Hugging Face's logo

Datasets:
behavior-1k
/
2025-challenge-demos

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100M - 1B
ArXiv:
Tags:
LeRobot
v
2
.
1
DOI:
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
2
wensi-ai commited on
Commit
66bb8fc
·
verified ·
1 Parent(s): bb29903

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. annotations/task-0001/episode_00010010.json +211 -0
  2. annotations/task-0001/episode_00010030.json +211 -0
  3. annotations/task-0001/episode_00010150.json +211 -0
  4. annotations/task-0001/episode_00010180.json +211 -0
  5. annotations/task-0001/episode_00010190.json +211 -0
  6. annotations/task-0001/episode_00010210.json +211 -0
  7. annotations/task-0001/episode_00010220.json +211 -0
  8. annotations/task-0001/episode_00010340.json +211 -0
  9. annotations/task-0001/episode_00010360.json +211 -0
  10. annotations/task-0001/episode_00010380.json +211 -0
  11. annotations/task-0001/episode_00010390.json +211 -0
  12. annotations/task-0001/episode_00010410.json +211 -0
  13. annotations/task-0001/episode_00010430.json +211 -0
  14. annotations/task-0001/episode_00010440.json +211 -0
  15. annotations/task-0001/episode_00010540.json +211 -0
  16. annotations/task-0001/episode_00010560.json +211 -0
  17. annotations/task-0001/episode_00010580.json +211 -0
  18. annotations/task-0001/episode_00010730.json +211 -0
  19. annotations/task-0001/episode_00010750.json +211 -0
  20. annotations/task-0001/episode_00010770.json +211 -0
  21. annotations/task-0001/episode_00010780.json +211 -0
  22. annotations/task-0001/episode_00010790.json +211 -0
  23. annotations/task-0001/episode_00010850.json +211 -0
  24. annotations/task-0001/episode_00010890.json +211 -0
  25. annotations/task-0001/episode_00010900.json +211 -0
  26. annotations/task-0001/episode_00010930.json +211 -0
  27. annotations/task-0001/episode_00011140.json +211 -0
  28. annotations/task-0001/episode_00011150.json +211 -0
  29. annotations/task-0001/episode_00011160.json +211 -0
  30. annotations/task-0001/episode_00011210.json +211 -0
  31. annotations/task-0001/episode_00011220.json +211 -0
  32. annotations/task-0001/episode_00011230.json +211 -0
  33. annotations/task-0001/episode_00011340.json +211 -0
  34. annotations/task-0001/episode_00011360.json +211 -0
  35. annotations/task-0001/episode_00011370.json +211 -0
  36. annotations/task-0001/episode_00011380.json +211 -0
  37. annotations/task-0001/episode_00011400.json +211 -0
  38. annotations/task-0001/episode_00011410.json +211 -0
  39. annotations/task-0001/episode_00011420.json +211 -0
  40. annotations/task-0001/episode_00011430.json +211 -0
  41. annotations/task-0001/episode_00011760.json +211 -0
  42. annotations/task-0001/episode_00011770.json +211 -0
  43. annotations/task-0001/episode_00011780.json +211 -0
  44. annotations/task-0001/episode_00011790.json +211 -0
  45. annotations/task-0001/episode_00011840.json +211 -0
  46. annotations/task-0001/episode_00011850.json +211 -0
  47. annotations/task-0001/episode_00011860.json +211 -0
  48. annotations/task-0001/episode_00011870.json +211 -0
  49. annotations/task-0001/episode_00011910.json +211 -0
  50. annotations/task-0001/episode_00011920.json +211 -0
annotations/task-0001/episode_00010010.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7508,
6
+ "valid_duration": [0, 7508]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 325],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [642, 981],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [982, 1958],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2215, 2850],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2853, 3096],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3319, 4119],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [4529, 4953],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4960, 5222],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [5413, 5731],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [5943, 6607],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [6607, 6813],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [6817, 7508],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [0, 981],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [982, 3096],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3319, 5222],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [5413, 6813],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [6817, 7508],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010030.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5562,
6
+ "valid_duration": [36, 5598]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [36, 252],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [252, 676],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [676, 1402],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1501, 2154],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2154, 2450],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2556, 2883],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3054, 3707],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3707, 3982],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_115"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [3982, 4249],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_115"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4249, 4791],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_115"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4792, 5182],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5182, 5598],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [36, 676],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [676, 2450],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2556, 3982],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [3982, 5182],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5182, 5598],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010150.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6846,
6
+ "valid_duration": [0, 6846]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 1239],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1240, 1726],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1727, 2537],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2537, 3372],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [3372, 3630],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3643, 3909],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3909, 4783],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4783, 5133],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [5137, 5342],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [5343, 6033],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [6033, 6256],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [6257, 6846],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [0, 1726],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1727, 3630],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3643, 5133],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [5137, 6256],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [6257, 6846],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010180.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5989,
6
+ "valid_duration": [77, 6066]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [77, 618],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [619, 1275],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1275, 1939],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1939, 2621],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2621, 2894],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2894, 3341],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3354, 3980],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3980, 4270],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4277, 4668],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4669, 5338],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5356, 5625],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5627, 6066],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [77, 1275],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1275, 2894],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2894, 4270],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4277, 5625],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5627, 6066],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010190.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5951,
6
+ "valid_duration": [75, 6026]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [75, 303],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [303, 855],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [855, 1304],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1647, 2166],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2166, 2376],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2377, 2646],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [2963, 3615],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3615, 3826],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [3843, 4123],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4179, 4875],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4875, 5184],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5184, 6026],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [75, 855],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [855, 2376],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2377, 3826],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [3843, 5184],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5184, 6026],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010210.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 8083,
6
+ "valid_duration": [103, 8186]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [103, 637],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [637, 1200],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1200, 1934],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1935, 2880],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2880, 3283],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3342, 3646],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3677, 5004],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [5004, 5307],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [5316, 5796],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [5796, 6902],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [6902, 7427],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [7427, 8186],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [103, 1200],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1200, 3283],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3342, 5307],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [5316, 7427],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [7427, 8186],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010220.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 7728,
