jadechoghari HF Staff commited on
Commit
d36ce2b
·
verified ·
1 Parent(s): f090615

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. annotations/episode_00000001.json +217 -0
  2. annotations/episode_00000002.json +217 -0
  3. annotations/episode_00000014.json +192 -0
  4. annotations/episode_00000022.json +217 -0
  5. annotations/episode_00000023.json +217 -0
  6. annotations/episode_00000024.json +217 -0
  7. annotations/episode_00000025.json +217 -0
  8. annotations/episode_00000027.json +217 -0
  9. annotations/episode_00000040.json +217 -0
  10. annotations/episode_00000041.json +217 -0
  11. annotations/episode_00000043.json +217 -0
  12. annotations/episode_00000046.json +217 -0
  13. annotations/episode_00000049.json +217 -0
  14. annotations/episode_00000061.json +217 -0
  15. annotations/episode_00000069.json +217 -0
  16. annotations/episode_00000070.json +217 -0
  17. annotations/episode_00000071.json +217 -0
  18. annotations/episode_00000075.json +217 -0
  19. annotations/episode_00000079.json +217 -0
  20. annotations/episode_00000080.json +231 -0
  21. annotations/episode_00000084.json +217 -0
  22. annotations/episode_00000092.json +217 -0
  23. annotations/episode_00000094.json +217 -0
  24. annotations/episode_00000096.json +217 -0
  25. annotations/episode_00000103.json +217 -0
  26. annotations/episode_00000106.json +217 -0
  27. annotations/episode_00000107.json +217 -0
  28. annotations/episode_00000108.json +305 -0
  29. annotations/episode_00000109.json +217 -0
  30. annotations/episode_00000112.json +217 -0
  31. annotations/episode_00000116.json +217 -0
  32. annotations/episode_00000117.json +217 -0
  33. annotations/episode_00000119.json +305 -0
  34. annotations/episode_00000127.json +330 -0
  35. annotations/episode_00000143.json +217 -0
  36. annotations/episode_00000144.json +217 -0
  37. annotations/episode_00000145.json +217 -0
  38. annotations/episode_00000147.json +217 -0
  39. annotations/episode_00000149.json +217 -0
  40. annotations/episode_00000151.json +217 -0
  41. annotations/episode_00000152.json +217 -0
  42. annotations/episode_00000153.json +330 -0
  43. annotations/episode_00000154.json +217 -0
  44. annotations/episode_00000159.json +217 -0
  45. annotations/episode_00000160.json +330 -0
  46. annotations/episode_00000162.json +217 -0
  47. annotations/episode_00000164.json +217 -0
  48. annotations/episode_00000165.json +217 -0
  49. annotations/episode_00000168.json +217 -0
  50. annotations/episode_00000171.json +217 -0
annotations/episode_00000001.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5581,
6
+ "valid_duration": [
7
+ 30,
8
+ 5611
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 233
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1760,
56
+ 2377
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 2498,
84
+ 2978
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 3184,
108
+ 3407
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 3408,
135
+ 5350
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5363,
162
+ 5611
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 30,
205
+ 5611
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000002.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5608,
6
+ "valid_duration": [
7
+ 14,
8
+ 5622
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 14,
29
+ 314
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 314,
56
+ 1312
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1312,
84
+ 1827
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1868,
108
+ 2007
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2007,
135
+ 5158
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5348,
162
+ 5622
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 14,
205
+ 5622
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000014.json ADDED
@@ -0,0 +1,192 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6959,
6
+ "valid_duration": [
7
+ 21,
8
+ 6980
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 21,
29
+ 322
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 575,
56
+ 1803
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1803,
84
+ 2506
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 46
95
+ ],
96
+ "skill_description": [
97
+ "wipe hard"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "scrub_brush_86",
102
+ "trumpet_87"
103
+ ]
104
+ ],
105
+ "manipulating_object_id": [
106
+ "scrub_brush_86"
107
+ ],
108
+ "spatial_prefix": [],
109
+ "frame_duration": [
110
+ 3185,
111
+ 6232
112
+ ],
113
+ "mp_ef": [],
114
+ "skill_type": [
115
+ "coordinated"
116
+ ]
117
+ },
118
+ {
119
+ "skill_idx": 4,
120
+ "skill_id": [
121
+ 3
122
+ ],
123
+ "skill_description": [
124
+ "place on"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "scrub_brush_86",
129
+ "desk_aduafr_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "scrub_brush_86"
134
+ ],
135
+ "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 6245,
138
+ 6980
139
+ ],
140
+ "mp_ef": [],
141
+ "skill_type": [
142
+ "uncoordinated"
143
+ ]
144
+ }
145
+ ],
146
+ "primitive_annotation": [
147
+ {
148
+ "primitive_idx": 0,
149
+ "primitive_id": [
150
+ 2,
151
+ 46,
152
+ 3
153
+ ],
154
+ "primitive_description": [
155
+ "pick up from",
156
+ "wipe hard",
157
+ "place on"
158
+ ],
159
+ "object_id": [
160
+ [
161
+ "scrub_brush_86",
162
+ "desk_aduafr_0"
163
+ ],
164
+ [
165
+ "scrub_brush_86",
166
+ "trumpet_87"
167
+ ],
168
+ [
169
+ "scrub_brush_86",
170
+ "desk_aduafr_0"
171
+ ]
172
+ ],
173
+ "manipulating_object_id": [
174
+ "scrub_brush_86",
175
+ "scrub_brush_86",
176
+ "scrub_brush_86"
177
+ ],
178
+ "spatial_prefix": [],
179
+ "frame_duration": [
180
+ 21,
181
+ 6980
182
+ ],
183
+ "skill_idxes": [
184
+ 0,
185
+ 1,
186
+ 2,
187
+ 3,
188
+ 4
189
+ ]
190
+ }
191
+ ]
192
+ }
annotations/episode_00000022.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4498,
6
+ "valid_duration": [
7
+ 0,
8
+ 4498
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 459
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 800,
56
+ 1362
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1381,
84
+ 1878
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1884,
108
+ 2016
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2281,
135
+ 4268
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4268,
162
+ 4498
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4498
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000023.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4866,
6
+ "valid_duration": [
7
+ 0,
8
+ 4866
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 733
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 733,
56
+ 1632
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1670,
84
+ 2162
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2165,
108
+ 2290
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2290,
135
+ 4459
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4459,
162
+ 4866
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4866
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000024.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4474,
6
+ "valid_duration": [
7
+ 0,
8
+ 4474
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 205
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 331,
56
+ 945
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 945,
84
+ 1586
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1586,
108
+ 1692
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1701,
135
+ 4085
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4085,
162
+ 4474
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4474
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000025.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6265,
6
+ "valid_duration": [
7
+ 46,
8
+ 6311
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 46,
29
+ 422
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 422,
56
+ 1549
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1779,
84
+ 2387
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2435,
108
+ 2644
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2644,
135
+ 5764
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5901,
162
+ 6311
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 46,
205
+ 6311
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000027.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5440,
6
+ "valid_duration": [
7
+ 0,
8
+ 5440
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 266
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 531,
56
+ 1170
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1239,
84
+ 1626
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1644,
108
+ 1818
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2086,
135
+ 4939
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5170,
162
+ 5440
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 5440
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000040.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5381,
6
+ "valid_duration": [
7
+ 13,
8
+ 5394
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 13,
29
+ 313
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 313,
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1018,
84
+ 1831
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1831,
108
+ 2039
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2039,
135
+ 5065
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5066,
162
+ 5394
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 13,
205
+ 5394
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000041.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6040,
6
+ "valid_duration": [
7
+ 27,
8
+ 6067
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 27,
29
+ 380
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 611,
56
+ 1384
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1407,
84
+ 1764
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1765,
108
+ 2007
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2007,
135
+ 5760
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5798,
162
+ 6067
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 27,
205
+ 6067
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000043.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4965,
6
+ "valid_duration": [
7
+ 0,
8
+ 4965
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 390
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 390,
56
+ 1570
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1570,
84
+ 2016
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2218,
108
+ 2528
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2528,
135
+ 4721
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4721,
162
+ 4965
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4965
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000046.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4693,
6
+ "valid_duration": [
7
+ 0,
8
+ 4693
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 187
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 187,
56
+ 770
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 770,
84
+ 1563
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1563,
108
+ 2061
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2061,
135
+ 4356
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4356,
162
+ 4693
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4693
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000049.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5753,
6
+ "valid_duration": [
7
+ 15,
8
+ 5768
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 15,
29
+ 603
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 603,
56
+ 1749
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1749,
84
+ 2295
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2295,
108
+ 2550
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2550,
135
+ 5394
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5394,
162
+ 5768
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 15,
205
+ 5768
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000061.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5754,
6
+ "valid_duration": [
7
+ 0,
8
+ 5754
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 466
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 466,
56
+ 1221
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1221,
84
+ 1864
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1864,
108
+ 2088
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2088,
135
+ 5011
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5011,
162
+ 5754
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 5754
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000069.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5965,
6
+ "valid_duration": [
7
+ 35,
8
+ 6000
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 35,
29
+ 506
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 506,
56
+ 1426
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1517,
84
+ 1976
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1977,
108
+ 2550
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2550,
135
+ 5704
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5704,
162
+ 6000
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 35,
205
+ 6000
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000070.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5101,
6
+ "valid_duration": [
7
+ 43,
8
+ 5144
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
+ "trumpet_87"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 43,
29
+ 505
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 872,
56
+ 1670
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1706,
84
+ 2355
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2608,
108
+ 2695
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2722,
135
+ 4867
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4929,
162
+ 5144
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 43,
205
+ 5144
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000071.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5877,
6
+ "valid_duration": [
7
+ 0,
8
+ 5877
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 319
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 319,
56
+ 1213
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1213,
84
+ 1691
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1691,
108
+ 2173
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2173,
135
+ 5193
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5193,
162
+ 5877
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 5877
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000075.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4133,
6
+ "valid_duration": [
7
+ 0,
8
+ 4133
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 332
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 332,
56
+ 1058
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1059,
84
+ 1502
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1502,
108
+ 1929
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1929,
135
+ 3939
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 3939,
162
+ 4133
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4133
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000079.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4876,
6
+ "valid_duration": [
7
+ 30,
8
+ 4906
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 486
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 486,
56
+ 1886
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1921,
84
+ 2433
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2463,
108
+ 2619
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2619,
135
+ 4577
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4577,
162
+ 4906
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 30,
205
+ 4906
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000080.json ADDED
@@ -0,0 +1,231 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4367,
6
+ "valid_duration": [
7
+ 0,
8
+ 4367
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 532
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 533,
56
+ 1936
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1936,
84
+ 2376
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2376,
108
+ 2451
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2452,
135
+ 4181
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [
160
+ [
161
+ "",
162
+ "to_the_edge_of"
163
+ ]
164
+ ],
165
+ "frame_duration": [
166
+ 4181,
167
+ 4367
168
+ ],
169
+ "mp_ef": [],
170
+ "skill_type": [
171
+ "uncoordinated"
172
+ ]
173
+ }
174
+ ],
175
+ "primitive_annotation": [
176
+ {
177
+ "primitive_idx": 0,
178
+ "primitive_id": [
179
+ 2,
180
+ 46,
181
+ 3
182
+ ],
183
+ "primitive_description": [
184
+ "pick up from",
185
+ "wipe hard",
186
+ "place on"
187
+ ],
188
+ "object_id": [
189
+ [
190
+ "scrub_brush_86",
191
+ "desk_aduafr_0"
192
+ ],
193
+ [
194
+ "scrub_brush_86",
195
+ "trumpet_87"
196
+ ],
197
+ [
198
+ "scrub_brush_86",
199
+ "desk_aduafr_0"
200
+ ]
201
+ ],
202
+ "manipulating_object_id": [
203
+ "scrub_brush_86",
204
+ "scrub_brush_86",
205
+ "scrub_brush_86"
206
+ ],
207
+ "spatial_prefix": [
208
+ [],
209
+ [],
210
+ [
211
+ [],
212
+ [
213
+ "to_the_edge_of"
214
+ ]
215
+ ]
216
+ ],
217
+ "frame_duration": [
218
+ 0,
219
+ 4367
220
+ ],
221
+ "skill_idxes": [
222
+ 0,
223
+ 1,
224
+ 2,
225
+ 3,
226
+ 4,
227
+ 5
228
+ ]
229
+ }
230
+ ]
231
+ }
annotations/episode_00000084.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4549,
6
+ "valid_duration": [
7
+ 0,
8
+ 4549
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 610
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1058,
56
+ 1689
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1750,
84
+ 2154
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2157,
108
+ 2290
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2295,
135
+ 4350
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4356,
162
+ 4549
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4549
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000092.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 192
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 252,
56
+ 972
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1005,
84
+ 1467
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1467,
108
+ 1559
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1591,
135
+ 2610
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 2635,
162
+ 2790
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 2790
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000094.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5590,
6
+ "valid_duration": [
7
+ 0,
8
+ 5590
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 789
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1107,
56
+ 1653
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1653,
84
+ 2391
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2391,
108
+ 2887
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2917,
135
+ 5333
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5333,
162
+ 5590
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 5590
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000096.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5118,
6
+ "valid_duration": [
7
+ 0,
8
+ 5118
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 160
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 453,
56
+ 1046
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1200,
84
+ 1500
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1827,
108
+ 2241
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2242,
135
+ 4840
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4840,
162
+ 5118
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 5118
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000103.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3960,
6
+ "valid_duration": [
7
+ 0,
8
+ 3960
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 308
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 309,
56
+ 1046
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1126,
84
+ 1826
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1826,
108
+ 2153
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2153,
135
+ 3810
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 3810,
162
+ 3960
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 3960
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000106.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3996,
6
+ "valid_duration": [
7
+ 0,
8
+ 3996
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 486
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 876,
56
+ 1272
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1272,
84
+ 1644
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1644,
108
+ 1712
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1712,
135
+ 3823
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 3823,
162
+ 3996
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 3996
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000107.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5430,
6
+ "valid_duration": [
7
+ 0,
8
+ 5430
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 746
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 750,
56
+ 1850
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1850,
84
+ 2648
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2648,
108
+ 2991
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 3052,
135
+ 5250
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5250,
162
+ 5430
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 5430
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000108.json ADDED
@@ -0,0 +1,305 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5483,
6
+ "valid_duration": [
7
+ 0,
8
+ 5483
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
+ "trumpet_87"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 606
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
+ "trumpet_87",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trumpet_87"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 606,
56
+ 1656
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 3
67
+ ],
68
+ "skill_description": [
69
+ "place on"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "trumpet_87",
74
+ "desk_aduafr_0"
75
+ ]
76
+ ],
77
+ "manipulating_object_id": [
78
+ "trumpet_87"
79
+ ],
80
+ "spatial_prefix": [],
81
+ "frame_duration": [
82
+ 1656,
83
+ 1950
84
+ ],
85
+ "mp_ef": [],
86
+ "skill_type": [
87
+ "uncoordinated"
88
+ ]
89
+ },
90
+ {
91
+ "skill_idx": 3,
92
+ "skill_id": [
93
+ 2
94
+ ],
95
+ "skill_description": [
96
+ "pick up from"
97
+ ],
98
+ "object_id": [
99
+ [
100
+ "scrub_brush_86",
101
+ "desk_aduafr_0"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [
105
+ "scrub_brush_86"
106
+ ],
107
+ "spatial_prefix": [],
108
+ "frame_duration": [
109
+ 1950,
110
+ 2767
111
+ ],
112
+ "mp_ef": [],
113
+ "skill_type": [
114
+ "uncoordinated"
115
+ ]
116
+ },
117
+ {
118
+ "skill_idx": 4,
119
+ "skill_id": [
120
+ 5
121
+ ],
122
+ "skill_description": [
123
+ "hand over"
124
+ ],
125
+ "object_id": [
126
+ [
127
+ "scrub_brush_86",
128
+ "left",
129
+ "right"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "scrub_brush_86"
134
+ ],
135
+ "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 2767,
138
+ 3372
139
+ ],
140
+ "mp_ef": [],
141
+ "skill_type": [
142
+ "coordinated"
143
+ ]
144
+ },
145
+ {
146
+ "skill_idx": 5,
147
+ "skill_id": [
148
+ 1
149
+ ],
150
+ "skill_description": [
151
+ "move to"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "trumpet_87"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 3372,
162
+ 3538
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "navigation"
167
+ ]
168
+ },
169
+ {
170
+ "skill_idx": 6,
171
+ "skill_id": [
172
+ 46
173
+ ],
174
+ "skill_description": [
175
+ "wipe hard"
176
+ ],
177
+ "object_id": [
178
+ [
179
+ "scrub_brush_86",
180
+ "trumpet_87"
181
+ ]
182
+ ],
183
+ "manipulating_object_id": [
184
+ "scrub_brush_86"
185
+ ],
186
+ "spatial_prefix": [],
187
+ "frame_duration": [
188
+ 3538,
189
+ 5228
190
+ ],
191
+ "mp_ef": [],
192
+ "skill_type": [
193
+ "coordinated"
194
+ ]
195
+ },
196
+ {
197
+ "skill_idx": 7,
198
+ "skill_id": [
199
+ 3
200
+ ],
201
+ "skill_description": [
202
+ "place on"
203
+ ],
204
+ "object_id": [
205
+ [
206
+ "scrub_brush_86",
207
+ "desk_aduafr_0"
208
+ ]
209
+ ],
210
+ "manipulating_object_id": [
211
+ "scrub_brush_86"
212
+ ],
213
+ "spatial_prefix": [],
214
+ "frame_duration": [
215
+ 5228,
216
+ 5483
217
+ ],
218
+ "mp_ef": [],
219
+ "skill_type": [
220
+ "uncoordinated"
221
+ ]
222
+ }
223
+ ],
224
+ "primitive_annotation": [
225
+ {
226
+ "primitive_idx": 0,
227
+ "primitive_id": [
228
+ 2,
229
+ 3
230
+ ],
231
+ "primitive_description": [
232
+ "pick up from",
233
+ "place on"
234
+ ],
235
+ "object_id": [
236
+ [
237
+ "trumpet_87",
238
+ "desk_aduafr_0"
239
+ ],
240
+ [
241
+ "trumpet_87",
242
+ "desk_aduafr_0"
243
+ ]
244
+ ],
245
+ "manipulating_object_id": [
246
+ "trumpet_87",
247
+ "trumpet_87"
248
+ ],
249
+ "spatial_prefix": [],
250
+ "frame_duration": [
251
+ 0,
252
+ 1950
253
+ ],
254
+ "skill_idxes": [
255
+ 0,
256
+ 1,
257
+ 2
258
+ ]
259
+ },
260
+ {
261
+ "primitive_idx": 1,
262
+ "primitive_id": [
263
+ 2,
264
+ 46,
265
+ 3
266
+ ],
267
+ "primitive_description": [
268
+ "pick up from",
269
+ "wipe hard",
270
+ "place on"
271
+ ],
272
+ "object_id": [
273
+ [
274
+ "scrub_brush_86",
275
+ "desk_aduafr_0"
276
+ ],
277
+ [
278
+ "scrub_brush_86",
279
+ "trumpet_87"
280
+ ],
281
+ [
282
+ "scrub_brush_86",
283
+ "desk_aduafr_0"
284
+ ]
285
+ ],
286
+ "manipulating_object_id": [
287
+ "scrub_brush_86",
288
+ "scrub_brush_86",
289
+ "scrub_brush_86"
290
+ ],
291
+ "spatial_prefix": [],
292
+ "frame_duration": [
293
+ 1950,
294
+ 5483
295
+ ],
296
+ "skill_idxes": [
297
+ 3,
298
+ 4,
299
+ 5,
300
+ 6,
301
+ 7
302
+ ]
303
+ }
304
+ ]
305
+ }
annotations/episode_00000109.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4556,
6
+ "valid_duration": [
7
+ 25,
8
+ 4581
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 25,
29
+ 537
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
+ "scrub_brush_86",
47
+ "floors_nlswvt_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 537,
56
+ 1285
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1285,
84
+ 1971
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1971,
108
+ 2334
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2334,
135
+ 4345
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4345,
162
+ 4581
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "floors_nlswvt_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 25,
205
+ 4581
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000112.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5277,
6
+ "valid_duration": [
7
+ 30,
8
+ 5307
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 490
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 490,
56
+ 1647
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1648,
84
+ 2222
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2222,
108
+ 2580
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2580,
135
+ 5071
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5071,
162
+ 5307
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 30,
205
+ 5307
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000116.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5316,
6
+ "valid_duration": [
7
+ 0,
8
+ 5316
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 392
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 962,
56
+ 1380
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1484,
84
+ 2211
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2211,
108
+ 2712
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 3012,
135
+ 5110
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5110,
162
+ 5316
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 5316
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000117.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4622,
6
+ "valid_duration": [
7
+ 0,
8
+ 4622
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 332
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 917,
56
+ 1488
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1530,
84
+ 2063
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2390,
108
+ 2709
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 3060,
135
+ 4422
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4436,
162
+ 4622
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4622
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000119.json ADDED
@@ -0,0 +1,305 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6064,
6
+ "valid_duration": [
7
+ 0,
8
+ 6064
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
+ "trumpet_87"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 553
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "trumpet_87",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trumpet_87"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 553,
56
+ 1659
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 3
67
+ ],
68
+ "skill_description": [
69
+ "place on"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "trumpet_87",
74
+ "desk_aduafr_0"
75
+ ]
76
+ ],
77
+ "manipulating_object_id": [
78
+ "trumpet_87"
79
+ ],
80
+ "spatial_prefix": [],
81
+ "frame_duration": [
82
+ 1659,
83
+ 2045
84
+ ],
85
+ "mp_ef": [],
86
+ "skill_type": [
87
+ "uncoordinated"
88
+ ]
89
+ },
90
+ {
91
+ "skill_idx": 3,
92
+ "skill_id": [
93
+ 2
94
+ ],
95
+ "skill_description": [
96
+ "pick up from"
97
+ ],
98
+ "object_id": [
99
+ [
100
+ "scrub_brush_86",
101
+ "desk_aduafr_0"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [
105
+ "scrub_brush_86"
106
+ ],
107
+ "spatial_prefix": [],
108
+ "frame_duration": [
109
+ 2045,
110
+ 2842
111
+ ],
112
+ "mp_ef": [],
113
+ "skill_type": [
114
+ "uncoordinated"
115
+ ]
116
+ },
117
+ {
118
+ "skill_idx": 4,
119
+ "skill_id": [
120
+ 5
121
+ ],
122
+ "skill_description": [
123
+ "hand over"
124
+ ],
125
+ "object_id": [
126
+ [
127
+ "scrub_brush_86",
128
+ "left",
129
+ "right"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "scrub_brush_86"
134
+ ],
135
+ "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 2842,
138
+ 3370
139
+ ],
140
+ "mp_ef": [],
141
+ "skill_type": [
142
+ "coordinated"
143
+ ]
144
+ },
145
+ {
146
+ "skill_idx": 5,
147
+ "skill_id": [
148
+ 1
149
+ ],
150
+ "skill_description": [
151
+ "move to"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "trumpet_87"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 3370,
162
+ 3749
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "navigation"
167
+ ]
168
+ },
169
+ {
170
+ "skill_idx": 6,
171
+ "skill_id": [
172
+ 46
173
+ ],
174
+ "skill_description": [
175
+ "wipe hard"
176
+ ],
177
+ "object_id": [
178
+ [
179
+ "scrub_brush_86",
180
+ "trumpet_87"
181
+ ]
182
+ ],
183
+ "manipulating_object_id": [
184
+ "scrub_brush_86"
185
+ ],
186
+ "spatial_prefix": [],
187
+ "frame_duration": [
188
+ 3749,
189
+ 5801
190
+ ],
191
+ "mp_ef": [],
192
+ "skill_type": [
193
+ "coordinated"
194
+ ]
195
+ },
196
+ {
197
+ "skill_idx": 7,
198
+ "skill_id": [
199
+ 3
200
+ ],
201
+ "skill_description": [
202
+ "place on"
203
+ ],
204
+ "object_id": [
205
+ [
206
+ "scrub_brush_86",
207
+ "desk_aduafr_0"
208
+ ]
209
+ ],
210
+ "manipulating_object_id": [
211
+ "scrub_brush_86"
212
+ ],
213
+ "spatial_prefix": [],
214
+ "frame_duration": [
215
+ 5801,
216
+ 6064
217
+ ],
218
+ "mp_ef": [],
219
+ "skill_type": [
220
+ "uncoordinated"
221
+ ]
222
+ }
223
+ ],
224
+ "primitive_annotation": [
225
+ {
226
+ "primitive_idx": 0,
227
+ "primitive_id": [
228
+ 2,
229
+ 3
230
+ ],
231
+ "primitive_description": [
232
+ "pick up from",
233
+ "place on"
234
+ ],
235
+ "object_id": [
236
+ [
237
+ "trumpet_87",
238
+ "desk_aduafr_0"
239
+ ],
240
+ [
241
+ "trumpet_87",
242
+ "desk_aduafr_0"
243
+ ]
244
+ ],
245
+ "manipulating_object_id": [
246
+ "trumpet_87",
247
+ "trumpet_87"
248
+ ],
249
+ "spatial_prefix": [],
250
+ "frame_duration": [
251
+ 0,
252
+ 2045
253
+ ],
254
+ "skill_idxes": [
255
+ 0,
256
+ 1,
257
+ 2
258
+ ]
259
+ },
260
+ {
261
+ "primitive_idx": 1,
262
+ "primitive_id": [
263
+ 2,
264
+ 46,
265
+ 3
266
+ ],
267
+ "primitive_description": [
268
+ "pick up from",
269
+ "wipe hard",
270
+ "place on"
271
+ ],
272
+ "object_id": [
273
+ [
274
+ "scrub_brush_86",
275
+ "desk_aduafr_0"
276
+ ],
277
+ [
278
+ "scrub_brush_86",
279
+ "trumpet_87"
280
+ ],
281
+ [
282
+ "scrub_brush_86",
283
+ "desk_aduafr_0"
284
+ ]
285
+ ],
286
+ "manipulating_object_id": [
287
+ "scrub_brush_86",
288
+ "scrub_brush_86",
289
+ "scrub_brush_86"
290
+ ],
291
+ "spatial_prefix": [],
292
+ "frame_duration": [
293
+ 2045,
294
+ 6064
295
+ ],
296
+ "skill_idxes": [
297
+ 3,
298
+ 4,
299
+ 5,
300
+ 6,
301
+ 7
302
+ ]
303
+ }
304
+ ]
305
+ }
annotations/episode_00000127.json ADDED
@@ -0,0 +1,330 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6449,
6
+ "valid_duration": [
7
+ 0,
8
+ 6449
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
+ "trumpet_87"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 638
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
+ "trumpet_87",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trumpet_87"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 638,
56
+ 1676
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 3
67
+ ],
68
+ "skill_description": [
69
+ "place on"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "trumpet_87",
74
+ "desk_aduafr_0"
75
+ ]
76
+ ],
77
+ "manipulating_object_id": [
78
+ "trumpet_87"
79
+ ],
80
+ "spatial_prefix": [],
81
+ "frame_duration": [
82
+ 1676,
83
+ 1943
84
+ ],
85
+ "mp_ef": [],
86
+ "skill_type": [
87
+ "uncoordinated"
88
+ ]
89
+ },
90
+ {
91
+ "skill_idx": 3,
92
+ "skill_id": [
93
+ 1
94
+ ],
95
+ "skill_description": [
96
+ "move to"
97
+ ],
98
+ "object_id": [
99
+ [
100
+ "scrub_brush_86"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1943,
107
+ 2100
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "navigation"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 2
118
+ ],
119
+ "skill_description": [
120
+ "pick up from"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "scrub_brush_86",
125
+ "desk_aduafr_0"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "scrub_brush_86"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2100,
134
+ 2616
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "uncoordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 5
145
+ ],
146
+ "skill_description": [
147
+ "hand over"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "scrub_brush_86",
152
+ "left",
153
+ "right"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 2616,
162
+ 3015
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "coordinated"
167
+ ]
168
+ },
169
+ {
170
+ "skill_idx": 6,
171
+ "skill_id": [
172
+ 1
173
+ ],
174
+ "skill_description": [
175
+ "move to"
176
+ ],
177
+ "object_id": [
178
+ [
179
+ "trumpet_87"
180
+ ]
181
+ ],
182
+ "manipulating_object_id": [],
183
+ "spatial_prefix": [],
184
+ "frame_duration": [
185
+ 3015,
186
+ 3853
187
+ ],
188
+ "mp_ef": [],
189
+ "skill_type": [
190
+ "navigation"
191
+ ]
192
+ },
193
+ {
194
+ "skill_idx": 7,
195
+ "skill_id": [
196
+ 46
197
+ ],
198
+ "skill_description": [
199
+ "wipe hard"
200
+ ],
201
+ "object_id": [
202
+ [
203
+ "scrub_brush_86",
204
+ "trumpet_87"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [
208
+ "scrub_brush_86"
209
+ ],
210
+ "spatial_prefix": [],
211
+ "frame_duration": [
212
+ 3853,
213
+ 6078
214
+ ],
215
+ "mp_ef": [],
216
+ "skill_type": [
217
+ "coordinated"
218
+ ]
219
+ },
220
+ {
221
+ "skill_idx": 8,
222
+ "skill_id": [
223
+ 3
224
+ ],
225
+ "skill_description": [
226
+ "place on"
227
+ ],
228
+ "object_id": [
229
+ [
230
+ "scrub_brush_86",
231
+ "desk_aduafr_0"
232
+ ]
233
+ ],
234
+ "manipulating_object_id": [
235
+ "scrub_brush_86"
236
+ ],
237
+ "spatial_prefix": [],
238
+ "frame_duration": [
239
+ 6078,
240
+ 6449
241
+ ],
242
+ "mp_ef": [],
243
+ "skill_type": [
244
+ "uncoordinated"
245
+ ]
246
+ }
247
+ ],
248
+ "primitive_annotation": [
249
+ {
250
+ "primitive_idx": 0,
251
+ "primitive_id": [
252
+ 2,
253
+ 3
254
+ ],
255
+ "primitive_description": [
256
+ "pick up from",
257
+ "place on"
258
+ ],
259
+ "object_id": [
260
+ [
261
+ "trumpet_87",
262
+ "desk_aduafr_0"
263
+ ],
264
+ [
265
+ "trumpet_87",
266
+ "desk_aduafr_0"
267
+ ]
268
+ ],
269
+ "manipulating_object_id": [
270
+ "trumpet_87",
271
+ "trumpet_87"
272
+ ],
273
+ "spatial_prefix": [],
274
+ "frame_duration": [
275
+ 0,
276
+ 1943
277
+ ],
278
+ "skill_idxes": [
279
+ 0,
280
+ 1,
281
+ 2
282
+ ]
283
+ },
284
+ {
285
+ "primitive_idx": 1,
286
+ "primitive_id": [
287
+ 2,
288
+ 46,
289
+ 3
290
+ ],
291
+ "primitive_description": [
292
+ "pick up from",
293
+ "wipe hard",
294
+ "place on"
295
+ ],
296
+ "object_id": [
297
+ [
298
+ "scrub_brush_86",
299
+ "desk_aduafr_0"
300
+ ],
301
+ [
302
+ "scrub_brush_86",
303
+ "trumpet_87"
304
+ ],
305
+ [
306
+ "scrub_brush_86",
307
+ "desk_aduafr_0"
308
+ ]
309
+ ],
310
+ "manipulating_object_id": [
311
+ "scrub_brush_86",
312
+ "scrub_brush_86",
313
+ "scrub_brush_86"
314
+ ],
315
+ "spatial_prefix": [],
316
+ "frame_duration": [
317
+ 1943,
318
+ 6449
319
+ ],
320
+ "skill_idxes": [
321
+ 3,
322
+ 4,
323
+ 5,
324
+ 6,
325
+ 7,
326
+ 8
327
+ ]
328
+ }
329
+ ]
330
+ }
annotations/episode_00000143.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3661,
6
+ "valid_duration": [
7
+ 0,
8
+ 3661
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 412
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 412,
56
+ 1631
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1631,
84
+ 1984
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1984,
108
+ 2115
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2116,
135
+ 3423
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 3423,
162
+ 3661
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 3661
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000144.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4410,
6
+ "valid_duration": [
7
+ 30,
8
+ 4440
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 607,
56
+ 1704
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1704,
84
+ 2118
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2118,
108
+ 2308
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2308,
135
+ 4109
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4109,
162
+ 4440
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 30,
205
+ 4440
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000145.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4358,
6
+ "valid_duration": [
7
+ 0,
8
+ 4358
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 490
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1113,
56
+ 2208
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 2208,
84
+ 2439
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2439,
108
+ 2599
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2599,
135
+ 4033
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4033,
162
+ 4358
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4358
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000147.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4350,
6
+ "valid_duration": [
7
+ 0,
8
+ 4350
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
+ "scrub_brush_86"
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 343,
56
+ 1266
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1266,
84
+ 1575
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1575,
108
+ 1962
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1962,
135
+ 3856
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 3856,
162
+ 4350
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4350
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000149.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5141,
6
+ "valid_duration": [
7
+ 0,
8
+ 5141
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 232
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 232,
56
+ 1517
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1517,
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1900,
108
+ 2108
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2108,
135
+ 4768
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4768,
162
+ 5141
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 5141
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000151.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4308,
6
+ "valid_duration": [
7
+ 30,
8
+ 4338
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 468
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 468,
56
+ 1421
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1421,
84
+ 1709
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1710,
108
+ 1874
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1874,
135
+ 4158
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4158,
162
+ 4338
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 30,
205
+ 4338
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000152.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5454,
6
+ "valid_duration": [
7
+ 45,
8
+ 5499
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 45,
29
+ 607
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 607,
56
+ 1834
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1834,
84
+ 2559
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2559,
108
+ 2999
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2999,
135
+ 5287
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5288,
162
+ 5499
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 45,
205
+ 5499
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000153.json ADDED
@@ -0,0 +1,330 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4578,
6
+ "valid_duration": [
7
+ 0,
8
+ 4578
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
+ "trumpet_87"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 769
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
+ "trumpet_87",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trumpet_87"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 769,
56
+ 1808
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 3
67
+ ],
68
+ "skill_description": [
69
+ "place on"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "trumpet_87",
74
+ "desk_aduafr_0"
75
+ ]
76
+ ],
77
+ "manipulating_object_id": [
78
+ "trumpet_87"
79
+ ],
80
+ "spatial_prefix": [],
81
+ "frame_duration": [
82
+ 1808,
83
+ 2102
84
+ ],
85
+ "mp_ef": [],
86
+ "skill_type": [
87
+ "uncoordinated"
88
+ ]
89
+ },
90
+ {
91
+ "skill_idx": 3,
92
+ "skill_id": [
93
+ 1
94
+ ],
95
+ "skill_description": [
96
+ "move to"
97
+ ],
98
+ "object_id": [
99
+ [
100
+ "scrub_brush_86"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2102,
107
+ 2156
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "navigation"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 2
118
+ ],
119
+ "skill_description": [
120
+ "pick up from"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "scrub_brush_86",
125
+ "desk_aduafr_0"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "scrub_brush_86"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 2156,
134
+ 2460
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "uncoordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 5
145
+ ],
146
+ "skill_description": [
147
+ "hand over"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "scrub_brush_86",
152
+ "left",
153
+ "right"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 2460,
162
+ 2754
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "coordinated"
167
+ ]
168
+ },
169
+ {
170
+ "skill_idx": 6,
171
+ "skill_id": [
172
+ 1
173
+ ],
174
+ "skill_description": [
175
+ "move to"
176
+ ],
177
+ "object_id": [
178
+ [
179
+ "trumpet_87"
180
+ ]
181
+ ],
182
+ "manipulating_object_id": [],
183
+ "spatial_prefix": [],
184
+ "frame_duration": [
185
+ 2754,
186
+ 2965
187
+ ],
188
+ "mp_ef": [],
189
+ "skill_type": [
190
+ "navigation"
191
+ ]
192
+ },
193
+ {
194
+ "skill_idx": 7,
195
+ "skill_id": [
196
+ 46
197
+ ],
198
+ "skill_description": [
199
+ "wipe hard"
200
+ ],
201
+ "object_id": [
202
+ [
203
+ "scrub_brush_86",
204
+ "trumpet_87"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [
208
+ "scrub_brush_86"
209
+ ],
210
+ "spatial_prefix": [],
211
+ "frame_duration": [
212
+ 2965,
213
+ 4298
214
+ ],
215
+ "mp_ef": [],
216
+ "skill_type": [
217
+ "coordinated"
218
+ ]
219
+ },
220
+ {
221
+ "skill_idx": 8,
222
+ "skill_id": [
223
+ 3
224
+ ],
225
+ "skill_description": [
226
+ "place on"
227
+ ],
228
+ "object_id": [
229
+ [
230
+ "scrub_brush_86",
231
+ "desk_aduafr_0"
232
+ ]
233
+ ],
234
+ "manipulating_object_id": [
235
+ "scrub_brush_86"
236
+ ],
237
+ "spatial_prefix": [],
238
+ "frame_duration": [
239
+ 4298,
240
+ 4578
241
+ ],
242
+ "mp_ef": [],
243
+ "skill_type": [
244
+ "uncoordinated"
245
+ ]
246
+ }
247
+ ],
248
+ "primitive_annotation": [
249
+ {
250
+ "primitive_idx": 0,
251
+ "primitive_id": [
252
+ 2,
253
+ 3
254
+ ],
255
+ "primitive_description": [
256
+ "pick up from",
257
+ "place on"
258
+ ],
259
+ "object_id": [
260
+ [
261
+ "trumpet_87",
262
+ "desk_aduafr_0"
263
+ ],
264
+ [
265
+ "trumpet_87",
266
+ "desk_aduafr_0"
267
+ ]
268
+ ],
269
+ "manipulating_object_id": [
270
+ "trumpet_87",
271
+ "trumpet_87"
272
+ ],
273
+ "spatial_prefix": [],
274
+ "frame_duration": [
275
+ 0,
276
+ 2102
277
+ ],
278
+ "skill_idxes": [
279
+ 0,
280
+ 1,
281
+ 2
282
+ ]
283
+ },
284
+ {
285
+ "primitive_idx": 1,
286
+ "primitive_id": [
287
+ 2,
288
+ 46,
289
+ 3
290
+ ],
291
+ "primitive_description": [
292
+ "pick up from",
293
+ "wipe hard",
294
+ "place on"
295
+ ],
296
+ "object_id": [
297
+ [
298
+ "scrub_brush_86",
299
+ "desk_aduafr_0"
300
+ ],
301
+ [
302
+ "scrub_brush_86",
303
+ "trumpet_87"
304
+ ],
305
+ [
306
+ "scrub_brush_86",
307
+ "desk_aduafr_0"
308
+ ]
309
+ ],
310
+ "manipulating_object_id": [
311
+ "scrub_brush_86",
312
+ "scrub_brush_86",
313
+ "scrub_brush_86"
314
+ ],
315
+ "spatial_prefix": [],
316
+ "frame_duration": [
317
+ 2102,
318
+ 4578
319
+ ],
320
+ "skill_idxes": [
321
+ 3,
322
+ 4,
323
+ 5,
324
+ 6,
325
+ 7,
326
+ 8
327
+ ]
328
+ }
329
+ ]
330
+ }
annotations/episode_00000154.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4132,
6
+ "valid_duration": [
7
+ 0,
8
+ 4132
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 518
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 518,
56
+ 1709
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1709,
84
+ 2298
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2298,
108
+ 2446
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2447,
135
+ 3961
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 3961,
162
+ 4132
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4132
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000159.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4597,
6
+ "valid_duration": [
7
+ 27,
8
+ 4624
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 27,
29
+ 573
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 574,
56
+ 1772
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1772,
84
+ 2127
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2127,
108
+ 2215
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2216,
135
+ 4413
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4413,
162
+ 4624
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 27,
205
+ 4624
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000160.json ADDED
@@ -0,0 +1,330 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4487,
6
+ "valid_duration": [
7
+ 0,
8
+ 4487
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
+ "trumpet_87"
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
+ "trumpet_87",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "trumpet_87"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 455,
56
+ 1392
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 3
67
+ ],
68
+ "skill_description": [
69
+ "place on"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "trumpet_87",
74
+ "desk_aduafr_0"
75
+ ]
76
+ ],
77
+ "manipulating_object_id": [
78
+ "trumpet_87"
79
+ ],
80
+ "spatial_prefix": [],
81
+ "frame_duration": [
82
+ 1392,
83
+ 1657
84
+ ],
85
+ "mp_ef": [],
86
+ "skill_type": [
87
+ "uncoordinated"
88
+ ]
89
+ },
90
+ {
91
+ "skill_idx": 3,
92
+ "skill_id": [
93
+ 1
94
+ ],
95
+ "skill_description": [
96
+ "move to"
97
+ ],
98
+ "object_id": [
99
+ [
100
+ "scrub_brush_86"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1657,
107
+ 1778
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "navigation"
112
+ ]
113
+ },
114
+ {
115
+ "skill_idx": 4,
116
+ "skill_id": [
117
+ 2
118
+ ],
119
+ "skill_description": [
120
+ "pick up from"
121
+ ],
122
+ "object_id": [
123
+ [
124
+ "scrub_brush_86",
125
+ "desk_aduafr_0"
126
+ ]
127
+ ],
128
+ "manipulating_object_id": [
129
+ "scrub_brush_86"
130
+ ],
131
+ "spatial_prefix": [],
132
+ "frame_duration": [
133
+ 1778,
134
+ 2214
135
+ ],
136
+ "mp_ef": [],
137
+ "skill_type": [
138
+ "uncoordinated"
139
+ ]
140
+ },
141
+ {
142
+ "skill_idx": 5,
143
+ "skill_id": [
144
+ 5
145
+ ],
146
+ "skill_description": [
147
+ "hand over"
148
+ ],
149
+ "object_id": [
150
+ [
151
+ "scrub_brush_86",
152
+ "left",
153
+ "right"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 2214,
162
+ 2524
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "coordinated"
167
+ ]
168
+ },
169
+ {
170
+ "skill_idx": 6,
171
+ "skill_id": [
172
+ 1
173
+ ],
174
+ "skill_description": [
175
+ "move to"
176
+ ],
177
+ "object_id": [
178
+ [
179
+ "trumpet_87"
180
+ ]
181
+ ],
182
+ "manipulating_object_id": [],
183
+ "spatial_prefix": [],
184
+ "frame_duration": [
185
+ 2524,
186
+ 2670
187
+ ],
188
+ "mp_ef": [],
189
+ "skill_type": [
190
+ "navigation"
191
+ ]
192
+ },
193
+ {
194
+ "skill_idx": 7,
195
+ "skill_id": [
196
+ 46
197
+ ],
198
+ "skill_description": [
199
+ "wipe hard"
200
+ ],
201
+ "object_id": [
202
+ [
203
+ "scrub_brush_86",
204
+ "trumpet_87"
205
+ ]
206
+ ],
207
+ "manipulating_object_id": [
208
+ "scrub_brush_86"
209
+ ],
210
+ "spatial_prefix": [],
211
+ "frame_duration": [
212
+ 2670,
213
+ 4215
214
+ ],
215
+ "mp_ef": [],
216
+ "skill_type": [
217
+ "coordinated"
218
+ ]
219
+ },
220
+ {
221
+ "skill_idx": 8,
222
+ "skill_id": [
223
+ 3
224
+ ],
225
+ "skill_description": [
226
+ "place on"
227
+ ],
228
+ "object_id": [
229
+ [
230
+ "scrub_brush_86",
231
+ "desk_aduafr_0"
232
+ ]
233
+ ],
234
+ "manipulating_object_id": [
235
+ "scrub_brush_86"
236
+ ],
237
+ "spatial_prefix": [],
238
+ "frame_duration": [
239
+ 4215,
240
+ 4487
241
+ ],
242
+ "mp_ef": [],
243
+ "skill_type": [
244
+ "uncoordinated"
245
+ ]
246
+ }
247
+ ],
248
+ "primitive_annotation": [
249
+ {
250
+ "primitive_idx": 0,
251
+ "primitive_id": [
252
+ 2,
253
+ 3
254
+ ],
255
+ "primitive_description": [
256
+ "pick up from",
257
+ "place on"
258
+ ],
259
+ "object_id": [
260
+ [
261
+ "trumpet_87",
262
+ "desk_aduafr_0"
263
+ ],
264
+ [
265
+ "trumpet_87",
266
+ "desk_aduafr_0"
267
+ ]
268
+ ],
269
+ "manipulating_object_id": [
270
+ "trumpet_87",
271
+ "trumpet_87"
272
+ ],
273
+ "spatial_prefix": [],
274
+ "frame_duration": [
275
+ 0,
276
+ 1657
277
+ ],
278
+ "skill_idxes": [
279
+ 0,
280
+ 1,
281
+ 2
282
+ ]
283
+ },
284
+ {
285
+ "primitive_idx": 1,
286
+ "primitive_id": [
287
+ 2,
288
+ 46,
289
+ 3
290
+ ],
291
+ "primitive_description": [
292
+ "pick up from",
293
+ "wipe hard",
294
+ "place on"
295
+ ],
296
+ "object_id": [
297
+ [
298
+ "scrub_brush_86",
299
+ "desk_aduafr_0"
300
+ ],
301
+ [
302
+ "scrub_brush_86",
303
+ "trumpet_87"
304
+ ],
305
+ [
306
+ "scrub_brush_86",
307
+ "desk_aduafr_0"
308
+ ]
309
+ ],
310
+ "manipulating_object_id": [
311
+ "scrub_brush_86",
312
+ "scrub_brush_86",
313
+ "scrub_brush_86"
314
+ ],
315
+ "spatial_prefix": [],
316
+ "frame_duration": [
317
+ 1657,
318
+ 4487
319
+ ],
320
+ "skill_idxes": [
321
+ 3,
322
+ 4,
323
+ 5,
324
+ 6,
325
+ 7,
326
+ 8
327
+ ]
328
+ }
329
+ ]
330
+ }
annotations/episode_00000162.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4689,
6
+ "valid_duration": [
7
+ 0,
8
+ 4689
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 446
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 447,
56
+ 1716
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1716,
84
+ 2214
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2214,
108
+ 2509
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2510,
135
+ 4303
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4303,
162
+ 4689
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4689
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000164.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4300,
6
+ "valid_duration": [
7
+ 0,
8
+ 4300
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 736
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 737,
56
+ 1955
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1955,
84
+ 2356
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2357,
108
+ 2556
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2556,
135
+ 4022
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4022,
162
+ 4300
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4300
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000165.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5304,
6
+ "valid_duration": [
7
+ 0,
8
+ 5304
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 387
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 388,
56
+ 1616
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1616,
84
+ 2141
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2429,
108
+ 2904
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2905,
135
+ 5013
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 5013,
162
+ 5304
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 5304
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000168.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4446,
6
+ "valid_duration": [
7
+ 0,
8
+ 4446
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 481
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
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 481,
56
+ 2162
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 2162,
84
+ 2651
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2651,
108
+ 2739
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2741,
135
+ 4237
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4237,
162
+ 4446
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 4446
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }
annotations/episode_00000171.json ADDED
@@ -0,0 +1,217 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "clean a trumpet",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5225,
6
+ "valid_duration": [
7
+ 0,
8
+ 5225
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
+ "scrub_brush_86"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 553
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "scrub_brush_86",
47
+ "desk_aduafr_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "scrub_brush_86"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 749,
56
+ 1592
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
+ "scrub_brush_86",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "scrub_brush_86"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1593,
84
+ 1940
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
+ "trumpet_87"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1940,
108
+ 2094
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 46
119
+ ],
120
+ "skill_description": [
121
+ "wipe hard"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "scrub_brush_86",
126
+ "trumpet_87"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "scrub_brush_86"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2094,
135
+ 4813
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "coordinated"
140
+ ]
141
+ },
142
+ {
143
+ "skill_idx": 5,
144
+ "skill_id": [
145
+ 3
146
+ ],
147
+ "skill_description": [
148
+ "place on"
149
+ ],
150
+ "object_id": [
151
+ [
152
+ "scrub_brush_86",
153
+ "desk_aduafr_0"
154
+ ]
155
+ ],
156
+ "manipulating_object_id": [
157
+ "scrub_brush_86"
158
+ ],
159
+ "spatial_prefix": [],
160
+ "frame_duration": [
161
+ 4813,
162
+ 5225
163
+ ],
164
+ "mp_ef": [],
165
+ "skill_type": [
166
+ "uncoordinated"
167
+ ]
168
+ }
169
+ ],
170
+ "primitive_annotation": [
171
+ {
172
+ "primitive_idx": 0,
173
+ "primitive_id": [
174
+ 2,
175
+ 46,
176
+ 3
177
+ ],
178
+ "primitive_description": [
179
+ "pick up from",
180
+ "wipe hard",
181
+ "place on"
182
+ ],
183
+ "object_id": [
184
+ [
185
+ "scrub_brush_86",
186
+ "desk_aduafr_0"
187
+ ],
188
+ [
189
+ "scrub_brush_86",
190
+ "trumpet_87"
191
+ ],
192
+ [
193
+ "scrub_brush_86",
194
+ "desk_aduafr_0"
195
+ ]
196
+ ],
197
+ "manipulating_object_id": [
198
+ "scrub_brush_86",
199
+ "scrub_brush_86",
200
+ "scrub_brush_86"
201
+ ],
202
+ "spatial_prefix": [],
203
+ "frame_duration": [
204
+ 0,
205
+ 5225
206
+ ],
207
+ "skill_idxes": [
208
+ 0,
209
+ 1,
210
+ 2,
211
+ 3,
212
+ 4,
213
+ 5
214
+ ]
215
+ }
216
+ ]
217
+ }