Hugging Face's logo

Datasets:
lerobot
/
behavior1k-task0034

Dataset card Data Studio Files
xet
Community
jadechoghari HF Staff commited on
Commit
ee85f8f
·
verified ·
1 Parent(s): 33c938f

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_00000002.json +171 -0
  2. annotations/episode_00000003.json +200 -0
  3. annotations/episode_00000004.json +200 -0
  4. annotations/episode_00000012.json +200 -0
  5. annotations/episode_00000024.json +171 -0
  6. annotations/episode_00000028.json +200 -0
  7. annotations/episode_00000033.json +204 -0
  8. annotations/episode_00000035.json +171 -0
  9. annotations/episode_00000037.json +171 -0
  10. annotations/episode_00000047.json +171 -0
  11. annotations/episode_00000052.json +200 -0
  12. annotations/episode_00000056.json +171 -0
  13. annotations/episode_00000061.json +200 -0
  14. annotations/episode_00000064.json +171 -0
  15. annotations/episode_00000068.json +171 -0
  16. annotations/episode_00000073.json +171 -0
  17. annotations/episode_00000084.json +200 -0
  18. annotations/episode_00000095.json +171 -0
  19. annotations/episode_00000097.json +171 -0
  20. annotations/episode_00000109.json +200 -0
  21. annotations/episode_00000110.json +171 -0
  22. annotations/episode_00000115.json +200 -0
  23. annotations/episode_00000116.json +200 -0
  24. annotations/episode_00000118.json +200 -0
  25. annotations/episode_00000119.json +200 -0
  26. annotations/episode_00000121.json +171 -0
  27. annotations/episode_00000124.json +200 -0
  28. annotations/episode_00000126.json +200 -0
  29. annotations/episode_00000127.json +200 -0
  30. annotations/episode_00000130.json +200 -0
  31. annotations/episode_00000138.json +171 -0
  32. annotations/episode_00000149.json +171 -0
  33. annotations/episode_00000153.json +171 -0
  34. annotations/episode_00000155.json +200 -0
  35. annotations/episode_00000162.json +200 -0
  36. annotations/episode_00000164.json +171 -0
  37. annotations/episode_00000172.json +200 -0
  38. annotations/episode_00000173.json +200 -0
  39. annotations/episode_00000174.json +171 -0
  40. annotations/episode_00000179.json +171 -0
  41. annotations/episode_00000181.json +171 -0
  42. annotations/episode_00000185.json +200 -0
  43. annotations/episode_00000190.json +171 -0
  44. annotations/episode_00000197.json +171 -0
  45. annotations/episode_00000199.json +200 -0
  46. annotations/episode_00000200.json +171 -0
  47. annotations/episode_00000203.json +171 -0
  48. annotations/episode_00000206.json +200 -0
  49. annotations/episode_00000207.json +200 -0
  50. annotations/episode_00000210.json +171 -0
annotations/episode_00000002.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 934,
6
+ "valid_duration": [
7
+ 0,
8
+ 934
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 235
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 236,
56
+ 354
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 355,
80
+ 448
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 449,
107
+ 934
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 354
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 355,
163
+ 934
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000003.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2822,
6
+ "valid_duration": [
7
+ 49,
8
+ 2871
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 49,
29
+ 978
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 978,
56
+ 1315
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1315,
84
+ 1900
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1900,
108
+ 2234
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2234,
135
+ 2871
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 49,
164
+ 1315
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1315,
191
+ 2871
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000004.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2790,
6
+ "valid_duration": [
7
+ 0,
8
+ 2790
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 831
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 831,
56
+ 1156
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1158,
84
+ 1428
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1428,
108
+ 1977
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1977,
135
+ 2790
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 1156
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1158,
191
+ 2790
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000012.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2500,
6
+ "valid_duration": [
7
+ 0,
8
+ 2500
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 273
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 273,
56
+ 745
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 745,
84
+ 1157
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1352,
108
+ 1600
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1601,
135
+ 2500
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 745
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 745,
191
+ 2500
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000024.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1500,
6
+ "valid_duration": [
7
+ 0,
8
+ 1500
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 258
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 260,
56
+ 767
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 767,
80
+ 953
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 953,
107
+ 1500
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 767
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 767,
163
+ 1500
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000028.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2460,
6
+ "valid_duration": [
7
+ 0,
8
+ 2460
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 590
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 590,
56
+ 865
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 866,
84
+ 1437
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1438,
108
+ 1763
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1765,
135
+ 2460
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 865
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 866,
191
+ 2460
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000033.json ADDED
@@ -0,0 +1,204 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2847,
6
+ "valid_duration": [
7
+ 47,
8
+ 2894
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 47,
29
+ 748
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 90
40
+ ],
41
+ "skill_description": [
42
+ "push to"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [
54
+ [
55
+ "",
56
+ "to_the_edge_of"
57
+ ]
58
+ ],
59
+ "frame_duration": [
60
+ 748,
61
+ 1278
62
+ ],
63
+ "mp_ef": [],
64
+ "skill_type": [
65
+ "uncoordinated"
66
+ ]
67
+ },
68
+ {
69
+ "skill_idx": 2,
70
+ "skill_id": [
71
+ 2
72
+ ],
73
+ "skill_description": [
74
+ "pick up from"
75
+ ],
76