6
+ "valid_duration": [45, 7773]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [45, 917],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [917, 1627],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1627, 2182],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2182, 3123],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [3124, 3510],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3511, 4118],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [4118, 5161],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [5161, 5436],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [5436, 5706],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [5707, 6718],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [6718, 7092],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [7093, 7773],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [45, 1627],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1627, 3510],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3511, 5436],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [5436, 7092],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [7093, 7773],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010340.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6973,
6
+ "valid_duration": [0, 6973]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 676],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [676, 1352],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1352, 1976],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1996, 2765],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2765, 3019],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3115, 3353],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3353, 4266],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4266, 4452],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_115"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4599, 4766],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_115"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4766, 5522],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_115"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5522, 5866],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5913, 6973],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [0, 1352],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1352, 3019],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3115, 4452],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4599, 5866],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5913, 6973],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010360.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5223,
6
+ "valid_duration": [0, 5223]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 117],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [135, 636],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [651, 1680],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1710, 2396],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2409, 2707],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_114"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2724, 3450],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_114"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3450, 3855],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_114"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3856, 4056],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4066, 4279],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4279, 4620],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4620, 4890],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [4893, 5223],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [0, 636],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [651, 2707],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2724, 4056],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4066, 4890],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [4893, 5223],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010380.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5425,
6
+ "valid_duration": [115, 5540]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [115, 750],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [906, 1437],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1437, 1980],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2135, 2492],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2493, 2764],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2862, 3064],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3150, 3791],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3792, 4068],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4068, 4103],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4103, 4657],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4657, 5020],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5021, 5540],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [115, 1437],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1437, 2764],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2862, 4068],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4068, 5020],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5021, 5540],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010390.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5921,
6
+ "valid_duration": [54, 5975]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [54, 563],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [563, 1167],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1167, 1511],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1516, 2175],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2175, 2352],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2352, 2490],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [2490, 3448],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3449, 3624],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [3624, 3729],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [3730, 4500],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4500, 4886],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [4886, 5975],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [54, 1167],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1167, 2352],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2352, 3624],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [3624, 4886],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [4886, 5975],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010410.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5807,
6
+ "valid_duration": [75, 5882]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [75, 283],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [409, 1227],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1227, 1458],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1538, 2136],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2136, 2329],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2416, 2856],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [2856, 3561],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3561, 3802],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_115"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [3841, 4002],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_115"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4003, 4615],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_115"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4683, 5053],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5054, 5882],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [75, 1227],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1227, 2329],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2416, 3802],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [3841, 5053],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5054, 5882],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010430.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5763,
6
+ "valid_duration": [60, 5823]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [60, 296],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [308, 995],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [995, 1405],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1417, 2067],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2067, 2259],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2260, 2426],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [2426, 3155],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3170, 3395],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [3396, 3690],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [3693, 4771],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4771, 4956],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [4956, 5823],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [60, 995],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [995, 2259],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2260, 3395],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [3396, 4956],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [4956, 5823],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010440.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6407,
6
+ "valid_duration": [0, 6407]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 499],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [499, 1128],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1129, 1725],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1725, 2853],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2854, 2983],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_114"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2983, 3468],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_114"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3468, 4230],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_114"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4230, 4491],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_115"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4491, 5047],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_115"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [5047, 5791],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_115"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5791, 6000],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [6000, 6407],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [0, 1128],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1129, 2983],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2983, 4491],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4491, 6000],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [6000, 6407],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010540.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6050,
