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- annotations/episode_00000004.json +217 -0
- annotations/episode_00000007.json +217 -0
- annotations/episode_00000011.json +217 -0
- annotations/episode_00000012.json +217 -0
- annotations/episode_00000013.json +217 -0
- annotations/episode_00000016.json +217 -0
- annotations/episode_00000019.json +217 -0
- annotations/episode_00000020.json +217 -0
- annotations/episode_00000021.json +217 -0
- annotations/episode_00000028.json +217 -0
- annotations/episode_00000030.json +217 -0
- annotations/episode_00000033.json +217 -0
- annotations/episode_00000034.json +217 -0
- annotations/episode_00000035.json +217 -0
- annotations/episode_00000037.json +217 -0
- annotations/episode_00000039.json +217 -0
- annotations/episode_00000047.json +217 -0
- annotations/episode_00000050.json +217 -0
- annotations/episode_00000054.json +217 -0
- annotations/episode_00000058.json +217 -0
- annotations/episode_00000064.json +217 -0
- annotations/episode_00000065.json +217 -0
- annotations/episode_00000068.json +217 -0
- annotations/episode_00000083.json +217 -0
- annotations/episode_00000085.json +217 -0
- annotations/episode_00000086.json +217 -0
- annotations/episode_00000097.json +217 -0
- annotations/episode_00000100.json +217 -0
- annotations/episode_00000102.json +217 -0
- annotations/episode_00000104.json +217 -0
- annotations/episode_00000105.json +217 -0
- annotations/episode_00000114.json +217 -0
- annotations/episode_00000115.json +217 -0
- annotations/episode_00000118.json +217 -0
- annotations/episode_00000124.json +217 -0
- annotations/episode_00000128.json +217 -0
- annotations/episode_00000129.json +217 -0
- annotations/episode_00000134.json +217 -0
- annotations/episode_00000137.json +217 -0
- annotations/episode_00000138.json +217 -0
- annotations/episode_00000140.json +305 -0
- annotations/episode_00000141.json +217 -0
- annotations/episode_00000146.json +217 -0
- annotations/episode_00000150.json +217 -0
- annotations/episode_00000155.json +217 -0
- annotations/episode_00000156.json +217 -0
- annotations/episode_00000157.json +217 -0
- annotations/episode_00000158.json +217 -0
- annotations/episode_00000161.json +217 -0
- annotations/episode_00000167.json +217 -0
annotations/episode_00000004.json
ADDED
|
@@ -0,0 +1,217 @@
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| 1 |
+
{
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| 2 |
+
"task_name": "clean a trumpet",
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| 3 |
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"data_folder": "",
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| 4 |
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"meta_data": {
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| 5 |
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"task_duration": 4979,
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| 6 |
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| 7 |
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| 8 |
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4979
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| 9 |
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| 12 |
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| 13 |
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| 15 |
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| 16 |
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| 18 |
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|
| 19 |
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| 20 |
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| 21 |
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[
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| 22 |
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| 23 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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| 31 |
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| 32 |
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|
| 33 |
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| 35 |
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| 36 |
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{
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| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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| 41 |
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| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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[
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| 46 |
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| 47 |
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| 49 |
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| 50 |
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| 55 |
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| 56 |
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|
| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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{
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 69 |
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| 70 |
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| 71 |
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[
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| 73 |
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| 74 |
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| 77 |
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| 79 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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{
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| 95 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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[
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| 101 |
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| 111 |
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| 112 |
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| 115 |
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| 116 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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|
| 124 |
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[
|
| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 143 |
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| 145 |
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| 146 |
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| 148 |
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| 149 |
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| 150 |
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|
| 151 |
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[
|
| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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|
| 158 |
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| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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| 163 |
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|
| 164 |
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"mp_ef": [],
|
| 165 |
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"skill_type": [
|
| 166 |
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|
| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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|
| 177 |
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|
| 178 |
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"primitive_description": [
|
| 179 |
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"pick up from",
|
| 180 |
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"wipe hard",
|
| 181 |
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|
| 182 |
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],
|
| 183 |
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"object_id": [
|
| 184 |
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[
|
| 185 |
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"scrub_brush_86",
|
| 186 |
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"desk_aduafr_0"
|
| 187 |
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],
|
| 188 |
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[
|
| 189 |
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"scrub_brush_86",
|
| 190 |
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"trumpet_87"
|
| 191 |
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],
|
| 192 |
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[
|
| 193 |
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"scrub_brush_86",
|
| 194 |
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"desk_aduafr_0"
|
| 195 |
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]
|
| 196 |
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],
|
| 197 |
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"manipulating_object_id": [
|
| 198 |
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"scrub_brush_86",
|
| 199 |
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|
| 200 |
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"scrub_brush_86"
|
| 201 |
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|
| 202 |
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"spatial_prefix": [],
|
| 203 |
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"frame_duration": [
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| 204 |
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|
| 205 |
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|
| 206 |
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"skill_idxes": [
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| 208 |
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|
| 210 |
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|
| 211 |
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| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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}
|
| 216 |
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]
|
| 217 |
+
}
|
annotations/episode_00000007.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 216 |
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|
| 217 |
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}
|
annotations/episode_00000011.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
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|
| 2 |
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|
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|
| 4 |
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 136 |
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| 137 |
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|
| 138 |
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| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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[
|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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[
|
| 185 |
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|
| 186 |
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|
| 187 |
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],
|
| 188 |
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[
|
| 189 |
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|
| 190 |
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"trumpet_87"
|
| 191 |
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],
|
| 192 |
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[
|
| 193 |
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"scrub_brush_86",
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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| 205 |
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|
| 206 |
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|
| 207 |
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| 208 |
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| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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]
|
| 217 |
+
}
|
annotations/episode_00000012.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "clean a trumpet",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 9 |