+ "object_id": [
77
+ [
78
+ "poster_73",
79
+ "bar_egwapq_0"
80
+ ]
81
+ ],
82
+ "manipulating_object_id": [
83
+ "poster_73"
84
+ ],
85
+ "spatial_prefix": [],
86
+ "frame_duration": [
87
+ 1279,
88
+ 1818
89
+ ],
90
+ "mp_ef": [],
91
+ "skill_type": [
92
+ "uncoordinated"
93
+ ]
94
+ },
95
+ {
96
+ "skill_idx": 3,
97
+ "skill_id": [
98
+ 1
99
+ ],
100
+ "skill_description": [
101
+ "move to"
102
+ ],
103
+ "object_id": [
104
+ [
105
+ "wall_nail_wlnail_1"
106
+ ]
107
+ ],
108
+ "manipulating_object_id": [],
109
+ "spatial_prefix": [],
110
+ "frame_duration": [
111
+ 1818,
112
+ 2145
113
+ ],
114
+ "mp_ef": [],
115
+ "skill_type": [
116
+ "navigation"
117
+ ]
118
+ },
119
+ {
120
+ "skill_idx": 4,
121
+ "skill_id": [
122
+ 61
123
+ ],
124
+ "skill_description": [
125
+ "hang"
126
+ ],
127
+ "object_id": [
128
+ [
129
+ "poster_73",
130
+ "wall_nail_wlnail_1"
131
+ ]
132
+ ],
133
+ "manipulating_object_id": [
134
+ "poster_73"
135
+ ],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [
138
+ 2145,
139
+ 2894
140
+ ],
141
+ "mp_ef": [],
142
+ "skill_type": [
143
+ "uncoordinated"
144
+ ]
145
+ }
146
+ ],
147
+ "primitive_annotation": [
148
+ {
149
+ "primitive_idx": 0,
150
+ "primitive_id": [
151
+ 2
152
+ ],
153
+ "primitive_description": [
154
+ "pick up from"
155
+ ],
156
+ "object_id": [
157
+ [
158
+ "poster_73",
159
+ "bar_egwapq_0"
160
+ ]
161
+ ],
162
+ "manipulating_object_id": [
163
+ "poster_73"
164
+ ],
165
+ "spatial_prefix": [],
166
+ "frame_duration": [
167
+ 47,
168
+ 1818
169
+ ],
170
+ "skill_idxes": [
171
+ 0,
172
+ 1,
173
+ 2
174
+ ]
175
+ },
176
+ {
177
+ "primitive_idx": 1,
178
+ "primitive_id": [
179
+ 61
180
+ ],
181
+ "primitive_description": [
182
+ "hang"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "poster_73",
187
+ "wall_nail_wlnail_1"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "poster_73"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 1818,
196
+ 2894
197
+ ],
198
+ "skill_idxes": [
199
+ 3,
200
+ 4
201
+ ]
202
+ }
203
+ ]
204
+ }
annotations/episode_00000035.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1656,
6
+ "valid_duration": [
7
+ 39,
8
+ 1695
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 39,
29
+ 438
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 438,
56
+ 951
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 951,
80
+ 1035
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1036,
107
+ 1695
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 39,
136
+ 951
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 951,
163
+ 1695
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000037.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2390,
6
+ "valid_duration": [
7
+ 0,
8
+ 2390
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 210
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 210,
56
+ 874
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 876,
80
+ 1159
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1159,
107
+ 2390
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 874
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 876,
163
+ 2390
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000047.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1650,
6
+ "valid_duration": [
7
+ 0,
8
+ 1650
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 416
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 416,
56
+ 965
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 965,
80
+ 1074
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1075,
107
+ 1650
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 965
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 965,
163
+ 1650
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000052.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2954,
6
+ "valid_duration": [
7
+ 0,
8
+ 2954
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 240
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 241,
56
+ 1073
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1073,
84
+ 1528
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1530,
108
+ 2230
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2231,
135
+ 2954
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 1073
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1073,
191
+ 2954
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000056.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1500,
6
+ "valid_duration": [
7
+ 30,
8
+ 1530
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 324
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 325,
56
+ 542
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 543,
80
+ 980
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 983,
107
+ 1530
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 30,
136
+ 542
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 543,
163
+ 1530
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000061.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2583,
6
+ "valid_duration": [
7
+ 90,
8
+ 2673
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 90,
29
+ 433
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 435,
56
+ 1002
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1005,
84
+ 1567
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1568,
108
+ 1785
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1785,
135
+ 2673
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 90,
164
+ 1002
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1005,
191
+ 2673
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000064.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1971,
6
+ "valid_duration": [
7
+ 0,
8
+ 1971
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 541
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 541,
56
+ 870
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 870,
80
+ 1525
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1527,
107
+ 1971
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 870
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 870,
163
+ 1971
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000068.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2508,
6
+ "valid_duration": [
7
+ 0,
8
+ 2508
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 589
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 591,
56
+ 1221
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1221,
80
+ 1368
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1369,
107
+ 2508
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 1221
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1221,
163
+ 2508
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000073.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1551,
6
+ "valid_duration": [
7
+ 0,
8
+ 1551
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 396
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 396,
56
+ 870
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 873,
