Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- annotations/episode_00000011.json +323 -0
- annotations/episode_00000014.json +323 -0
- annotations/episode_00000025.json +323 -0
- annotations/episode_00000033.json +323 -0
- annotations/episode_00000058.json +323 -0
- annotations/episode_00000064.json +323 -0
- annotations/episode_00000070.json +323 -0
- annotations/episode_00000073.json +323 -0
- annotations/episode_00000105.json +323 -0
- annotations/episode_00000126.json +323 -0
- annotations/episode_00000137.json +323 -0
- annotations/episode_00000150.json +323 -0
- annotations/episode_00000251.json +323 -0
- annotations/episode_00000271.json +323 -0
- annotations/episode_00000300.json +323 -0
- meta/sim/episode_00000005.json +0 -0
- meta/sim/episode_00000006.json +0 -0
- meta/sim/episode_00000012.json +0 -0
- meta/sim/episode_00000016.json +0 -0
- meta/sim/episode_00000018.json +0 -0
- meta/sim/episode_00000021.json +0 -0
- meta/sim/episode_00000022.json +0 -0
- meta/sim/episode_00000025.json +0 -0
- meta/sim/episode_00000026.json +0 -0
- meta/sim/episode_00000027.json +0 -0
- meta/sim/episode_00000028.json +0 -0
- meta/sim/episode_00000029.json +0 -0
- meta/sim/episode_00000036.json +0 -0
- meta/sim/episode_00000038.json +0 -0
- meta/sim/episode_00000042.json +0 -0
- meta/sim/episode_00000045.json +0 -0
- meta/sim/episode_00000046.json +0 -0
- meta/sim/episode_00000048.json +0 -0
- meta/sim/episode_00000055.json +0 -0
- meta/sim/episode_00000057.json +0 -0
- meta/sim/episode_00000060.json +0 -0
- meta/sim/episode_00000061.json +0 -0
- meta/sim/episode_00000070.json +0 -0
- meta/sim/episode_00000072.json +0 -0
- meta/sim/episode_00000073.json +0 -0
- meta/sim/episode_00000074.json +0 -0
- meta/sim/episode_00000076.json +0 -0
- meta/sim/episode_00000079.json +0 -0
- meta/sim/episode_00000082.json +0 -0
- meta/sim/episode_00000090.json +0 -0
- meta/sim/episode_00000091.json +0 -0
- meta/sim/episode_00000092.json +0 -0
- meta/sim/episode_00000094.json +0 -0
- meta/sim/episode_00000095.json +0 -0
- meta/sim/episode_00000101.json +0 -0
annotations/episode_00000011.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3695,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
3695
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
833
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
876,
|
| 53 |
+
1394
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1405,
|
| 77 |
+
1674
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1795,
|
| 104 |
+
2046
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
2046,
|
| 128 |
+
2395
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
2488,
|
| 155 |
+
2964
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
3003,
|
| 179 |
+
3249
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
3405,
|
| 205 |
+
3695
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
1394
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
1405,
|
| 265 |
+
2964
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
3003,
|
| 291 |
+
3249
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
3405,
|
| 316 |
+
3695
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000014.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4050,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
4050
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
1254
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
1255,
|
| 53 |
+
1875
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1875,
|
| 77 |
+
2100
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
2100,
|
| 104 |
+
2425
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
2425,
|
| 128 |
+
2728
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
2728,
|
| 155 |
+
3339
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
3430,
|
| 179 |
+
3711
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
3765,
|
| 205 |
+
4050
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
1875
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
1875,
|
| 265 |
+
3339
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
3430,
|
| 291 |
+
3711
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
3765,
|
| 316 |
+
4050
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000025.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3960,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
3960
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
1052
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
1052,
|
| 53 |
+
1572
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1572,
|
| 77 |
+
1922
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1923,
|
| 104 |
+
2348
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
2348,
|
| 128 |
+
2758
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
2775,
|
| 155 |
+
3254
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
3313,
|
| 179 |
+
3600
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
3705,
|
| 205 |
+
3960
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
1572
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
1572,
|
| 265 |
+
3254
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
3313,
|
| 291 |
+
3600
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
3705,
|
| 316 |
+
3960
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000033.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3807,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
3807
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
522
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
522,
|
| 53 |
+
996
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
999,
|
| 77 |
+
1487
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1487,
|
| 104 |
+
1964
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
1964,
|
| 128 |
+
2478
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
2481,
|
| 155 |
+
3047
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
3075,
|
| 179 |
+
3338
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
3417,
|
| 205 |
+
3807
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
996
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
999,
|
| 265 |
+
3047
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
3075,
|
| 291 |
+
3338
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
3417,
|
| 316 |
+
3807
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000058.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3143,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
3143
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
375
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
500,
|
| 53 |
+
994
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
994,
|
| 77 |
+
1155
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1167,
|
| 104 |
+
1643
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
1643,
|
| 128 |
+
1924
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
1925,
|
| 155 |
+
2573
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
2573,
|
| 179 |
+
2798
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
2886,
|
| 205 |
+
3143
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
994
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
994,
|
| 265 |
+
2573
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
2573,
|
| 291 |
+
2798
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
2886,
|
| 316 |
+
3143
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000064.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3058,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
3058
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
506
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
512,
|
| 53 |
+
1132
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1149,
|
| 77 |
+
1399
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1521,
|
| 104 |
+
1860
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
1874,
|
| 128 |
+
2087
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
2087,
|
| 155 |
+
2583
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
2602,
|
| 179 |
+
2790
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
2810,
|
| 205 |
+
3058
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
1132
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
1149,
|
| 265 |
+
2583
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
2602,
|
| 291 |
+
2790
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
2810,
|
| 316 |
+
3058
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000070.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3518,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
3518
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
819
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
930,
|
| 53 |
+
1460
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1470,
|
| 77 |
+
1623
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1635,
|
| 104 |
+
1980
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
1980,
|
| 128 |
+
2326
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
2327,
|
| 155 |
+
2838
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
2850,
|
| 179 |
+
3105
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
3227,
|
| 205 |
+
3518
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
1460
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
1470,
|
| 265 |
+
2838
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
2850,
|
| 291 |
+
3105
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
3227,
|
| 316 |
+
3518
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000073.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3150,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
3150
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
279
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
280,
|
| 53 |
+
938
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
938,
|
| 77 |
+
1123
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1156,
|
| 104 |
+
1670
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
1670,
|
| 128 |
+
1917
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
2018,
|
| 155 |
+
2500
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
2529,
|
| 179 |
+
2784
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
2790,
|
| 205 |
+
3150
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
938
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
938,
|
| 265 |
+
2500
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
2529,
|
| 291 |
+
2784
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
2790,
|
| 316 |
+
3150
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000105.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3122,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
3122
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
798
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
834,
|
| 53 |
+
1281
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1309,
|
| 77 |
+
1466
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1606,
|
| 104 |
+
1944
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
1965,
|
| 128 |
+
2238
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
2260,
|
| 155 |
+
2550
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
2622,
|
| 179 |
+
2816
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
2910,
|
| 205 |
+
3122
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
1281
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
1309,
|
| 265 |
+
2550
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
2622,
|
| 291 |
+
2816
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
2910,
|
| 316 |
+
3122
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000126.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2124,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
2124
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
243
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
286,
|
| 53 |
+
586
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
607,
|
| 77 |
+
780
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
781,
|
| 104 |
+
1000
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
1018,
|
| 128 |
+
1251
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
1277,
|
| 155 |
+
1587
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
1587,
|
| 179 |
+
1790
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
1953,
|
| 205 |
+
2124
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
586
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
607,
|
| 265 |
+
1587
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
1587,
|
| 291 |
+
1790
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
1953,
|
| 316 |
+
2124
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000137.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2546,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
2546
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
424
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
439,
|
| 53 |
+
922
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
948,
|
| 77 |
+
1100
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1112,
|
| 104 |
+
1405
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
1426,
|
| 128 |
+
1671
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
1689,
|
| 155 |
+
1937
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
1952,
|
| 179 |
+
2160
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
2239,
|
| 205 |
+
2546
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
922
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
948,
|
| 265 |
+
1937
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
1952,
|
| 291 |
+
2160
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
2239,
|
| 316 |
+
2546
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000150.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2770,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
2770
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
351
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
376,
|
| 53 |
+
769
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
778,
|
| 77 |
+
983
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1065,
|
| 104 |
+
1416
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
1447,
|
| 128 |
+
1809
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
1882,
|
| 155 |
+
2163
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
2175,
|
| 179 |
+
2371
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
2498,
|
| 205 |
+
2770
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
769
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
778,
|
| 265 |
+
2163
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
2175,
|
| 291 |
+
2371
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
2498,
|
| 316 |
+
2770
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000251.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3054,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
3054
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
867
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
901,
|
| 53 |
+
1329
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1344,
|
| 77 |
+
1501
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1513,
|
| 104 |
+
1735
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
1735,
|
| 128 |
+
1965
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
2002,
|
| 155 |
+
2375
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
2455,
|
| 179 |
+
2735
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
2765,
|
| 205 |
+
3054
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
1329
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
1344,
|
| 265 |
+
2375
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
2455,
|
| 291 |
+
2735
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
2765,
|
| 316 |
+
3054
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000271.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3288,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
3288
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
284
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
284,
|
| 53 |
+
965
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
990,
|
| 77 |
+
1268
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1268,
|
| 104 |
+
1728
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
1761,
|
| 128 |
+
2094
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
2124,
|
| 155 |
+
2430
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
2503,
|
| 179 |
+
2827
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
2943,
|
| 205 |
+
3288
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
965
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
990,
|
| 265 |
+
2430
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
2503,
|
| 291 |
+
2827
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
2943,
|
| 316 |
+
3288
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000300.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3116,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
3116
|
| 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 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
635
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"microwave_hjjxmi_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
694,
|
| 53 |
+
1152
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1152,
|
| 77 |
+
1348
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
+
"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
1383,
|
| 104 |
+
1830
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
1831,
|
| 128 |
+
2199
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [],
|
| 153 |
+
"frame_duration": [
|
| 154 |
+
2234,
|
| 155 |
+
2563
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
2594,
|
| 179 |
+
2796
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
+
],
|
| 202 |
+
"spatial_prefix": [],
|
| 203 |
+
"frame_duration": [
|
| 204 |
+
2892,
|
| 205 |
+
3116
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
+
{
|
| 215 |
+
"primitive_idx": 0,
|
| 216 |
+
"primitive_id": [
|
| 217 |
+
10
|
| 218 |
+
],
|
| 219 |
+
"primitive_description": [
|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
"object_id": [
|
| 223 |
+
[
|
| 224 |
+
"microwave_hjjxmi_0"
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"manipulating_object_id": [],
|
| 228 |
+
"spatial_prefix": [],
|
| 229 |
+
"frame_duration": [
|
| 230 |
+
0,
|
| 231 |
+
1152
|
| 232 |
+
],
|
| 233 |
+
"skill_idxes": [
|
| 234 |
+
0,
|
| 235 |
+
1
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"primitive_idx": 1,
|
| 240 |
+
"primitive_id": [
|
| 241 |
+
2,
|
| 242 |
+
4
|
| 243 |
+
],
|
| 244 |
+
"primitive_description": [
|
| 245 |
+
"pick up from",
|
| 246 |
+
"place in"
|
| 247 |
+
],
|
| 248 |
+
"object_id": [
|
| 249 |
+
[
|
| 250 |
+
"popcorn_bag_73",
|
| 251 |
+
"bar_byvbuc_0"
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
"microwave_hjjxmi_0"
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"manipulating_object_id": [
|
| 259 |
+
"popcorn_bag_73",
|
| 260 |
+
"popcorn_bag_73"
|
| 261 |
+
],
|
| 262 |
+
"spatial_prefix": [],
|
| 263 |
+
"frame_duration": [
|
| 264 |
+
1152,
|
| 265 |
+
2563
|
| 266 |
+
],
|
| 267 |
+
"skill_idxes": [
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
5
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"primitive_idx": 2,
|
| 276 |
+
"primitive_id": [
|
| 277 |
+
12
|
| 278 |
+
],
|
| 279 |
+
"primitive_description": [
|
| 280 |
+
"close door"
|
| 281 |
+
],
|
| 282 |
+
"object_id": [
|
| 283 |
+
[
|
| 284 |
+
"microwave_hjjxmi_0"
|
| 285 |
+
]
|
| 286 |
+
],
|
| 287 |
+
"manipulating_object_id": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [
|
| 290 |
+
2594,
|
| 291 |
+
2796
|
| 292 |
+
],
|
| 293 |
+
"skill_idxes": [
|
| 294 |
+
6
|
| 295 |
+
]
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"primitive_idx": 3,
|
| 299 |
+
"primitive_id": [
|
| 300 |
+
69
|
| 301 |
+
],
|
| 302 |
+
"primitive_description": [
|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
"object_id": [
|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
]
|
| 309 |
+
],
|
| 310 |
+
"manipulating_object_id": [
|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
],
|
| 313 |
+
"spatial_prefix": [],
|
| 314 |
+
"frame_duration": [
|
| 315 |
+
2892,
|
| 316 |
+
3116
|
| 317 |
+
],
|
| 318 |
+
"skill_idxes": [
|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
meta/sim/episode_00000005.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000006.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000012.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000016.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000018.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000021.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000022.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000025.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000026.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000027.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000028.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000029.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000036.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000038.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000042.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000045.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000046.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000048.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000055.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000057.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000060.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000061.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000070.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000072.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000073.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000074.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000076.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000079.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000082.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000090.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000091.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000092.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000094.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000095.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/sim/episode_00000101.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|