6
+ "valid_duration": [0, 6050]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 486],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [487, 1004],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1004, 1572],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1572, 2511],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2511, 2701],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2702, 2965],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [2966, 3712],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3713, 4032],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4032, 4225],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4225, 5074],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5074, 5310],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5311, 6050],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [0, 1004],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1004, 2701],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2702, 4032],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4032, 5310],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5311, 6050],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010560.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5712,
6
+ "valid_duration": [60, 5772]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [60, 872],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [894, 1845],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1845, 2418],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2428, 3003],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [3033, 3280],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_114"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3392, 3756],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_114"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3756, 4153],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_114"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4153, 4380],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_115"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4424, 4984],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_115"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4984, 5369],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_115"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5370, 5591],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5596, 5772],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [60, 1845],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1845, 3280],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3392, 4380],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4424, 5591],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5596, 5772],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010580.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6424,
6
+ "valid_duration": [43, 6467]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [43, 663],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [663, 1440],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1440, 1939],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1939, 2767],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2767, 3169],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3181, 3526],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3526, 4090],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4104, 4513],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4518, 4888],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4888, 5561],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5561, 6018],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [6018, 6467],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [43, 1440],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1440, 3169],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3181, 4513],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4518, 6018],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [6018, 6467],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010730.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12120,
6
+ "valid_duration": [60, 12180]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [60, 814],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [6900, 7421],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [7455, 8580],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [8625, 9105],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [9106, 9417],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [9570, 10250],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [10401, 10599],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [10605, 10761],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [10764, 11491],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [11491, 11723],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [11726, 11959],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [11995, 12180],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [60, 7421],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [7455, 9417],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [9570, 10761],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [10764, 11959],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [11995, 12180],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010750.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6015,
6
+ "valid_duration": [75, 6090]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [75, 861],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [870, 1469],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1470, 1770],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1799, 2610],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2610, 2880],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2952, 3210],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3236, 4020],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4047, 4316],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4407, 4680],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4711, 5355],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5355, 5608],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5608, 6090],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [75, 1469],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1470, 2880],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2952, 4316],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "trash_can_116"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4407, 5608],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5608, 6090],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010770.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5796,
6
+ "valid_duration": [52, 5848]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [52, 615],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [841, 1224],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1227, 2222],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2471, 3132],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [3133, 3399],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3417, 3591],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3620, 4159],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4160, 4401],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4403, 4606],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4658, 5076],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5076, 5325],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5337, 5848],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [52, 1224],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1227, 3399],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3417, 4401],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4403, 5325],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5337, 5848],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010780.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5051,
6
+ "valid_duration": [37, 5088]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [37, 297],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [299, 914],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [915, 1323],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1329, 2300],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2301, 2486],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2486, 2597],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [2597, 3366],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3366, 3611],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [3840, 3979],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [3985, 4526],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4526, 4705],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [4705, 5088],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [37, 914],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [915, 2486],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2486, 3611],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [3840, 4705],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [4705, 5088],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010790.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5623,
6
+ "valid_duration": [0, 5623]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 552],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [552, 1139],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1139, 1524],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1524, 2098],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2098, 2376],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2376, 2544],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [2544, 3194],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3194, 3494],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [3555, 4124],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4124, 4757],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4798, 5007],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5027, 5623],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [0, 1139],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1139, 2376],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2376, 3494],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [3555, 5007],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5027, 5623],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010850.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4869,