80
+ 1062
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1066,
107
+ 1551
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 870
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 873,
163
+ 1551
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000084.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3021,
6
+ "valid_duration": [
7
+ 0,
8
+ 3021
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 765
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 765,
56
+ 1350
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1353,
84
+ 2085
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2086,
108
+ 2443
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2445,
135
+ 3021
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 1350
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1353,
191
+ 3021
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000095.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2178,
6
+ "valid_duration": [
7
+ 0,
8
+ 2178
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 564
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 568,
56
+ 1126
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1126,
80
+ 1323
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1330,
107
+ 2178
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 1126
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1126,
163
+ 2178
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000097.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1586,
6
+ "valid_duration": [
7
+ 46,
8
+ 1632
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 46,
29
+ 171
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 172,
56
+ 725
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 729,
80
+ 977
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 978,
107
+ 1632
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 46,
136
+ 725
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 729,
163
+ 1632
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000109.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3210,
6
+ "valid_duration": [
7
+ 0,
8
+ 3210
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 455
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 465,
56
+ 971
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1019,
84
+ 1402
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1402,
108
+ 1823
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1823,
135
+ 3210
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 971
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1019,
191
+ 3210
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000110.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2077,
6
+ "valid_duration": [
7
+ 22,
8
+ 2099
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 22,
29
+ 449
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 449,
56
+ 852
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 852,
80
+ 1234
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1234,
107
+ 2099
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 22,
136
+ 852
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 852,
163
+ 2099
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000115.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2750,
6
+ "valid_duration": [
7
+ 23,
8
+ 2773
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 23,
29
+ 654
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 654,
56
+ 1018
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1140,
84
+ 1498
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1667,
108
+ 1871
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1872,
135
+ 2773
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 23,
164
+ 1018
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1140,
191
+ 2773
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000116.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2334,
6
+ "valid_duration": [
7
+ 0,
8
+ 2334
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 405
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 406,
56
+ 638
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 639,
84
+ 1104
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1104,
108
+ 1486
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1486,
135
+ 2334
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 638
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 639,
191
+ 2334
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000118.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2614,
6
+ "valid_duration": [
7
+ 55,
8
+ 2669
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 55,
29
+ 708
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 708,
56
+ 1150
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1150,
84
+ 1485
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1485,
108
+ 2001
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2001,
135
+ 2669
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 55,
164
+ 1150
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1150,
191
+ 2669
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000119.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2346,
6
+ "valid_duration": [
7
+ 0,
8
+ 2346
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
+ "poster_73"
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
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 547,
56
+ 828
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 828,
84
+ 1150
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1151,
108
+ 1655
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1655,
135
+ 2346
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 828
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 828,
191
+ 2346
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000121.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2073,
6
+ "valid_duration": [
7
+ 36,
8
+ 2109
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 36,
29
+ 351
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 351,
56
+ 796
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 796,
80
+ 1115
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1115,
107
+ 2109
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 36,
136
+ 796
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 796,
163
+ 2109
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000124.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3074,
6
+ "valid_duration": [
7
+ 0,
8
+ 3074
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 365
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 366,
56
+ 813
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 813,
84
+ 1201
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1202,
108
+ 1887
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1888,
135
+ 3074
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 813