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| 10 |
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| 12 |
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| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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{
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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[
|
| 46 |
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"scrub_brush_86",
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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{
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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[
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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{
|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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[
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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[
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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"object_id": [
|
| 151 |
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|
| 152 |
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"scrub_brush_86",
|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
+
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|
| 162 |
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5543
|
| 163 |
+
],
|
| 164 |
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"mp_ef": [],
|
| 165 |
+
"skill_type": [
|
| 166 |
+
"uncoordinated"
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"primitive_annotation": [
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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],
|
| 178 |
+
"primitive_description": [
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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],
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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],
|
| 188 |
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[
|
| 189 |
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|
| 190 |
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"trumpet_87"
|
| 191 |
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],
|
| 192 |
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[
|
| 193 |
+
"scrub_brush_86",
|
| 194 |
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"desk_aduafr_0"
|
| 195 |
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]
|
| 196 |
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],
|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000013.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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| 1 |
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| 188 |
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|
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| 192 |
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|
| 193 |
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|
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|
| 216 |
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|
| 217 |
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}
|
annotations/episode_00000016.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
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| 18 |
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|
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|
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| 36 |
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|
| 37 |
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|
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| 143 |
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| 148 |
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|
| 149 |
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| 150 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 170 |
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| 172 |
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|
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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| 202 |
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| 203 |
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| 214 |
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|
| 215 |
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|
| 216 |
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]
|
| 217 |
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}
|
annotations/episode_00000019.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "clean a trumpet",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 9 |
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| 10 |
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|
| 12 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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},
|
| 36 |
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{
|
| 37 |
+
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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[
|
| 46 |
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"scrub_brush_86",
|
| 47 |
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|
| 48 |
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]
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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{
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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[
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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{
|
| 92 |
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|
| 93 |
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| 94 |
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| 95 |
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| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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|
| 111 |
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| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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| 132 |
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| 133 |
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| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
+
"skill_type": [
|
| 166 |
+
"uncoordinated"
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"primitive_annotation": [
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
+
"primitive_description": [
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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],
|
| 183 |
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|
| 184 |
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[
|
| 185 |
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|
| 186 |
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|
| 187 |
+
],
|
| 188 |
+
[
|
| 189 |
+
"scrub_brush_86",
|
| 190 |
+
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|
| 191 |
+
],
|
| 192 |
+
[
|
| 193 |
+
"scrub_brush_86",
|
| 194 |
+
"desk_aduafr_0"
|
| 195 |
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]
|
| 196 |
+
],
|
| 197 |
+
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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| 206 |
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|
| 207 |
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|
| 208 |
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| 209 |
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| 210 |
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|
| 211 |
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| 212 |
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|
| 213 |
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|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000020.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
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|
|
|
|
|
|
|
|
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| 1 |
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|
| 2 |
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|
| 3 |
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| 4 |
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| 5 |
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|
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| 12 |
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| 18 |
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|
| 19 |
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| 31 |
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| 33 |
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| 36 |
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|
| 37 |
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| 38 |
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| 60 |
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| 111 |
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| 125 |
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|
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|
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|
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| 183 |
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| 187 |
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|
| 188 |
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| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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| 194 |
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| 195 |
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|
| 196 |
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|
| 197 |
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|
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|
| 214 |
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|
| 215 |
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|
| 216 |
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]
|
| 217 |
+
}
|
annotations/episode_00000021.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
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|
|
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|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
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|
| 14 |
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|
| 15 |
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|
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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|
| 21 |
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| 22 |
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|
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|
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| 28 |
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|
| 29 |
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|
| 30 |
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| 31 |
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|
| 32 |
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| 33 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
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annotations/episode_00000028.json
ADDED
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@@ -0,0 +1,217 @@
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|
| 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 |
+
6092
|
| 206 |
+
],
|
| 207 |
+
"skill_idxes": [
|
| 208 |
+
0,
|
| 209 |
+
1,
|
| 210 |
+
2,
|
| 211 |
+
3,
|
| 212 |
+
4,
|
| 213 |
+
5
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000030.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean a trumpet",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5289,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
60,
|
| 8 |
+
5349
|
| 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 |
+
60,
|
| 29 |
+
480
|
| 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 |
+
789,
|
| 56 |
+
1593
|
| 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 |
+
1620,
|
| 84 |
+
1987
|
| 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 |
+
1987,
|
| 108 |
+
2056
|
| 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 |
+
2056,
|
| 135 |
+
4920
|
| 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 |
+
4920,
|
| 162 |
+
5349
|
| 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 |
+
60,
|
| 205 |
+
5349
|
| 206 |
+
],
|
| 207 |
+
"skill_idxes": [
|
| 208 |
+
0,
|
| 209 |
+
1,
|
| 210 |
+
2,
|
| 211 |
+
3,
|
| 212 |
+
4,
|
| 213 |
+
5
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000033.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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}
|
annotations/episode_00000034.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
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3
|
| 146 |
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],
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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[
|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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5403,
|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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}
|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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[
|
| 185 |
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|
| 186 |
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|
| 187 |
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],
|
| 188 |
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[
|
| 189 |
+
"scrub_brush_86",
|
| 190 |
+
"trumpet_87"
|
| 191 |
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],
|
| 192 |
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[
|
| 193 |
+
"scrub_brush_86",
|
| 194 |
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|
| 195 |
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]
|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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| 208 |
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| 210 |
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| 212 |
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| 213 |
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|
| 214 |
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|
| 215 |
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}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000035.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "clean a trumpet",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 12 |
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| 15 |
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| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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{
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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[
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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{
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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| 94 |
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| 95 |
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| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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[
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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5511,
|
| 162 |
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5731
|
| 163 |
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],
|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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],
|
| 170 |
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"primitive_annotation": [
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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],
|
| 178 |
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"primitive_description": [
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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],
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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],
|
| 188 |
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[
|
| 189 |
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"scrub_brush_86",
|
| 190 |
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"trumpet_87"
|
| 191 |
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],
|
| 192 |
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[
|
| 193 |
+
"scrub_brush_86",
|
| 194 |
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"desk_aduafr_0"
|
| 195 |
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]
|
| 196 |
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],
|
| 197 |
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"manipulating_object_id": [
|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000037.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
| 216 |
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|
| 217 |
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}
|
annotations/episode_00000039.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
| 7 |
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| 143 |
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| 148 |
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| 149 |
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| 152 |
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| 160 |
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| 164 |
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|
| 165 |
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| 166 |
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|
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| 170 |
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| 171 |
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| 172 |
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|
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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[
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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[
|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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| 202 |
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| 203 |
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|
| 216 |
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]
|
| 217 |
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}
|
annotations/episode_00000047.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "clean a trumpet",
|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
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| 21 |
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| 22 |
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| 28 |
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| 31 |
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|
| 32 |
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| 33 |
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| 34 |
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| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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[
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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| 55 |
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|
| 56 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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| 79 |
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| 86 |
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| 87 |
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| 88 |
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|
| 89 |
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| 90 |
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|
| 91 |
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| 92 |
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| 93 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 108 |
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| 111 |
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| 112 |
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| 114 |
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| 115 |
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| 122 |
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| 123 |
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|
| 128 |
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| 129 |
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| 132 |
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| 133 |
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| 134 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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[
|
| 189 |
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|
| 190 |
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|
| 191 |
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],
|
| 192 |
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[
|
| 193 |
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"scrub_brush_86",
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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| 205 |
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| 206 |
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|
| 207 |
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|
| 208 |
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|
| 211 |
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| 212 |
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| 213 |
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|
| 214 |
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|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000050.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
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|
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|
|
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| 1 |
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| 2 |
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| 188 |
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| 189 |
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| 191 |
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|
| 192 |
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|
| 193 |
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| 197 |
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|
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|
| 216 |
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]
|
| 217 |
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}
|
annotations/episode_00000054.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 12 |
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|
| 18 |
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|
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|
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| 36 |
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|
| 37 |
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|
| 40 |
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annotations/episode_00000058.json
ADDED
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@@ -0,0 +1,217 @@
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0,
|
| 205 |
+
3525
|
| 206 |
+
],
|
| 207 |
+
"skill_idxes": [
|
| 208 |
+
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|
| 209 |
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| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
+
5
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000064.json
ADDED
|
@@ -0,0 +1,217 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean a trumpet",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5840,
|
| 6 |
+
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|
| 7 |
+
0,
|
| 8 |
+
5840
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"scrub_brush_86"
|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
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|
| 27 |
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|
| 28 |
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0,
|
| 29 |
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303
|
| 30 |
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],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
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"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 |
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"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 |
+
682,
|
| 56 |
+
1106
|
| 57 |
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],
|
| 58 |
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"mp_ef": [],
|
| 59 |
+
"skill_type": [
|
| 60 |
+
"uncoordinated"
|
| 61 |
+
]
|
| 62 |
+
},
|
| 63 |
+
{
|
| 64 |
+
"skill_idx": 2,
|
| 65 |
+
"skill_id": [
|
| 66 |
+
5
|
| 67 |
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],
|
| 68 |
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"skill_description": [
|
| 69 |
+
"hand over"
|
| 70 |
+
],
|
| 71 |
+
"object_id": [
|
| 72 |
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[
|
| 73 |
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"scrub_brush_86",
|
| 74 |
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|
| 75 |
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"right"
|
| 76 |
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]
|
| 77 |
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|
| 78 |
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"manipulating_object_id": [
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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1107,
|
| 84 |
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1615
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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{
|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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],
|
| 96 |
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"skill_description": [
|
| 97 |
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"move to"
|
| 98 |
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],
|
| 99 |
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"object_id": [
|
| 100 |
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[
|
| 101 |
+
"trumpet_87"
|
| 102 |
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]
|
| 103 |
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],
|
| 104 |
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"manipulating_object_id": [],
|
| 105 |
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|
| 106 |
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|
| 107 |
+
1675,
|
| 108 |
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2238
|
| 109 |
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],
|
| 110 |
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"mp_ef": [],
|
| 111 |
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"skill_type": [
|
| 112 |
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"navigation"
|
| 113 |
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]
|
| 114 |
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},
|
| 115 |
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{
|
| 116 |
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"skill_idx": 4,
|
| 117 |
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"skill_id": [
|
| 118 |
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46
|
| 119 |
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],
|
| 120 |
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"skill_description": [
|
| 121 |
+
"wipe hard"
|
| 122 |
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],
|
| 123 |
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"object_id": [
|
| 124 |
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[
|
| 125 |
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"scrub_brush_86",
|
| 126 |
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|
| 127 |
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]
|
| 128 |
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],
|
| 129 |
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"manipulating_object_id": [
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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],
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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[
|
| 152 |
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"scrub_brush_86",
|
| 153 |
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|
| 154 |
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|
| 155 |
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],
|
| 156 |
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"manipulating_object_id": [
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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5559,
|
| 162 |
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5840
|
| 163 |
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],
|
| 164 |
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"mp_ef": [],
|
| 165 |
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"skill_type": [
|
| 166 |
+
"uncoordinated"
|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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],
|
| 170 |
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"primitive_annotation": [
|
| 171 |
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{
|
| 172 |
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"primitive_idx": 0,
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
+
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|
| 177 |
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],
|
| 178 |
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"primitive_description": [
|
| 179 |
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|
| 180 |
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"wipe hard",
|
| 181 |
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|
| 182 |
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],
|
| 183 |
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"object_id": [
|
| 184 |
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[
|
| 185 |
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"scrub_brush_86",
|
| 186 |
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"desk_aduafr_0"
|
| 187 |
+
],
|
| 188 |
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[
|
| 189 |
+
"scrub_brush_86",
|
| 190 |
+
"trumpet_87"
|
| 191 |
+
],
|
| 192 |
+
[
|
| 193 |
+
"scrub_brush_86",
|
| 194 |
+
"desk_aduafr_0"
|
| 195 |
+
]
|
| 196 |
+
],
|
| 197 |
+
"manipulating_object_id": [
|
| 198 |
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"scrub_brush_86",
|
| 199 |
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"scrub_brush_86",
|
| 200 |
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"scrub_brush_86"
|
| 201 |
+
],
|
| 202 |
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"spatial_prefix": [],
|
| 203 |
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"frame_duration": [
|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
+
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|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000065.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean a trumpet",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6007,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
30,
|
| 8 |
+
6037
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
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],
|
| 17 |
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annotations/episode_00000068.json
ADDED
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@@ -0,0 +1,217 @@
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| 1 |
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|
| 163 |
+
],
|
| 164 |
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"mp_ef": [],
|
| 165 |
+
"skill_type": [
|
| 166 |
+
"uncoordinated"
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"primitive_annotation": [
|
| 171 |
+
{
|
| 172 |
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|
| 173 |
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|
| 174 |
+
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|
| 175 |
+
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|
| 176 |
+
3
|
| 177 |
+
],
|
| 178 |
+
"primitive_description": [
|
| 179 |
+
"pick up from",
|
| 180 |
+
"wipe hard",
|
| 181 |
+
"place on"
|
| 182 |
+
],
|
| 183 |
+
"object_id": [
|
| 184 |
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[
|
| 185 |
+
"scrub_brush_86",
|
| 186 |
+
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|
| 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 |
+
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|
| 206 |
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|
| 207 |
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|
| 208 |
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| 209 |
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| 210 |
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|
| 211 |
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| 212 |
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|
| 213 |
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5
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000083.json
ADDED
|
@@ -0,0 +1,217 @@
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|
|
|
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|
|
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|
|
|
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|
|
|
|
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|
|
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|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean a trumpet",
|
| 3 |
+
"data_folder": "",
|
| 4 |
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|
| 5 |
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"task_duration": 5154,
|
| 6 |
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|
| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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|
| 15 |
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|
| 16 |
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],
|
| 17 |
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|
| 18 |
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|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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]
|
| 35 |
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},
|
| 36 |
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{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
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"skill_id": [
|
| 39 |
+
2
|
| 40 |
+
],
|
| 41 |
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"skill_description": [
|
| 42 |
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"pick up from"
|
| 43 |
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],
|
| 44 |
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|
| 45 |
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[
|
| 46 |
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"scrub_brush_86",
|
| 47 |
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|
| 48 |
+
]
|
| 49 |
+
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|
| 50 |
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"manipulating_object_id": [
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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"skill_type": [
|
| 60 |
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|
| 61 |
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|
| 62 |
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},
|
| 63 |
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{
|
| 64 |
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"skill_idx": 2,
|
| 65 |
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|
| 66 |
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|
| 67 |
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],
|
| 68 |
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"skill_description": [
|
| 69 |
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|
| 70 |
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|
| 71 |
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"object_id": [
|
| 72 |
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[
|
| 73 |
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"scrub_brush_86",
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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{
|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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[
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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{
|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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[
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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[
|
| 152 |
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"scrub_brush_86",
|
| 153 |
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|
| 154 |
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|
| 155 |
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],
|
| 156 |
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"manipulating_object_id": [
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
+
4855,
|
| 162 |
+
5154
|
| 163 |
+
],
|
| 164 |
+
"mp_ef": [],
|
| 165 |
+
"skill_type": [
|
| 166 |
+
"uncoordinated"
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"primitive_annotation": [
|
| 171 |
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{
|
| 172 |
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"primitive_idx": 0,
|
| 173 |
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|
| 174 |
+
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|
| 175 |
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|
| 176 |
+
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|
| 177 |
+
],
|
| 178 |
+
"primitive_description": [
|
| 179 |
+
"pick up from",
|
| 180 |
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"wipe hard",
|
| 181 |
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"place on"
|
| 182 |
+
],
|
| 183 |
+
"object_id": [
|
| 184 |
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[
|
| 185 |
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"scrub_brush_86",
|
| 186 |
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"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 |
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],
|
| 202 |
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"spatial_prefix": [],
|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000085.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
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|
| 1 |
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|
| 216 |
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|
| 217 |
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}
|
annotations/episode_00000086.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
| 7 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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[
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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],
|
| 147 |
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|
| 148 |
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"place on"
|
| 149 |
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|
| 150 |
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"object_id": [
|
| 151 |
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[
|
| 152 |
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"scrub_brush_86",
|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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}
|
| 169 |
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|
| 170 |
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"primitive_annotation": [
|
| 171 |
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{
|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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],
|
| 178 |
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|
| 179 |
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|
| 180 |
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"wipe hard",
|
| 181 |
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"place on"
|
| 182 |
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],
|
| 183 |
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"object_id": [
|
| 184 |
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[
|
| 185 |
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"scrub_brush_86",
|
| 186 |
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|
| 187 |
+
],
|
| 188 |
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[
|
| 189 |
+
"scrub_brush_86",
|
| 190 |
+
"trumpet_87"
|
| 191 |
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],
|
| 192 |
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[
|
| 193 |
+
"scrub_brush_86",
|
| 194 |
+
"desk_aduafr_0"
|
| 195 |
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]
|
| 196 |
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],
|
| 197 |
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"manipulating_object_id": [
|
| 198 |
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"scrub_brush_86",
|
| 199 |
+
"scrub_brush_86",
|
| 200 |
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"scrub_brush_86"
|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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| 208 |
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| 209 |
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| 213 |
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|
| 214 |
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]
|
| 215 |
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}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000097.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "clean a trumpet",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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},
|
| 36 |
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{
|
| 37 |
+
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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[
|
| 46 |
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"scrub_brush_86",
|
| 47 |
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|
| 48 |
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]
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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},
|
| 63 |
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{
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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],
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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[
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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| 85 |
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| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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{
|
| 92 |
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|
| 93 |
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| 94 |
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|
| 95 |
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| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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[
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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|
| 108 |
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| 109 |
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| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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"object_id": [
|
| 151 |
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[
|
| 152 |
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"scrub_brush_86",
|
| 153 |
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|
| 154 |
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|
| 155 |
+
],
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
+
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|
| 161 |
+
3594,
|
| 162 |
+
4287
|
| 163 |
+
],
|
| 164 |
+
"mp_ef": [],
|
| 165 |
+
"skill_type": [
|
| 166 |
+
"uncoordinated"
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"primitive_annotation": [
|
| 171 |
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{
|
| 172 |
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"primitive_idx": 0,
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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],
|
| 178 |
+
"primitive_description": [
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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],
|
| 183 |
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"object_id": [
|
| 184 |
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[
|
| 185 |
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"scrub_brush_86",
|
| 186 |
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|
| 187 |
+
],
|
| 188 |
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[
|
| 189 |
+
"scrub_brush_86",
|
| 190 |
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"trumpet_87"
|
| 191 |
+
],
|
| 192 |
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[
|
| 193 |
+
"scrub_brush_86",
|
| 194 |
+
"desk_aduafr_0"
|
| 195 |
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]
|
| 196 |
+
],
|
| 197 |
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"manipulating_object_id": [
|
| 198 |
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"scrub_brush_86",
|
| 199 |
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|
| 200 |
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"scrub_brush_86"
|
| 201 |
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|
| 202 |
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"spatial_prefix": [],
|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000100.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
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| 1 |
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|
| 2 |
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| 192 |
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| 193 |
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|
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|
| 216 |
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|
| 217 |
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}
|
annotations/episode_00000102.json
ADDED
|
@@ -0,0 +1,217 @@
|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
| 7 |
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|
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| 18 |
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|
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| 33 |
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| 36 |
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|
| 37 |
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|
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|
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|
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|
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| 192 |
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|
| 193 |
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|
| 216 |
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|
| 217 |
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}
|
annotations/episode_00000104.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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| 22 |
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| 30 |
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| 31 |
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|
| 32 |
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| 33 |
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| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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| 53 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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|
| 60 |
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| 61 |
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| 62 |
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|
| 63 |
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| 64 |
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| 65 |
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| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 139 |
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|
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| 142 |
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| 143 |
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| 152 |
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| 156 |
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| 162 |
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| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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| 172 |
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| 173 |
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|
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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| 199 |
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| 200 |
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| 201 |
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| 202 |
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| 203 |
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| 207 |
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| 213 |
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| 214 |
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| 215 |
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|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000105.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 8 |
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| 9 |
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|
| 10 |
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| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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| 16 |
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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| 26 |
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| 28 |
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|
| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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| 34 |
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| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
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|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 48 |
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|
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|
| 50 |
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|
| 51 |
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| 54 |
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| 55 |
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| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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|
| 63 |
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| 64 |
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|
| 65 |
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| 69 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 76 |
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| 77 |
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| 78 |
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| 82 |
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| 86 |
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| 87 |
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| 91 |
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| 92 |
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| 95 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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|
| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 111 |
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| 112 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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|
| 122 |
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| 123 |
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| 124 |
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| 125 |
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|
| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 142 |
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| 143 |
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| 146 |
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|
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|
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| 152 |
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| 164 |
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|
| 165 |
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|
| 166 |
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|
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
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|
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
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|
| 185 |
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| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
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| 200 |
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|
| 201 |
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|
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|
| 203 |
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|
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|
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|
| 208 |
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|
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000114.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "clean a trumpet",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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annotations/episode_00000115.json
ADDED
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@@ -0,0 +1,217 @@
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| 181 |
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"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 |
+
5341
|
| 206 |
+
],
|
| 207 |
+
"skill_idxes": [
|
| 208 |
+
0,
|
| 209 |
+
1,
|
| 210 |
+
2,
|
| 211 |
+
3,
|
| 212 |
+
4,
|
| 213 |
+
5
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000118.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean a trumpet",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4211,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
4211
|
| 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 |
+
590,
|
| 56 |
+
1273
|
| 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 |
+
1273,
|
| 84 |
+
1738
|
| 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 |
+
1798,
|
| 108 |
+
2149
|
| 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 |
+
2158,
|
| 135 |
+
3936
|
| 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 |
+
3937,
|
| 162 |
+
4211
|
| 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 |
+
4211
|
| 206 |
+
],
|
| 207 |
+
"skill_idxes": [
|
| 208 |
+
0,
|
| 209 |
+
1,
|
| 210 |
+
2,
|
| 211 |
+
3,
|
| 212 |
+
4,
|
| 213 |
+
5
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000124.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
| 216 |
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|
| 217 |
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}
|
annotations/episode_00000128.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
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{
|
| 2 |
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|
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|
| 4 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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[
|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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[
|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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[
|
| 189 |
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"scrub_brush_86",
|
| 190 |
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"trumpet_87"
|
| 191 |
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],
|
| 192 |
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[
|
| 193 |
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"scrub_brush_86",
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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| 208 |
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| 213 |
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|
| 214 |
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|
| 215 |
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}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000129.json
ADDED
|
@@ -0,0 +1,217 @@
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|
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|
| 1 |
+
{
|
| 2 |
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"task_name": "clean a trumpet",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 12 |
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| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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{
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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[
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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{
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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|
| 111 |
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| 112 |
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|
| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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4563
|
| 163 |
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],
|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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}
|
| 169 |
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],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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],
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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],
|
| 188 |
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[
|
| 189 |
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|
| 190 |
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|
| 191 |
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],
|
| 192 |
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[
|
| 193 |
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"scrub_brush_86",
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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| 209 |
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|
| 210 |
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|
| 211 |
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| 212 |
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|
| 213 |
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|
| 214 |
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]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000134.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
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| 1 |
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|
| 216 |
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|
| 217 |
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}
|
annotations/episode_00000137.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
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{
|
| 2 |
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|
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|
| 4 |
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|
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|
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|
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|
| 180 |
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|
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|
| 182 |
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|
| 183 |
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|
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|
| 185 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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| 195 |
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|
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|
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|
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|
| 201 |
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|
| 216 |
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]
|
| 217 |
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}
|
annotations/episode_00000138.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
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| 20 |
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| 21 |
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|
| 22 |
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| 31 |
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|
| 32 |
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| 33 |
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| 34 |
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| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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| 64 |
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| 65 |
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| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 91 |
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| 92 |
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| 98 |
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| 99 |
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| 101 |
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| 104 |
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| 111 |
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| 112 |
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| 115 |
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|
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| 129 |
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| 137 |
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| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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| 143 |
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|
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|
| 146 |
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|
| 147 |
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| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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| 152 |
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|
| 153 |
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| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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| 174 |
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| 175 |
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| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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| 202 |
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|
| 203 |
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| 207 |
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| 212 |
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| 213 |
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| 214 |
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|
| 215 |
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|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000140.json
ADDED
|
@@ -0,0 +1,305 @@
|
|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 9 |
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| 12 |
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| 16 |
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| 18 |
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|
| 19 |
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| 21 |
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| 23 |
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| 26 |
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| 31 |
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| 32 |
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| 33 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 43 |
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| 46 |
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| 48 |
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| 49 |
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| 50 |
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| 59 |
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| 60 |
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| 64 |
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|
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| 72 |
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| 86 |
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| 87 |
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| 90 |
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| 92 |
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| 96 |
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| 99 |
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| 100 |
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|
| 103 |
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| 114 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 121 |
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|
| 123 |
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|
| 124 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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| 141 |
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| 144 |
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|
| 146 |
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| 147 |
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| 151 |
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| 165 |
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| 166 |
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| 167 |
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| 169 |
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| 170 |
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|
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| 176 |
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| 192 |
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| 193 |
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| 219 |
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|
| 220 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 273 |
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|
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
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|
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|
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| 291 |
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| 292 |
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| 293 |
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|
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|
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|
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|
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|
| 301 |
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|
| 302 |
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|
| 303 |
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}
|
| 304 |
+
]
|
| 305 |
+
}
|
annotations/episode_00000141.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
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|
| 2 |
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|
| 3 |
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| 4 |
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|
| 5 |
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|
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| 12 |
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|
| 18 |
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|
| 19 |
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| 33 |
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| 36 |
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|
| 37 |
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| 38 |
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| 60 |
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|
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| 64 |
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| 65 |
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| 111 |
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| 115 |
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| 125 |
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|
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|
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|
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|
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|
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| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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| 194 |
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| 195 |
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|
| 196 |
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|
| 197 |
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|
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|
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|
| 215 |
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|
| 216 |
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]
|
| 217 |
+
}
|
annotations/episode_00000146.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
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|
| 12 |
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|
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|
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|
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|
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|
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|
| 18 |
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|
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| 22 |
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|
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|
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|
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|
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|
| 32 |
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| 33 |
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|
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|
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|
| 36 |
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|
| 37 |
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|
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
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|
| 43 |
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|
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|
| 46 |
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| 50 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
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annotations/episode_00000150.json
ADDED
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@@ -0,0 +1,217 @@
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| 209 |
+
1,
|
| 210 |
+
2,
|
| 211 |
+
3,
|
| 212 |
+
4,
|
| 213 |
+
5
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000155.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean a trumpet",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4342,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
4342
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 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 |
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"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
503
|
| 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 |
+
503,
|
| 56 |
+
1634
|
| 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 |
+
1634,
|
| 84 |
+
1889
|
| 85 |
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],
|
| 86 |
+
"mp_ef": [],
|
| 87 |
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"skill_type": [
|
| 88 |
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|
| 89 |
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]
|
| 90 |
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},
|
| 91 |
+
{
|
| 92 |
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"skill_idx": 3,
|
| 93 |
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|
| 94 |
+
1
|
| 95 |
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],
|
| 96 |
+
"skill_description": [
|
| 97 |
+
"move to"
|
| 98 |
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],
|
| 99 |
+
"object_id": [
|
| 100 |
+
[
|
| 101 |
+
"trumpet_87"
|
| 102 |
+
]
|
| 103 |
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],
|
| 104 |
+
"manipulating_object_id": [],
|
| 105 |
+
"spatial_prefix": [],
|
| 106 |
+
"frame_duration": [
|
| 107 |
+
1890,
|
| 108 |
+
2029
|
| 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 |
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[
|
| 125 |
+
"scrub_brush_86",
|
| 126 |
+
"trumpet_87"
|
| 127 |
+
]
|
| 128 |
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],
|
| 129 |
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"manipulating_object_id": [
|
| 130 |
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"scrub_brush_86"
|
| 131 |
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],
|
| 132 |
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|
| 133 |
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|
| 134 |
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2029,
|
| 135 |
+
4143
|
| 136 |
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|
| 137 |
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"mp_ef": [],
|
| 138 |
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"skill_type": [
|
| 139 |
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"coordinated"
|
| 140 |
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]
|
| 141 |
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},
|
| 142 |
+
{
|
| 143 |
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"skill_idx": 5,
|
| 144 |
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"skill_id": [
|
| 145 |
+
3
|
| 146 |
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],
|
| 147 |
+
"skill_description": [
|
| 148 |
+
"place on"
|
| 149 |
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],
|
| 150 |
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"object_id": [
|
| 151 |
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[
|
| 152 |
+
"scrub_brush_86",
|
| 153 |
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|
| 154 |
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]
|
| 155 |
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],
|
| 156 |
+
"manipulating_object_id": [
|
| 157 |
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"scrub_brush_86"
|
| 158 |
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],
|
| 159 |
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"spatial_prefix": [],
|
| 160 |
+
"frame_duration": [
|
| 161 |
+
4143,
|
| 162 |
+
4342
|
| 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 |
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[
|
| 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 |
+
4342
|
| 206 |
+
],
|
| 207 |
+
"skill_idxes": [
|
| 208 |
+
0,
|
| 209 |
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1,
|
| 210 |
+
2,
|
| 211 |
+
3,
|
| 212 |
+
4,
|
| 213 |
+
5
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000156.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean a trumpet",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4635,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
4635
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
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],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
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],
|
| 20 |
+
"object_id": [
|
| 21 |
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|
annotations/episode_00000157.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
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|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"primitive_annotation": [
|
| 171 |
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{
|
| 172 |
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|
| 173 |
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|
| 174 |
+
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|
| 175 |
+
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|
| 176 |
+
3
|
| 177 |
+
],
|
| 178 |
+
"primitive_description": [
|
| 179 |
+
"pick up from",
|
| 180 |
+
"wipe hard",
|
| 181 |
+
"place on"
|
| 182 |
+
],
|
| 183 |
+
"object_id": [
|
| 184 |
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[
|
| 185 |
+
"scrub_brush_86",
|
| 186 |
+
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|
| 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 |
+
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|
| 206 |
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],
|
| 207 |
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|
| 208 |
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|
| 209 |
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| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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5
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000158.json
ADDED
|
@@ -0,0 +1,217 @@
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|
|
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|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
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|
|
|
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|
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|
|
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|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean a trumpet",
|
| 3 |
+
"data_folder": "",
|
| 4 |
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"meta_data": {
|
| 5 |
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"task_duration": 4650,
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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],
|
| 17 |
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|
| 18 |
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|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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],
|
| 31 |
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|
| 32 |
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"skill_type": [
|
| 33 |
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|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
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{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
2
|
| 40 |
+
],
|
| 41 |
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"skill_description": [
|
| 42 |
+
"pick up from"
|
| 43 |
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],
|
| 44 |
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"object_id": [
|
| 45 |
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[
|
| 46 |
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"scrub_brush_86",
|
| 47 |
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|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
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"manipulating_object_id": [
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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1593
|
| 57 |
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|
| 58 |
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|
| 59 |
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"skill_type": [
|
| 60 |
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"uncoordinated"
|
| 61 |
+
]
|
| 62 |
+
},
|
| 63 |
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{
|
| 64 |
+
"skill_idx": 2,
|
| 65 |
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"skill_id": [
|
| 66 |
+
5
|
| 67 |
+
],
|
| 68 |
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"skill_description": [
|
| 69 |
+
"hand over"
|
| 70 |
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],
|
| 71 |
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"object_id": [
|
| 72 |
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[
|
| 73 |
+
"scrub_brush_86",
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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},
|
| 91 |
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{
|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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],
|
| 99 |
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"object_id": [
|
| 100 |
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[
|
| 101 |
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"trumpet_87"
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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2214
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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{
|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
+
"wipe hard"
|
| 122 |
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|
| 123 |
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|
| 124 |
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[
|
| 125 |
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"scrub_brush_86",
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"skill_idx": 5,
|
| 144 |
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|
| 145 |
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|
| 146 |
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],
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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[
|
| 152 |
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"scrub_brush_86",
|
| 153 |
+
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|
| 154 |
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]
|
| 155 |
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],
|
| 156 |
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"manipulating_object_id": [
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
+
4425,
|
| 162 |
+
4650
|
| 163 |
+
],
|
| 164 |
+
"mp_ef": [],
|
| 165 |
+
"skill_type": [
|
| 166 |
+
"uncoordinated"
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"primitive_annotation": [
|
| 171 |
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{
|
| 172 |
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"primitive_idx": 0,
|
| 173 |
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|
| 174 |
+
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|
| 175 |
+
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|
| 176 |
+
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|
| 177 |
+
],
|
| 178 |
+
"primitive_description": [
|
| 179 |
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"pick up from",
|
| 180 |
+
"wipe hard",
|
| 181 |
+
"place on"
|
| 182 |
+
],
|
| 183 |
+
"object_id": [
|
| 184 |
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[
|
| 185 |
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"scrub_brush_86",
|
| 186 |
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"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 |
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0,
|
| 205 |
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|
| 206 |
+
],
|
| 207 |
+
"skill_idxes": [
|
| 208 |
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|
| 209 |
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|
| 210 |
+
2,
|
| 211 |
+
3,
|
| 212 |
+
4,
|
| 213 |
+
5
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
]
|
| 217 |
+
}
|
annotations/episode_00000161.json
ADDED
|
@@ -0,0 +1,217 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
| 216 |
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|
| 217 |
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}
|
annotations/episode_00000167.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
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| 2 |
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|
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|
| 4 |
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