6
+ "valid_duration": [116, 4985]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [116, 227],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [243, 885],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [900, 1346],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1351, 1695],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1700, 2085],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2088, 2611],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [2616, 3259],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3259, 3537],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [3542, 3846],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [3851, 4408],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4413, 4747],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [4749, 4985],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [116, 885],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [900, 2085],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2088, 3537],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [3542, 4747],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [4749, 4985],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010890.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6328,
6
+ "valid_duration": [32, 6360]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [32, 369],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [370, 1155],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1395, 1933],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1933, 2608],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2609, 3034],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3044, 3463],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3763, 4270],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4278, 4583],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_115"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4616, 5095],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_115"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [5097, 5797],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_115"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5797, 6099],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [6099, 6360],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [32, 1155],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1395, 3034],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3044, 4583],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4616, 6099],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [6099, 6360],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010900.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6243,
6
+ "valid_duration": [0, 6243]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 740],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [836, 1280],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1502, 2600],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2837, 3747],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [3747, 4100],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [4100, 4250],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [4250, 4628],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4628, 4907],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4907, 5207],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [5288, 5621],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5621, 5900],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5900, 6243],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [0, 1280],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1502, 4100],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [4100, 4907],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4907, 5900],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5900, 6243],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00010930.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5762,
6
+ "valid_duration": [0, 5762]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 863],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [864, 1517],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1517, 2221],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2221, 2935],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2935, 3237],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_114"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3264, 3546],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_114"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3557, 4019],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_114"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4019, 4309],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4337, 4823],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4823, 5206],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5206, 5496],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5496, 5762],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [0, 1517],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1517, 3237],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3264, 4309],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4337, 5496],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5496, 5762],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011140.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5141,
6
+ "valid_duration": [139, 5280]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [139, 577],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [596, 1186],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1186, 2317],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2322, 2915],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2916, 3272],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_114"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3273, 3434],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_114"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3435, 3840],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_114"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3840, 4094],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4095, 4412],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4413, 4784],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4785, 5018],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5019, 5280],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [139, 1186],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1186, 3272],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3273, 4094],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4095, 5018],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5019, 5280],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011150.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5931,
6
+ "valid_duration": [151, 6082]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [151, 1042],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1043, 1779],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1786, 2196],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2196, 2801],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2801, 3008],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3071, 3334],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3334, 4119],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4120, 4335],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4378, 4941],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4941, 5506],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5507, 5753],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5753, 6082],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [151, 1779],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1786, 3008],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3071, 4335],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4378, 5753],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5753, 6082],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011160.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6913,
6
+ "valid_duration": [117, 7030]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [117, 1196],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1196, 1952],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1952, 2458],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2458, 3382],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [3383, 4058],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [4058, 4770],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [4770, 5415],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [5415, 5745],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [5746, 6084],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [6084, 6474],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [6474, 6795],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [6795, 7030],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [117, 1952],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1952, 4058],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [4058, 5745],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [5746, 6795],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [6795, 7030],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011210.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5423,
6
+ "valid_duration": [95, 5518]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [95, 611],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [611, 1083],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1192, 1947],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1947, 2772],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2772, 3072],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3128, 3178],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3447, 3789],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3789, 4045],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4135, 4288],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4288, 4925],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4925, 5143],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5232, 5518],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [95, 1083],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1192, 3072],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3128, 4045],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4135, 5143],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5232, 5518],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011220.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5370,
6
+ "valid_duration": [120, 5490]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [120, 600],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [840, 1410],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1635, 2325],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2490, 3069],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [3069, 3264],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3330, 3615],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3720, 4116],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4116, 4269],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4410, 4602],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4830, 5028],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5028, 5190],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5190, 5490],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [120, 1410],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1635, 3264],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3330, 4269],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4410, 5190],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5190, 5490],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011230.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 6133,
6
+ "valid_duration": [204, 6337]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [204, 1154],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1154, 1839],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1996, 2621],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2651, 3601],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [3601, 3933],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3933, 4187],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [4352, 5015],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [5015, 5231],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_115"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [5231, 5433],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_115"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [5526, 5863],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_115"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5863, 6021],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [6021, 6337],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [204, 1839],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1996, 3933],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3933, 5231],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [5231, 6021],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [6021, 6337],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011340.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4647,
6
+ "valid_duration": [174, 4821]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [174, 499],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [500, 1141],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1141, 1683],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1683, 2147],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2147, 2385],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2385, 2649],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [2650, 3101],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3101, 3333],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [3333, 3890],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [3907, 4287],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4288, 4584],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [4584, 4821],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [174, 1141],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1141, 2385],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2385, 3333],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [3333, 4584],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [4584, 4821],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011360.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4117,
6
+ "valid_duration": [90, 4207]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [90, 306],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [310, 837],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [927, 1212],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1221, 1653],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1653, 1821],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [1829, 2075],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [2080, 2377],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [2378, 2550],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [2831, 3068],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [3069, 3607],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [3608, 3750],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [3754, 4207],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [90, 837],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [927, 1821],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [1829, 2550],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [2831, 3750],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [3754, 4207],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011370.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4733,
6
+ "valid_duration": [118, 4851]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [118, 476],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [476, 1089],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1089, 1391],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1395, 1856],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1857, 2188],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2188, 2396],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [2396, 2852],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [2856, 3128],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [3138, 3723],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [3726, 4183],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4185, 4411],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [4480, 4851],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [118, 1089],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1089, 2188],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2188, 3128],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [3138, 4411],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [4480, 4851],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011380.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5369,
6
+ "valid_duration": [147, 5516]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [147, 834],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [834, 1506],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1637, 2067],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2067, 2603],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2603, 2880],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2880, 3195],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3195, 3632],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3632, 4050],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4050, 4240],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4240, 4884],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4885, 5145],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5146, 5516],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [147, 1506],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1637, 2880],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2880, 4050],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4050, 5145],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5146, 5516],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011400.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4765,
6
+ "valid_duration": [153, 4918]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [153, 633],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [633, 1298],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1298, 1952],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1988, 2584],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2584, 2884],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2885, 3057],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3057, 3460],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3461, 3722],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [3722, 3829],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [3829, 4247],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4247, 4612],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [4612, 4918],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [153, 1298],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1298, 2884],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2885, 3722],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [3722, 4612],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [4612, 4918],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011410.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5731,
6
+ "valid_duration": [149, 5880]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [149, 1020],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1020, 1470],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1471, 2345],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2346, 2937],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2937, 3370],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_114"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3370, 3660],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_114"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3661, 4113],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_114"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4113, 4413],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4413, 4536],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4536, 5243],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5244, 5416],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5416, 5880],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [149, 1470],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1471, 3370],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3370, 4413],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4413, 5416],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5416, 5880],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011420.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4589,
6
+ "valid_duration": [117, 4706]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [117, 440],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [440, 1226],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1226, 1556],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1557, 2206],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2206, 2530],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_114"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2531, 2692],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_114"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [2692, 3211],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_114"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [3211, 3446],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [3511, 3821],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [3822, 4135],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [4135, 4392],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [4392, 4706],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [117, 1226],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1226, 2530],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [2531, 3446],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [3511, 4392],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [4392, 4706],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011430.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 5829,
6
+ "valid_duration": [171, 6000]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [171, 1155],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1164, 1984],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1984, 2715],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2715, 3314],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [3314, 3545],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [3546, 3756],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3759, 4188],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4189, 4479],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4479, 4894],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [4894, 5333],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [5333, 5576],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [5626, 6000],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [171, 1984],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [1984, 3545],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [3546, 4479],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [4479, 5576],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [5626, 6000],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011760.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2596,
6
+ "valid_duration": [132, 2728]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [132, 630],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [633, 960],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [963, 1236],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1258, 1507],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1508, 1635],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_114"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [1645, 1722],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_114"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [1722, 1927],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_114"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [1928, 2040],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_115"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [2040, 2262],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_115"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [2262, 2429],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_115"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [2430, 2547],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [2548, 2728],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [132, 960],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [963, 1635],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [1645, 2040],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [2040, 2547],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [2548, 2728],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011770.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2226,
6
+ "valid_duration": [0, 2226]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 180],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [266, 425],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [429, 840],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [843, 1034],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1038, 1141],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [1141, 1275],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [1335, 1489],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [1489, 1580],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_114"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [1585, 1800],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_114"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [1805, 2017],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_114"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [2017, 2095],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [2098, 2226],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [0, 425],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [429, 1141],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [1141, 1580],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [1585, 2095],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [2098, 2226],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011780.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2676,
6
+ "valid_duration": [0, 2676]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 591],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [591, 879],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [879, 1203],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1204, 1365],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1365, 1470],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_114"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [1470, 1773],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_114"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [1773, 1974],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_114"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [1974, 2071],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [2071, 2253],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [2253, 2463],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [2463, 2547],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [2547, 2676],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [0, 879],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [879, 1470],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [1470, 2071],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [2071, 2547],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [2547, 2676],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011790.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2297,
6
+ "valid_duration": [0, 2297]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 321],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [330, 615],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [615, 870],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [870, 1082],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1083, 1176],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [1179, 1326],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [1329, 1495],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [1497, 1563],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_115"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [1564, 1692],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_115"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [1719, 1923],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_115"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [1923, 2034],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [2075, 2297],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [0, 615],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [615, 1176],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [1179, 1563],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [1564, 2034],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [2075, 2297],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011840.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2221,
6
+ "valid_duration": [36, 2257]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [36, 148],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [165, 424],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [425, 814],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [814, 1023],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1024, 1130],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_114"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [1137, 1372],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_114"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [1433, 1595],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_114"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [1596, 1651],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [1652, 1829],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [1859, 2034],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [2034, 2104],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [2118, 2257],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [36, 424],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [425, 1130],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [1137, 1651],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [1652, 2104],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [2118, 2257],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011850.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1920,
6
+ "valid_duration": [60, 1980]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [60, 270],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [270, 426],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [426, 526],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [526, 726],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [726, 826],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_113"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [826, 1208],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_113"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [1209, 1401],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_113"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [1401, 1486],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_115"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [1487, 1577],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_115"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [1578, 1747],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_115"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [1747, 1840],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [1840, 1980],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [60, 426],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [426, 826],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [826, 1486],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [1487, 1840],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [1840, 1980],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011860.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2201,
6
+ "valid_duration": [65, 2266]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [65, 257],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [257, 457],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_113"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [457, 923],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_113"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [924, 1143],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_113"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1143, 1266],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_114"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [1266, 1344],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_114"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [1344, 1479],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_114"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [1480, 1579],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_115"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [1579, 1779],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_115"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [1779, 2003],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_115"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [2003, 2103],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [2133, 2266],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [65, 457],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [457, 1266],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [1266, 1579],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [1579, 2103],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [2133, 2266],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011870.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2408,
6
+ "valid_duration": [27, 2435]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [27, 303],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [303, 550],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_115"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [551, 870],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_115"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [884, 1099],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_115"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1099, 1185],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_114"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [1185, 1618],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_114"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [1618, 1764],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_114"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [1765, 1859],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [1859, 2056],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [2056, 2195],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [2196, 2314],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [2314, 2435],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [27, 550],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [551, 1185],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [1185, 1859],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [1859, 2314],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [2314, 2435],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011910.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2518,
6
+ "valid_duration": [69, 2587]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [69, 546],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [546, 870],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [870, 1059],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1059, 1290],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1290, 1373],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [1373, 1701],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [1701, 1868],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [1868, 1966],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [1966, 2230],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [2231, 2409],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [2409, 2496],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [2496, 2587],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [69, 870],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [870, 1373],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [1373, 1966],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [1966, 2496],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [2496, 2587],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }
annotations/task-0001/episode_00011920.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "picking up trash",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2330,
6
+ "valid_duration": [17, 2347]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["trash_can_116"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [17, 164],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
26
+ "manipulating_object_id": ["trash_can_116"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [164, 452],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["can_of_soda_114"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [452, 882],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [2],
48
+ "skill_description": ["pick up from"],
49
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
50
+ "manipulating_object_id": ["can_of_soda_114"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [882, 1106],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [4],
60
+ "skill_description": ["place in"],
61
+ "object_id": [["can_of_soda_114", "trash_can_116"]],
62
+ "manipulating_object_id": ["can_of_soda_114"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1413, 1513],
66
+ "mp_ef": [],
67
+ "skill_type": ["coordinated"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [1],
72
+ "skill_description": ["move to"],
73
+ "object_id": [["can_of_soda_115"]],
74
+ "manipulating_object_id": [],
75
+ "memory_prefix": ["the other"],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [1516, 1620],
78
+ "mp_ef": [],
79
+ "skill_type": ["navigation"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [2],
84
+ "skill_description": ["pick up from"],
85
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
86
+ "manipulating_object_id": ["can_of_soda_115"],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [1620, 1781],
90
+ "mp_ef": [],
91
+ "skill_type": ["uncoordinated"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [4],
96
+ "skill_description": ["place in"],
97
+ "object_id": [["can_of_soda_115", "trash_can_116"]],
98
+ "manipulating_object_id": ["can_of_soda_115"],
99
+ "memory_prefix": [],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [1781, 1875],
102
+ "mp_ef": [],
103
+ "skill_type": ["coordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["can_of_soda_113"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [1875, 1979],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
122
+ "manipulating_object_id": ["can_of_soda_113"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [1979, 2169],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [4],
132
+ "skill_description": ["place in"],
133
+ "object_id": [["can_of_soda_113", "trash_can_116"]],
134
+ "manipulating_object_id": ["can_of_soda_113"],
135
+ "memory_prefix": [],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [2169, 2259],
138
+ "mp_ef": [],
139
+ "skill_type": ["coordinated"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
146
+ "manipulating_object_id": ["trash_can_116"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [2260, 2347],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ }
153
+ ],
154
+ "primitive_annotation": [
155
+ {
156
+ "primitive_idx": 0,
157
+ "primitive_id": [2],
158
+ "primitive_description": ["pick up from"],
159
+ "object_id": [["trash_can_116", "floors_zqjkvm_0"]],
160
+ "manipulating_object_id": ["trash_can_116"],
161
+ "memory_prefix": [],
162
+ "spatial_prefix": [],
163
+ "frame_duration": [17, 452],
164
+ "skill_idxes": [0, 1]
165
+ },
166
+ {
167
+ "primitive_idx": 1,
168
+ "primitive_id": [2, 4],
169
+ "primitive_description": ["pick up from", "place in"],
170
+ "object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
171
+ "manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
172
+ "memory_prefix": [],
173
+ "spatial_prefix": [],
174
+ "frame_duration": [452, 1513],
175
+ "skill_idxes": [2, 3, 4]
176
+ },
177
+ {
178
+ "primitive_idx": 2,
179
+ "primitive_id": [2, 4],
180
+ "primitive_description": ["pick up from", "place in"],
181
+ "object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
182
+ "manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
183
+ "memory_prefix": ["the other", ""],
184
+ "spatial_prefix": [],
185
+ "frame_duration": [1516, 1875],
186
+ "skill_idxes": [5, 6, 7]
187
+ },
188
+ {
189
+ "primitive_idx": 3,
190
+ "primitive_id": [2, 4],
191
+ "primitive_description": ["pick up from", "place in"],
192
+ "object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
193
+ "manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
194
+ "memory_prefix": ["the other", ""],
195
+ "spatial_prefix": [],
196
+ "frame_duration": [1875, 2259],
197
+ "skill_idxes": [8, 9, 10]
198
+ },
199
+ {
200
+ "primitive_idx": 4,
201
+ "primitive_id": [3],
202
+ "primitive_description": ["place on"],
203
+ "object_id": [["trash_can_116", "floors_ulujpr_0"]],
204
+ "manipulating_object_id": ["trash_can_116"],
205
+ "memory_prefix": [],
206
+ "spatial_prefix": [],
207
+ "frame_duration": [2260, 2347],
208
+ "skill_idxes": [11]
209
+ }
210
+ ]
211
+ }