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 813,
191
+ 3074
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000126.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2430,
6
+ "valid_duration": [
7
+ 0,
8
+ 2430
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 355
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 355,
56
+ 830
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 830,
84
+ 1100
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1101,
108
+ 1619
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1620,
135
+ 2430
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 830
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 830,
191
+ 2430
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000127.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2621,
6
+ "valid_duration": [
7
+ 24,
8
+ 2645
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 24,
29
+ 492
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 493,
56
+ 807
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 807,
84
+ 1131
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1131,
108
+ 1547
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1548,
135
+ 2645
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 24,
164
+ 807
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 807,
191
+ 2645
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000130.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2606,
6
+ "valid_duration": [
7
+ 25,
8
+ 2631
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 25,
29
+ 828
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 829,
56
+ 1163
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1167,
84
+ 1613
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1773,
108
+ 1995
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1995,
135
+ 2631
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 25,
164
+ 1163
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1167,
191
+ 2631
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000138.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2835,
6
+ "valid_duration": [
7
+ 0,
8
+ 2835
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 353
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 353,
56
+ 861
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1190,
80
+ 1461
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1461,
107
+ 2835
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 861
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1190,
163
+ 2835
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000149.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3471,
6
+ "valid_duration": [
7
+ 31,
8
+ 3502
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 31,
29
+ 637
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 637,
56
+ 2183
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 2183,
80
+ 2589
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2589,
107
+ 3502
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 31,
136
+ 2183
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 2183,
163
+ 3502
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000153.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2381,
6
+ "valid_duration": [
7
+ 0,
8
+ 2381
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 342
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 342,
56
+ 783
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 889,
80
+ 1017
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1018,
107
+ 2381
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 783
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 889,
163
+ 2381
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000155.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2151,
6
+ "valid_duration": [
7
+ 52,
8
+ 2203
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 52,
29
+ 129
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 130,
56
+ 361
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 362,
84
+ 705
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 705,
108
+ 1044
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1045,
135
+ 2203
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 52,
164
+ 361
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 362,
191
+ 2203
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000162.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2267,
6
+ "valid_duration": [
7
+ 0,
8
+ 2267
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 548
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 548,
56
+ 802
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 802,
84
+ 1416
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1417,
108
+ 1795
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1795,
135
+ 2267
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 802
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 802,
191
+ 2267
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000164.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1794,
6
+ "valid_duration": [
7
+ 36,
8
+ 1830
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 36,
29
+ 155
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 155,
56
+ 544
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 742,
80
+ 1093
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1094,
107
+ 1830
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 36,
136
+ 544
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 742,
163
+ 1830
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000172.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2280,
6
+ "valid_duration": [
7
+ 0,
8
+ 2280
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 488
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 489,
56
+ 788
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 788,
84
+ 1156
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1337,
108
+ 1634
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1634,
135
+ 2280
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 788
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 788,
191
+ 2280
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000173.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2691,
6
+ "valid_duration": [
7
+ 60,
8
+ 2751
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 717
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 722,
56
+ 1011
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1012,
84
+ 1456
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1458,
108
+ 1881
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1881,
135
+ 2751
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 60,
164
+ 1011
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1012,
191
+ 2751
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000174.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1938,
6
+ "valid_duration": [
7
+ 14,
8
+ 1952
