulating_object_id": [],
344
+ "spatial_prefix": [],
345
+ "frame_duration": [
346
+ 0,
347
+ 2300
348
+ ],
349
+ "skill_idxes": [
350
+ 0,
351
+ 1
352
+ ]
353
+ },
354
+ {
355
+ "primitive_idx": 1,
356
+ "primitive_id": [
357
+ 2,
358
+ 4
359
+ ],
360
+ "primitive_description": [
361
+ "pick up from",
362
+ "place in"
363
+ ],
364
+ "object_id": [
365
+ [
366
+ [
367
+ "baseball_cap_188",
368
+ "baseball_cap_189"
369
+ ],
370
+ "countertop_ikwqer_0"
371
+ ],
372
+ [
373
+ [
374
+ "baseball_cap_189",
375
+ "baseball_cap_188"
376
+ ],
377
+ "washer_ynwamu_0"
378
+ ]
379
+ ],
380
+ "manipulating_object_id": [
381
+ [
382
+ "baseball_cap_188",
383
+ "baseball_cap_189"
384
+ ],
385
+ [
386
+ "baseball_cap_189",
387
+ "baseball_cap_188"
388
+ ]
389
+ ],
390
+ "spatial_prefix": [],
391
+ "frame_duration": [
392
+ 2300,
393
+ 7236
394
+ ],
395
+ "skill_idxes": [
396
+ 2,
397
+ 3,
398
+ 4,
399
+ 5,
400
+ 6,
401
+ 7,
402
+ 8,
403
+ 9
404
+ ]
405
+ },
406
+ {
407
+ "primitive_idx": 2,
408
+ "primitive_id": [
409
+ 12
410
+ ],
411
+ "primitive_description": [
412
+ "close door"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "washer_ynwamu_0"
417
+ ]
418
+ ],
419
+ "manipulating_object_id": [],
420
+ "spatial_prefix": [],
421
+ "frame_duration": [
422
+ 7236,
423
+ 7907
424
+ ],
425
+ "skill_idxes": [
426
+ 10
427
+ ]
428
+ },
429
+ {
430
+ "primitive_idx": 3,
431
+ "primitive_id": [
432
+ 69
433
+ ],
434
+ "primitive_description": [
435
+ "turn on switch"
436
+ ],
437
+ "object_id": [
438
+ [
439
+ "washer_ynwamu_0"
440
+ ]
441
+ ],
442
+ "manipulating_object_id": [],
443
+ "spatial_prefix": [],
444
+ "frame_duration": [
445
+ 7907,
446
+ 8375
447
+ ],
448
+ "skill_idxes": [
449
+ 11
450
+ ]
451
+ }
452
+ ]
453
+ }
annotations/episode_00000158.json ADDED
@@ -0,0 +1,453 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "wash a baseball cap",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8346,
6
+ "valid_duration": [
7
+ 114,
8
+ 8460
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
+ "washer_ynwamu_0"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 114,
29
+ 562
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 10
40
+ ],
41
+ "skill_description": [
42
+ "open door"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "washer_ynwamu_0"
47
+ ]
48
+ ],
49
+ "manipulating_object_id": [],
50
+ "spatial_prefix": [],
51
+ "frame_duration": [
52
+ 562,
53
+ 2027
54
+ ],
55
+ "mp_ef": [],
56
+ "skill_type": [
57
+ "coordinated"
58
+ ]
59
+ },
60
+ {
61
+ "skill_idx": 2,
62
+ "skill_id": [
63
+ 1
64
+ ],
65
+ "skill_description": [
66
+ "move to"
67
+ ],
68
+ "object_id": [
69
+ [
70
+ "baseball_cap_189"
71
+ ]
72
+ ],
73
+ "manipulating_object_id": [],
74
+ "spatial_prefix": [],
75
+ "frame_duration": [
76
+ 2027,
77
+ 2681
78
+ ],
79
+ "mp_ef": [],
80
+ "skill_type": [
81
+ "navigation"
82
+ ]
83
+ },
84
+ {
85
+ "skill_idx": 3,
86
+ "skill_id": [
87
+ 93
88
+ ],
89
+ "skill_description": [
90
+ "turn to"
91
+ ],
92
+ "object_id": [
93
+ [
94
+ "baseball_cap_189",
95
+ "robot"
96
+ ]
97
+ ],
98
+ "manipulating_object_id": [
99
+ "baseball_cap_189"
100
+ ],
101
+ "spatial_prefix": [
102
+ [
103
+ "",
104
+ "face"
105
+ ]
106
+ ],
107
+ "frame_duration": [
108
+ 2681,
109
+ 3460
110
+ ],
111
+ "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
+ },
116
+ {
117
+ "skill_idx": 4,
118
+ "skill_id": [
119
+ 2
120
+ ],
121
+ "skill_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "baseball_cap_189",
127
+ "countertop_ikwqer_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "baseball_cap_189"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 3460,
136
+ 3822
137
+ ],
138
+ "mp_ef": [],
139
+ "skill_type": [
140
+ "uncoordinated"
141
+ ]
142
+ },
143
+ {
144
+ "skill_idx": 5,
145
+ "skill_id": [
146
+ 93
147
+ ],
148
+ "skill_description": [
149
+ "turn to"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "baseball_cap_188",
154
+ "robot"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "baseball_cap_188"
159
+ ],
160
+ "spatial_prefix": [
161
+ [
162
+ "",
163
+ "face"
164
+ ]
165
+ ],
166
+ "frame_duration": [
167
+ 3822,
168
+ 4687
169
+ ],
170
+ "mp_ef": [],
171
+ "skill_type": [
172
+ "uncoordinated"
173
+ ]
174
+ },
175
+ {
176
+ "skill_idx": 6,
177
+ "skill_id": [
178
+ 2
179
+ ],
180
+ "skill_description": [
181
+ "pick up from"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "baseball_cap_188",
186
+ "countertop_ikwqer_0"
187
+ ]
188
+ ],
189
+ "manipulating_object_id": [
190
+ "baseball_cap_188"
191
+ ],
192
+ "spatial_prefix": [],
193
+ "frame_duration": [
194
+ 4687,
195
+ 5044
196
+ ],
197
+ "mp_ef": [],
198
+ "skill_type": [
199
+ "uncoordinated"
200
+ ]
201
+ },
202
+ {
203
+ "skill_idx": 7,
204
+ "skill_id": [
205
+ 1
206
+ ],
207
+ "skill_description": [
208
+ "move to"
209
+ ],
210
+ "object_id": [
211
+ [
212
+ "washer_ynwamu_0"
213
+ ]
214
+ ],
215
+ "manipulating_object_id": [],
216
+ "spatial_prefix": [],
217
+ "frame_duration": [
218
+ 5044,
219
+ 5579
220
+ ],
221
+ "mp_ef": [],
222
+ "skill_type": [
223
+ "navigation"
224
+ ]
225
+ },
226
+ {
227
+ "skill_idx": 8,
228
+ "skill_id": [
229
+ 4
230
+ ],
231
+ "skill_description": [
232
+ "place in"
233
+ ],
234
+ "object_id": [
235
+ [
236
+ "baseball_cap_188",
237
+ "washer_ynwamu_0"
238
+ ]
239
+ ],
240
+ "manipulating_object_id": [
241
+ "baseball_cap_188"
242
+ ],
243
+ "spatial_prefix": [],
244
+ "frame_duration": [
245
+ 5579,
246
+ 6447
247
+ ],
248
+ "mp_ef": [],
249
+ "skill_type": [
250
+ "uncoordinated"
251
+ ]
252
+ },
253
+ {
254
+ "skill_idx": 9,
255
+ "skill_id": [
256
+ 4
257
+ ],
258
+ "skill_description": [
259
+ "place in"
260
+ ],
261
+ "object_id": [
262
+ [
263
+ "baseball_cap_189",
264
+ "washer_ynwamu_0"
265
+ ]
266
+ ],
267
+ "manipulating_object_id": [
268
+ "baseball_cap_189"
269
+ ],
270
+ "spatial_prefix": [],
271
+ "frame_duration": [
272
+ 6447,
273
+ 7323
274
+ ],
275
+ "mp_ef": [],
276
+ "skill_type": [
277
+ "uncoordinated"
278
+ ]
279
+ },
280
+ {
281
+ "skill_idx": 10,
282
+ "skill_id": [
283
+ 12
284
+ ],
285
+ "skill_description": [
286
+ "close door"
287
+ ],
288
+ "object_id": [
289
+ [
290
+ "washer_ynwamu_0"
291
+ ]
292
+ ],
293
+ "manipulating_object_id": [],
294
+ "spatial_prefix": [],
295
+ "frame_duration": [
296
+ 7323,
297
+ 7983
298
+ ],
299
+ "mp_ef": [],
300
+ "skill_type": [
301
+ "uncoordinated"
302
+ ]
303
+ },
304
+ {
305
+ "skill_idx": 11,
306
+ "skill_id": [
307
+ 69
308
+ ],
309
+ "skill_description": [
310
+ "turn on switch"
311
+ ],
312
+ "object_id": [
313
+ [
314
+ "washer_ynwamu_0"
315
+ ]
316
+ ],
317
+ "manipulating_object_id": [],
318
+ "spatial_prefix": [],
319
+ "frame_duration": [
320
+ 7983,
321
+ 8460
322
+ ],
323
+ "mp_ef": [],
324
+ "skill_type": [
325
+ "uncoordinated"
326
+ ]
327
+ }
328
+ ],
329
+ "primitive_annotation": [
330
+ {
331
+ "primitive_idx": 0,
332
+ "primitive_id": [
333
+ 10
334
+ ],
335
+ "primitive_description": [
336
+ "open door"
337
+ ],
338
+ "object_id": [
339
+ [
340
+ "washer_ynwamu_0"
341
+ ]
342
+ ],
343
+ "manipulating_object_id": [],
344
+ "spatial_prefix": [],
345
+ "frame_duration": [
346
+ 114,
347
+ 2027
348
+ ],
349
+ "skill_idxes": [
350
+ 0,
351
+ 1
352
+ ]
353
+ },
354
+ {
355
+ "primitive_idx": 1,
356
+ "primitive_id": [
357
+ 2,
358
+ 4
359
+ ],
360
+ "primitive_description": [
361
+ "pick up from",
362
+ "place in"
363
+ ],
364
+ "object_id": [
365
+ [
366
+ [
367
+ "baseball_cap_189",
368
+ "baseball_cap_188"
369
+ ],
370
+ "countertop_ikwqer_0"
371
+ ],
372
+ [
373
+ [
374
+ "baseball_cap_188",
375
+ "baseball_cap_189"
376
+ ],
377
+ "washer_ynwamu_0"
378
+ ]
379
+ ],
380
+ "manipulating_object_id": [
381
+ [
382
+ "baseball_cap_189",
383
+ "baseball_cap_188"
384
+ ],
385
+ [
386
+ "baseball_cap_188",
387
+ "baseball_cap_189"
388
+ ]
389
+ ],
390
+ "spatial_prefix": [],
391
+ "frame_duration": [
392
+ 2027,
393
+ 7323
394
+ ],
395
+ "skill_idxes": [
396
+ 2,
397
+ 3,
398
+ 4,
399
+ 5,
400
+ 6,
401
+ 7,
402
+ 8,
403
+ 9
404
+ ]
405
+ },
406
+ {
407
+ "primitive_idx": 2,
408
+ "primitive_id": [
409
+ 12
410
+ ],
411
+ "primitive_description": [
412
+ "close door"
413
+ ],
414
+ "object_id": [
415
+ [
416
+ "washer_ynwamu_0"
417
+ ]
418
+ ],
419
+ "manipulating_object_id": [],
420
+ "spatial_prefix": [],
421
+ "frame_duration": [
422
+ 7323,
423
+ 7983
424
+ ],
425
+ "skill_idxes": [
426
+ 10
427
+ ]
428
+ },
429
+ {
430
+ "primitive_idx": 3,
431
+ "primitive_id": [
432
+ 69
433
+ ],
434
+ "primitive_description": [
435
+ "turn on switch"
436
+ ],
437
+ "object_id": [
438
+ [
439
+ "washer_ynwamu_0"
440
+ ]
441
+ ],
442
+ "manipulating_object_id": [],
443
+ "spatial_prefix": [],
444
+ "frame_duration": [
445
+ 7983,
446
+ 8460
447
+ ],
448
+ "skill_idxes": [
449
+ 11
450
+ ]
451
+ }
452
+ ]
453
+ }