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 14,
29
+ 272
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 272,
56
+ 673
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 781,
80
+ 953
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 957,
107
+ 1952
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 14,
136
+ 673
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 781,
163
+ 1952
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000179.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1677,
6
+ "valid_duration": [
7
+ 0,
8
+ 1677
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 150
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 154,
56
+ 706
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 708,
80
+ 968
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 974,
107
+ 1677
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 706
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 708,
163
+ 1677
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000181.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2040,
6
+ "valid_duration": [
7
+ 0,
8
+ 2040
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 281
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 281,
56
+ 831
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 831,
80
+ 1206
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1207,
107
+ 2040
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 831
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 831,
163
+ 2040
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000185.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2058,
6
+ "valid_duration": [
7
+ 0,
8
+ 2058
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 168
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 168,
56
+ 471
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 471,
84
+ 725
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 726,
108
+ 1135
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1137,
135
+ 2058
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 471
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 471,
191
+ 2058
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000190.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2443,
6
+ "valid_duration": [
7
+ 47,
8
+ 2490
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 47,
29
+ 773
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 776,
56
+ 1334
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1335,
80
+ 1710
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1710,
107
+ 2490
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 47,
136
+ 1334
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1335,
163
+ 2490
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000197.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1770,
6
+ "valid_duration": [
7
+ 0,
8
+ 1770
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 411
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 411,
56
+ 678
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 678,
80
+ 1190
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1192,
107
+ 1770
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 678
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 678,
163
+ 1770
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000199.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1980,
6
+ "valid_duration": [
7
+ 0,
8
+ 1980
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 204
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 204,
56
+ 509
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 509,
84
+ 1028
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1028,
108
+ 1433
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1433,
135
+ 1980
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 509
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 509,
191
+ 1980
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000200.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2042,
6
+ "valid_duration": [
7
+ 30,
8
+ 2072
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 519
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 520,
56
+ 934
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 934,
80
+ 1324
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1324,
107
+ 2072
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 30,
136
+ 934
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 934,
163
+ 2072
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000203.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2130,
6
+ "valid_duration": [
7
+ 0,
8
+ 2130
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 543
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 544,
56
+ 1173
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1176,
80
+ 1552
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1557,
107
+ 2130
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 1173
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1176,
163
+ 2130
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000206.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3524,
6
+ "valid_duration": [
7
+ 0,
8
+ 3524
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 472
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 474,
56
+ 1293
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1293,
84
+ 2046
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2046,
108
+ 2433
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2433,
135
+ 3524
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 1293
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1293,
191
+ 3524
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000207.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2100,
6
+ "valid_duration": [
7
+ 0,
8
+ 2100
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 482
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 482,
56
+ 755
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 755,
84
+ 1117
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1280,
108
+ 1605
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1606,
135
+ 2100
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 755
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 755,
191
+ 2100
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000210.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1960,
6
+ "valid_duration": [
7
+ 39,
8
+ 1999
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
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 39,
29
+ 417
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 417,
56
+ 1109
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1110,
80
+ 1385
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1385,
107
+ 1999
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 39,
136
+ 1109
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1110,
163
+ 1999
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }